Robot Stereo Measurement Control for Wide-Parallax Position Correction
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Solution Overview
Problem
Existing robot control systems face challenges in accurately measuring the positional relationship between robots and workspaces due to decreased measurement accuracy when parallax in stereo measurement is not set wide, and target marks falling outside the visual field with small position deviations.
Innovation Solution
A robot controller that performs stereo measurement at two capturing positions, one with increased parallax, to correct the robot's position accurately, using a first capturing position for rough correction and a second capturing position for precise correction, ensuring the target mark remains within the visual field.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If stereo measurement is performed with wide parallax by positioning the target mark close to the image edge, then measurement accuracy is improved, but the target mark falls outside the visual field with small position deviations
Solution Approach 1:
The system performs a first stereo measurement at a first capturing position where the target mark is captured within the visual field to acquire initial deviation information. This preliminary measurement enables subsequent correction of the robot's capturing position, allowing the system to then move to a second capturing position with wider parallax for more accurate measurement while ensuring the target remains visible through the correction
Solution Approach 2:
The system transitions from a single capturing position to multiple capturing positions (first and second capturing positions) with different parallax characteristics. By measuring at the first position and then correcting to the second position with increased parallax, the system effectively adds a temporal and spatial dimension to the measurement process, achieving both reliability and precision
2Reliability
If stereo measurement is performed with narrow parallax to keep the target mark within the visual field, then target visibility is maintained, but measurement accuracy decreases
Solution Approach 1:
The first capturing position serves as a preliminary step where the target mark is reliably captured within the visual field. This initial capture provides the necessary deviation information to calculate and execute position correction, enabling the subsequent transition to the second capturing position with wider parallax for accurate measurement
Solution Approach 2:
The system uses the deviation amount acquired from the first stereo measurement as feedback to correct the robot's capturing position. This feedback mechanism allows the system to adjust from the first capturing position to the second capturing position, optimizing the parallax for accurate measurement while maintaining target visibility through correction
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
Ensures reliable and high-accuracy stereo measurement by correcting the robot's position, improving the system's tolerance to position deviations and enhancing the flexibility of the production system.
Implementation Method 1
it has been known that the accuracy of the measurement decreases unless parallax in a captured image is set wide
Data Source
AI summary
A robot control device comprises: a storage unit a first imaging position for performing stereoscopic measurement on a subject installed in a work space, and a second imaging position for performing stereoscopic measurement on the subject which has a larger parallax than that of the stereoscopic measurement performed at the first imaging position; a first measurement unit that performs the stereoscopic measurement on the subject at the first imaging position and acquires a first deviation amount of the robot with respect to the work space; a correcting unit that corrects the position of the robot during the stereoscope measurement at the second imaging position; a second measurement unit that performs the stereoscopic measurement of the subject at the second imaging position and acquires a second deviation amount of the robot with respect to the work space; and an action control unit that corrects an action of the robot.