Robot Local Coordinate System Derivation for Non-Horizontal Workpieces

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Solution Overview

Problem

Existing robot systems face difficulties in accurately controlling tools on non-horizontal workpieces due to the complexity of teaching and calibrating positions and postures, especially when processing inclined surfaces.

Innovation Solution

A robot system that derives a local coordinate system based on images of markers on a non-horizontal workplane, allowing for the calculation of control parameters such as position, direction, and posture, facilitating easier control of the robot on non-horizontal planes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If traditional teaching methods are used for non-horizontal workpieces, then the robot can be controlled, but the teaching work is difficult and accuracy is low

Engineering Contradiction:

Improveteaching accuracyVSAvoidteaching difficulty

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The patent introduces markers as intermediary objects placed on the workpiece surface. These markers serve as mediators between the robot system and the non-horizontal workpiece, enabling automatic coordinate system derivation through image recognition. The markers provide reference points that facilitate accurate positioning and orientation without requiring complex manual teaching operations on inclined surfaces.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces the traditional mechanical teaching operation with an optical-based automatic recognition system. Instead of manually moving the robot to teach positions on the workpiece, the system uses image capture and processing to automatically derive the local coordinate system from marker positions, substituting mechanical teaching with optical measurement and computational geometry.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Ease of operation

If markers are used to derive local coordinate system, then control on non-horizontal planes becomes easy, but additional setup components are required

Engineering Contradiction:

Improvecontrol easeVSAvoidsetup complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The patent uses simple, inexpensive markers that can be easily attached and removed from the workpiece. These markers are low-cost components that do not require complex installation or calibration procedures. They serve their purpose of defining the local coordinate system and can be discarded or repositioned as needed, adding minimal complexity to the overall system.

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Data Source

PatentUS10099380B2Robot, robot control device, and robot system

Publication Date: 2018.10.16 SEIKO EPSON CORP

AI summary

A robot includes: a local coordinate system deriving portion which derives a local coordinate system having two shafts which are parallel to a work plane and orthogonal to each other, based on an image in which markers illustrating three or more points on the work plane which is not horizontal are captured; and a control parameter obtaining portion which obtains control parameters via the local coordinate system.