Robot Programming with Image-Based Path Point Correction
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Solution Overview
Problem
The existing methods for programming and starting up robots, such as industrial robots, are cumbersome and require manual adjustments due to dimensional errors and positional discrepancies between the robot and its environment, making it difficult to execute operations as expected.
Innovation Solution
A programming device that includes a program generation unit, robot control unit, image acquisition unit, and movement destination point correction unit, which generates and corrects programs based on photographed images to ensure precise robot operations without the need for manual teaching playback, by selecting and correcting movement destination points and inserting relay points to avoid interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If off-line programming system (OPS) is used to generate operating program, then programming time is reduced and manual teaching playback is eliminated, but manufacturing precision deteriorates due to dimensional errors and positional discrepancies
Solution Approach 1:
The system captures images of reference points in the actual environment, compares them with pre-stored reference point information, and automatically corrects movement destination point data based on the detected positional discrepancies. This feedback mechanism eliminates manual teaching playback while maintaining high positioning accuracy.
Solution Approach 2:
The patent replaces the mechanical manual teaching playback process with an automated optical measurement system. Instead of manually moving the robot to teach positions, the system uses image capture and processing to automatically detect and correct positional errors, substituting mechanical operations with optical and computational methods.
2Manufacturing precision
If manual teaching playback is performed to correct positioning errors, then manufacturing precision is improved, but ease of operation deteriorates due to complicated procedures
Solution Approach 1:
The system performs self-correction by automatically detecting positional discrepancies through image capture and autonomously correcting movement destination point data. The robot system serves itself by eliminating the need for manual intervention in the correction process, thereby maintaining high precision while simplifying operations.
Solution Approach 2:
The patent introduces an intermediary correction process that automatically mediates between the off-line generated program and the actual physical environment. Instead of requiring manual teaching, the system uses reference point detection and automatic data correction as an intermediary step to bridge the gap between virtual programming and real-world execution.
3Device complexity
If off-line programming is used without correction, then device complexity is reduced, but reliability deteriorates due to execution errors
Solution Approach 1:
The system performs preliminary correction of movement destination point data by capturing reference point images and calculating position corrections before the robot executes the actual work. This preliminary action ensures that the off-line generated program is adjusted to match the actual environment, thereby maintaining both low complexity and high reliability.
Solution Approach 2:
The system implements a feedback mechanism where the captured reference point information is used to verify and correct the movement destination points before execution. This feedback loop ensures that the simplified off-line programming system produces reliable execution results by automatically compensating for environmental variations.
Data Source
AI summary
To perform a start-up operation of robots more simply than conventionally. A programming device includes: a program generation unit that generates a program for causing a predetermined operation passing through a plurality of movement destination points to be executed by a robot; a robot control unit that causes the predetermined operation to be executed by the robot according to control based on the program; an image acquisition unit that acquires a photographed image capturing a reference point that is arranged at a position having a predetermined relative relationship with a position of the movement destination point; and a movement destination point correction unit that corrects information of the movement destination point included in the program, based on the photographed image and the predetermined relative relationship, in which the robot control unit controls the robot based on corrected information of the movement destination point.