Robot Motion Control with Staged Vision-Based Positioning
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Solution Overview
Problem
Existing control systems for robots with attached process apparatuses and imaging devices struggle to efficiently perform processes on target objects without relying on continuous image data, leading to inefficiencies in movement control.
Innovation Solution
A control system that includes separate control apparatuses for generating control signals based on initial movement processing without image data, followed by refined movements using calculated image data, allowing for efficient and precise robot operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If continuous image data is used for robot movement control, then positioning accuracy is improved, but processing time increases and efficiency decreases
Solution Approach 1:
The control system is divided into two distinct control apparatuses: a first control apparatus that handles initial movement without image data, and a second control apparatus that performs refined positioning using image data. This segmentation allows each component to specialize in specific tasks, improving overall efficiency while maintaining accuracy.
Solution Approach 2:
The first control apparatus performs preliminary movement actions to bring the robot near the target position before the second control apparatus takes over for precise positioning. This preliminary action reduces the distance that requires image-based correction, minimizing processing time while maintaining accuracy.
2Productivity
If a single control apparatus handles both initial movement and precise positioning, then system complexity is reduced, but operational efficiency decreases
Solution Approach 1:
The control system is divided into two distinct control apparatuses: a first control apparatus that handles initial movement without image data, and a second control apparatus that performs refined positioning using image data. This segmentation allows each component to specialize in specific tasks, improving overall efficiency while maintaining accuracy.
Solution Approach 2:
Each control apparatus operates independently with its own processing capabilities. The first control apparatus self-sufficiently handles coarse movement, while the second control apparatus independently performs fine positioning, reducing interdependence and potential bottlenecks in the control system.
3Measurement precision
If image data processing is performed continuously, then positioning accuracy is maintained, but energy consumption increases
Solution Approach 1:
Image data processing is performed periodically only when needed for refined positioning by the second control apparatus, rather than continuously. This periodic action maintains positioning accuracy during critical phases while reducing energy consumption during initial movement phases handled by the first control apparatus.
Data Source
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Figure 3(a)~3(d)
AI summary
A control system generates a control signal for controlling a robot, the robot moves a process apparatus and an imaging apparatus that are attached to the robot, the control system comprises a control apparatus that generates and outputs the control signal, and the control system performs: a first movement processing for controlling the robot to move the process apparatus without using image data; and a second movement processing for generating the control signal for controlling the robot to move the process apparatus based on a calculated result of a position and a pose of the target object, which is calculated based on the image data generated by the imaging apparatus imaging the target object after the first movement processing.