Robot Marker Detection via Imaging Unit for Position Teaching
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Solution Overview
Problem
Existing robot control systems face challenges in accurately teaching the position of a reference point to a robot arm, particularly due to difficulties in visually specifying when a tool is in contact with the reference point, and issues with false marker detection during calibration, leading to inefficiencies and increased setup time, especially when dealing with multiple robots.
Innovation Solution
A robot system that uses imaging units to capture images of markers, allowing the robot to perform actions based on the position and attitude obtained from these images, with configurations that ensure accurate detection and alignment without operator intervention, including the use of calibration boards with specific marker arrangements and optical axis adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an operator manually operates the arm to teach the position of a reference point by visual specification, then the robot can perform actions based on the taught position, but it is difficult to correctly teach the position because it is not easy to visually specify when the tool is barely in contact with the reference point
Solution Approach 1:
The patent replaces the manual mechanical operation and visual specification method with an automated imaging-based detection system. The imaging unit captures images of the reference point, and the control apparatus automatically determines contact position based on image analysis, eliminating the need for operator visual judgment and manual arm operation.
Solution Approach 2:
The system enables self-teaching capability where the robot automatically determines the reference point position through image capture and analysis without requiring operator intervention. The control apparatus processes the images and calculates the contact position autonomously, allowing the system to teach itself the reference point location.
2Measurement precision
If the operator teaches the position of the reference point by operating the arm to contact the reference point, then the robot can perform actions based on the taught position, but the time taken for setting is longer, especially when dealing with multiple robots
Solution Approach 1:
The patent replaces the time-consuming manual operation process with automated image-based detection. The imaging unit quickly captures the reference point position, and the control apparatus automatically calculates the contact position, dramatically reducing the setup time compared to manual arm operation and visual specification.
Solution Approach 2:
The system performs preliminary image capture and position detection automatically before the actual work begins. By pre-determining the reference point position through automated imaging and analysis, the system eliminates the need for time-consuming manual teaching operations during the setup phase.
3Ease of manufacture
If a calibration pattern with three or more first markers arranged in a line and a second marker provided in a position orthogonal to the line is used, then calibration can be performed, but false detection of the second marker may occur, making it impossible to accurately detect the position
Solution Approach 1:
The patent changes the calibration pattern from a symmetric arrangement (where false detection is possible) to an asymmetric arrangement. The second marker is positioned at coordinates that create an asymmetric geometric relationship with the first markers, making it impossible for the detection algorithm to confuse the second marker with the first markers or misidentify positions.
4Measurement precision
If manual operation teaching is used to teach the position of the reference point, then the robot can perform actions based on the taught position, but human error increases and efficiency decreases
Solution Approach 1:
The patent replaces manual operation teaching with automated image-based detection and calculation. The imaging unit captures the reference point position, and the control apparatus automatically determines the contact position through image analysis, eliminating human error and significantly improving setting efficiency.
Solution Approach 2:
The system performs self-teaching by automatically capturing images of the reference point and calculating the contact position without operator intervention. This autonomous approach eliminates human error inherent in manual teaching and dramatically improves productivity, especially when setting up multiple robots.
Data Source
AI summary
A robot includes a movable part, and the movable part performs an action based on a position of a first marker obtained using first position and attitude of the movable part when a first image containing the first marker is captured by an imaging unit provided in the movable part and second position and attitude of the movable part when a second image containing the first marker is captured by the imaging unit.