Robot Teaching Tool Tracking for Fast Teaching Point Setting
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Solution Overview
Problem
Setting teaching points for robot apparatuses is a time-consuming process, especially when multiple points are required for complex paths or when the operation tool enters confined spaces, making it difficult for operators to accurately check the position and orientation of the tool.
Innovation Solution
A teaching apparatus equipped with a three-dimensional sensor and processing unit that captures images of a teaching tool or operator's hand to detect feature portions, generating commands to adjust the robot's position and orientation, and calculating an auxiliary coordinate system to set the teaching points efficiently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual teaching point setting is performed by operating a teach pendant for each teaching point, then the position and orientation of the robot can be accurately adjusted, but the operation time becomes excessively long
Solution Approach 1:
The patent replaces the mechanical teach pendant operation system with an optical recognition system using a camera to detect the teaching tool. The camera captures images of the teaching tool, and image processing automatically determines the robot's position and orientation, eliminating the need for manual teach pendant operations while maintaining accuracy.
Solution Approach 2:
The patent uses image copying by capturing visual information of the teaching tool with a camera. The captured image serves as a digital copy that is processed to extract position and orientation data, replacing the need for physical manual adjustment and significantly reducing operation time.
2Adaptability or versatility
If the operation tool enters into enclosed spaces or narrow areas to perform operations, then the robot can access difficult-to-reach positions, but the operator has difficulty viewing the operation tool
Solution Approach 1:
The patent introduces a camera as an intermediary device that captures images of the teaching tool in enclosed spaces. The camera transmits visual information to the operator, serving as a mediator that bridges the gap between the operator's location outside the enclosed space and the teaching tool inside the enclosed space.
Solution Approach 2:
The patent transitions from direct visual observation in three-dimensional space to two-dimensional image representation. The camera captures the teaching tool's position and orientation as a two-dimensional image that can be displayed to the operator, allowing indirect observation of tools in enclosed spaces.
3Adaptability or versatility
If a large number of teaching points are set for complex paths or work programs, then the robot can perform sophisticated operations, but the operation time becomes unacceptably long
Solution Approach 1:
The patent replaces manual mechanical adjustment for each teaching point with automated image processing. The camera continuously captures images of the teaching tool, and automatic image processing algorithms determine position and orientation data, enabling rapid setting of multiple teaching points along complex paths without manual intervention for each point.
Solution Approach 2:
The patent enables continuous teaching operation by maintaining continuous image capture and processing. Instead of stopping to manually adjust the robot for each teaching point, the system continuously captures images and processes them to generate teaching data, maintaining productive action throughout the teaching process.
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 significantly reduces the time required to set teaching points, enabling faster operation and improving accuracy by allowing operators to set multiple points quickly and accurately, even in challenging environments.
Implementation Method 1
a three-dimensional sensor configured to capture an image of a teaching tool or a hand of an operator
Data Source
AI summary
A robot control device is provided with a camera which images a teaching tool which includes a characteristic area, and a characteristic position detection unit which detects the position of the characteristic area. The robot control device includes a movement instruction generating unit which, when an operator has moved the teaching tool, changes the position and orientation of the robot such that the camera follows the characteristic area. The robot control device includes a calculation unit which, on the basis of the position of the characteristic area, calculates the position and orientation of an auxiliary coordinate system set for the teaching tool. The robot control device includes a setting unit which, on the basis of the position and orientation of the auxiliary coordinate system, sets the position of the teaching point and the orientation of the robot at the teaching point.