Robot Visual Sensor Attachment Diagnosis by Target Position Shift
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Solution Overview
Problem
Existing robot systems face challenges in determining whether a visual sensor is properly attached to a movable element, which can lead to improper execution of operation programs if the attachment is incorrect.
Innovation Solution
A robot system with movable elements and a control device that compares target positions in images acquired at different orientations to determine if a visual sensor is correctly attached, using a diagnosis program to ensure accurate attachment before executing operation programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a visual sensor is attached to a movable element of the robot, then the robot can perform work while photographing the workpiece, but it becomes difficult to determine whether the visual sensor is properly attached to the movable element
Solution Approach 1:
The system performs a diagnosis process before executing the operation program to determine whether the visual sensor is attached to the movable element. This preliminary detection prevents improper execution by verifying the attachment status in advance through comparing target positions in images captured at different robot orientations.
Solution Approach 2:
The control device captures images with the visual sensor at different orientations and compares the position of a predetermined target in these images. Based on whether the target position changes as expected, the system determines the attachment status of the visual sensor, providing feedback to verify proper installation.
2Productivity
If the robot executes an operation program assuming the visual sensor is attached to the movable element, then the robot can perform the intended work, but the robot may interfere with external structures if the attachment is incorrect
Solution Approach 1:
The control device executes a diagnosis program before the operation program to verify the visual sensor attachment status. This preliminary check prevents harmful interference by ensuring the visual sensor is properly attached to the movable element before the robot begins its work cycle.
Solution Approach 2:
The system prevents potential harmful interference by proactively detecting and identifying attachment errors before the robot executes the operation program. The diagnosis process acts as a preventive measure to avoid collisions or interference with external structures that would occur if the visual sensor were improperly attached.
Data Source
AI summary
A robot system including: a robot with one or more movable elements respectively rotatable about one or more rotation axes; a control device that controls the robot; and a visual sensor attached to any of the movable elements of the robot, where the control device uses any of the movable elements of the robot as a subject element, compares a position of a predetermined target in a first image at an arbitrary first orientation of the robot at which the target fixed at a predetermined position is disposed inside a field of view of the visual sensor, and the position of the predetermined target in a second image at a second orientation at which the subject element is rotated about a rotation axis of the subject element with respect to the first orientation, and determines that the visual sensor is attached to the subject element.