Industrial Robot Programming With Image Markers and Depth Mapping
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Solution Overview
Problem
Current methods for programming industrial robots are either complex, require sophisticated hardware, or lack precision, especially when dealing with depth information for accurate workpiece manipulation.
Innovation Solution
A method involving a 3D-camera and human-machine interface to capture and display images of the workplace, allowing operators to mark and manipulate a marker-object to generate control code for the robot, with additional depth information measured to determine precise grasping and positioning heights, enabling intuitive and accurate programming without resource-intensive processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a 2D camera is used to capture workplace images for robot programming, then the system is simple and easy to operate, but depth information is missing which reduces positioning precision
Solution Approach 1:
A marker object with known geometric features is introduced as an intermediary between the 2D camera and the workpiece. The marker provides reference points that enable the system to infer 3D spatial relationships from 2D images, allowing precise positioning without requiring complex 3D imaging hardware.
Solution Approach 2:
The system creates a 2D projection of the 3D workspace onto the image plane, and through coordinate transformation algorithms, maps positions from the 2D image coordinate system to the 3D robot workspace coordinate system. This copying approach allows using simple 2D cameras while achieving 3D positioning accuracy.
2Measurement precision
If sophisticated 3D vision systems are used to obtain depth information, then positioning precision improves, but device complexity and cost increase
Solution Approach 1:
Instead of using complex 3D vision systems, a simple 2D camera combined with a marker object serves as an intermediary solution. The marker's known geometry allows the system to calculate depth and 3D positions from 2D images through mathematical transformations, avoiding the need for expensive 3D sensors.
Solution Approach 2:
The patent replaces complex mechanical/optical 3D measurement systems with a computational approach. By using 2D image coordinates and transforming them to 3D robot workspace coordinates through algorithms, the system achieves 3D positioning without sophisticated 3D imaging hardware.
3Productivity
If traditional procedural programming is used, then robot control functionality is comprehensive, but programming time and skill requirements increase
Solution Approach 1:
The system copies the physical manipulation process into the digital domain by capturing images of the marker object during manual manipulation and transforming these 2D positions to 3D robot commands. This allows operators to program by physically guiding the marker rather than writing complex code.
Solution Approach 2:
The patent replaces traditional procedural programming with an image-based programming approach. Instead of writing motion control code, operators manipulate a marker object in the visual field, and the system automatically generates robot control commands through coordinate transformation, reducing programming complexity and time.
Data Source
AI summary
A method of programming an industrial robot includes: providing the robot, the robot having a robot arm with an end-effector mounted thereto which is controlled by a robot control unit to manipulate a workpiece which is arranged in a workplace of the robot; associating a target coordinate system with the workplace; taking an image of the workplace and the workpiece by an image capturing device; transmitting the image to a computing device having a human-machine-interface to generate control code for controlling the robot, which is transmitted to the robot control unit; capturing an image of the workplace and the workpiece to be manipulated by the robot; transferring the captured image to the computing device and displaying the captured image on a display associated with the computing device; and displaying the workpiece on the display; marking the workpiece with a marker-object on the display.