Robot Tool Control Using Imaging for Curved Trajectory Accuracy
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Solution Overview
Problem
Existing robot systems equipped with tools for precise work, such as liquid droplet discharge, face challenges in accurately following predetermined trajectories due to structural limitations and difficulties in determining target points using optical fibers, leading to inaccuracies in work performance, especially when trajectories include curved or angled portions.
Innovation Solution
A control device that includes a control unit to manage a movable unit within a robot, utilizing a measurement unit to determine the relative distance between the target and the tool, ensuring accurate work along a predetermined trajectory by adjusting the position and orientation of the tool, and optionally correcting teaching points based on imaging data to enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the target point is determined using light received from the optical fiber opening, then the target point can be identified for work, but the opening may move to a position where it is difficult to receive light from the target when the trajectory includes curved or angled portions
Solution Approach 1:
The patent introduces an imaging unit (camera) as an intermediary device to capture images of the target and determine target points based on image processing rather than direct optical fiber measurement. This mediator allows target point determination without requiring the optical fiber opening to be in a specific position relative to the target, resolving the contradiction between measurement precision and light reception reliability.
Solution Approach 2:
The patent replaces the optical fiber-based light measurement system with an imaging-based visual system. Instead of using light received through the optical fiber to determine target points, the system uses images captured by the imaging unit, substituting a mechanical/optical measurement approach with a visual detection approach that is not constrained by the same geometric limitations.
2Ease of operation
If the robot moves the opening to coincide with the dischargeable point on the medium, then the structure allows for work execution, but the opening moves to a position where it is difficult to receive light from the target
Solution Approach 1:
The imaging unit serves as an intermediary that decouples target point determination from the physical position of the opening. The imaging unit captures images and processes them to determine target points independently of where the opening is positioned, allowing the opening to be at the dischargeable point while maintaining accurate target point determination through image-based measurement.
Solution Approach 2:
The patent transitions from a one-dimensional optical measurement approach (requiring specific spatial alignment between the optical fiber and target) to a two-dimensional image-based approach. The imaging unit captures the target in an image plane, allowing target point determination in a different dimensional space that does not require the same geometric constraints as the optical fiber method.
3Device complexity
If the distance between the target point and dischargeable point is determined by structural reasons, then the system structure is simple, but the dischargeable point may not coincide with the target point for curved trajectories
Solution Approach 1:
The patent implements a feedback mechanism where the imaging unit continuously captures images of the target, the control unit processes these images to determine actual target points, and the robot adjusts its trajectory based on this feedback. This closed-loop control allows the system to maintain high trajectory following accuracy without requiring complex mechanical adjustments, resolving the contradiction between structural simplicity and manufacturing precision.
Solution Approach 2:
The patent makes the target point determination dynamic by continuously capturing images and processing them in real-time based on the robot's current position and the target's location. Instead of relying on fixed structural relationships, the system dynamically adjusts target point identification based on actual visual information, allowing accurate following of curved trajectories while maintaining relatively simple system structure.
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
The control device enables the robot to perform work with high accuracy along complex trajectories by maintaining a consistent relative distance and orientation, improving the precision of tasks like liquid droplet discharge or processing on targets.
Implementation Method 1
a measurement unit that measures a measurement value according to a relative distance between a first position of the target and the tool
Data Source
AI summary
A control device includes a processor that is configured to execute computer-executable instructions so as to control an arm included in a robot. The processor is configured to perform work on a target using a tool that performs work on the target. A distance meter measures a measurement value according to a relative distance between a first position of the target and the tool. The first position includes a portion overlapping with the tool when viewed from a direction toward the target from the tool.