Robot Vision Control for Automatic Pose Correction
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Solution Overview
Problem
Existing robot systems face inefficiencies in correcting operations when the stopping position or orientation of movable robots changes, or when the position or orientation of the workpiece or machine changes, requiring manual adjustments and re-teaching to ensure reference points are within the vision sensor's field of view, which is time-consuming and labor-intensive.
Innovation Solution
A controller that calculates a correction amount for the robot's operation using a vision sensor mounted on the movable robot, automatically adjusting the imaging position or orientation of the sensor to correct the robot's operation based on detected shift amounts, eliminating the need for manual adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual adjustment of stopping position or imaging position is performed to ensure reference points are within vision sensor field of view, then the robot operation can be corrected, but the process becomes time-consuming and labor-intensive
Solution Approach 1:
The system performs preliminary calculation of the imaging position and imaging orientation based on the robot's stopping position and stopping orientation before actual imaging occurs. This allows the vision sensor to be pre-positioned correctly, eliminating the need for manual trial-and-error adjustments during the correction process.
Solution Approach 2:
The robot system automatically determines its own imaging parameters by using its stopping position and stopping orientation information to calculate the required imaging position and imaging orientation. This self-service approach eliminates the need for external manual intervention to adjust positions or re-teach imaging parameters.
2Reliability
If manual re-teaching of imaging position or imaging orientation is performed, then the vision sensor can accurately detect reference points, but the operation becomes complex and time-consuming
Solution Approach 1:
The imaging position and imaging orientation are calculated in advance based on the robot's stopping position and stopping orientation. This preliminary calculation ensures that when the vision sensor captures images, the reference points are already positioned correctly within the field of view, eliminating the need for manual re-teaching and reducing operational complexity.
Solution Approach 2:
The manual mechanical adjustment process is replaced by an automated calculation system that uses mathematical relationships between the robot's stopping position/orientation and the required imaging parameters. This substitution transforms a complex manual adjustment task into a straightforward computational process.
3Adaptability or versatility
If the robot stops at different positions or orientations, then it can perform work at various locations, but the reference points may fall outside the vision sensor field of view
Solution Approach 1:
The system dynamically calculates the imaging position and imaging orientation based on the robot's actual stopping position and stopping orientation. This dynamic adjustment ensures that as the robot moves to different locations and orientations, the vision sensor automatically repositions itself to maintain reference points within the field of view, preserving both flexibility and detection accuracy.
Solution Approach 2:
The system uses feedback from the robot's stopping position and stopping orientation to automatically adjust the imaging parameters. This feedback mechanism ensures that the vision sensor adapts to the robot's location, maintaining reliable reference point detection regardless of where the robot stops in the workspace.
Data Source
AI summary
This control device comprises a correction amount calculation unit for calculating a correction amount for an operation of a mobile robot with respect to a work space according to information from a visual sensor mounted on the robot, and a control unit for modifying the imaging position and/or imaging orientation of the visual sensor on the basis of the correction amount and applying a correction to the operation of the robot on the basis of the information from the visual sensor after the modification.