Robot Positional Information Restoration Using Visual Mark Imaging
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Solution Overview
Problem
Existing methods for restoring positional information in robots after motor or reduction gear replacement are cumbersome and prone to reduced accuracy due to assembly errors and require significant time and effort, especially when using pins or proximity sensors.
Innovation Solution
A device and method utilizing visual marks and an imaging system to compute and correct positional information based on image signals before and after motor replacement, allowing for accurate validation of sensor signals without relying on precise alignment or operator skill.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If pin holes are used to specify reference position, then positioning work can be performed, but positioning accuracy is reduced due to assembly errors and insufficient processing accuracy
Solution Approach 1:
The patent replaces the mechanical pin-hole positioning system with an optical imaging system. Instead of using physical pins inserted into pin holes to define reference positions, the system uses a camera to capture images of marks on the articulation axis and computes positional relationships through image processing. This substitution eliminates the mechanical assembly errors and processing accuracy limitations inherent in the pin-hole method.
Solution Approach 2:
The patent introduces an intermediary imaging system between the physical articulation axis and the positional information validation process. The camera captures visual information about marks on the articulation axis, and a computation section processes these images to determine positional relationships. This intermediary optical-mechanical system bridges the gap between physical positioning and digital validation, eliminating direct mechanical contact errors.
2Measurement precision
If proximity sensor is installed with high accuracy to identify reference position, then positioning can be achieved, but time and effort are necessary for positioning
Solution Approach 1:
The patent replaces the proximity sensor-based mechanical positioning system with an optical imaging system. Instead of using a proximity sensor that requires precise mechanical installation and manual positioning, the system uses a camera to capture images of marks and automatically computes positional relationships through image processing algorithms, significantly reducing positioning time and effort.
Solution Approach 2:
The imaging system performs self-positioning through automatic image capture and computation. The camera captures images of marks on the articulation axis, and the computation section automatically determines positional relationships without requiring manual intervention or precise pre-positioning. The system serves itself by using the captured images to compute the reference position, eliminating the need for time-consuming manual positioning procedures.
3Ease of repair
If motor or reduction gear is removed or replaced for maintenance, then component replacement is achieved, but positional information becomes invalid
Solution Approach 1:
The patent implements preliminary action by capturing images of marks on the articulation axis before and after motor or reduction gear replacement. The imaging section obtains images at the first time (before replacement) and at the second time (after replacement), allowing the computation section to detect changes in positional relationships and validate positional information without requiring manual repositioning or complex calibration procedures.
Solution Approach 2:
The patent uses feedback from the imaging system to validate and correct positional information after component replacement. The computation section processes images taken before and after replacement to detect positional changes, and the correction section uses this feedback information to adjust and validate the sensor signal-based positional information, ensuring accuracy is maintained despite component changes.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach simplifies and enhances the accuracy of positional information validation, reducing the effort required and eliminating the need for complex alignment procedures, thereby improving flexibility and accuracy in robot positioning.
Implementation Method 1
an imaging section obtaining an image signal in a region including a first mark and a second mark provided in the first member and the second member, respectively
Data Source
AI summary
A device for restoring positional information of a robot provided with a first member and a second member; a motor moving the second member; and a sensor outputting a sensor signal. The device includes an imaging section obtaining an image signal in a region including a first mark and a second mark; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time and a second positional relationship at a second time, based on an image signal obtained by the imaging section at the first time and at the second time; and a correction section correcting positional information depending on a sensor signal, based on the first and second positional relationship, a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.