Robot Vision Sensor Positioning Without Marker Loss
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Solution Overview
Problem
In existing systems, measuring the position of a vision sensor in a control coordinate system requires changing the relative orientation with respect to an index mark, which can result in the index mark being out of the vision sensor's field of view.
Innovation Solution
A method and device that incrementally change the orientation of the vision sensor or index mark in small and larger increments based on trial measurement positions to accurately determine the real measurement position within the control coordinate system, ensuring the index mark remains in view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the orientation of the vision sensor or index mark is changed by a large amount to improve measurement speed, then productivity is improved, but the index mark may go out of the field of view causing measurement failure
Solution Approach 1:
The patent divides the orientation change process into multiple small incremental steps rather than one large change. The vision sensor or index mark orientation is changed by small amounts repeatedly, with each step allowing the index mark to remain in the field of view while progressively achieving the target orientation for accurate position measurement.
Solution Approach 2:
The patent performs preliminary orientation adjustments using small change amounts before the final measurement. By first making small incremental orientation changes and capturing intermediate image data, the system prepares the vision sensor or index mark in a series of safe, controlled steps that ensure the index mark remains visible throughout the process.
2Reliability
If the orientation is changed incrementally by small amounts to keep the index mark in view, then reliability is improved, but measurement precision may be compromised due to multiple approximation steps
Solution Approach 1:
The patent uses feedback from image data captured at each incremental orientation step to determine whether to continue the orientation change. The system analyzes the position of the index mark in the field of view and uses this information to adjust subsequent orientation changes, ensuring the index mark remains visible while converging on the accurate measurement position.
Solution Approach 2:
The patent employs dynamic adjustment of the orientation change amount, starting with small incremental changes and potentially adjusting the step size based on the measured position and remaining distance to the target orientation. This dynamic approach allows the system to maintain reliability during early steps while improving efficiency and precision as the measurement progresses.
Data Source
AI summary
A processor of a device, for obtaining the position of a visual sensor in a control coordinate system: causes a robot to operate to change the attitude of the visual sensor or a marker by a first amount of change in attitude; obtains the position of the visual sensor in the control coordinate system as a trial measurement position on the basis of image data of the marker captured by the visual sensor before and after the change in the attitude; causes the robot to operate to change the attitude by a second amount of change in attitude that is greater than the first amount of change in attitude; and obtains the position of the visual sensor in the control coordinate system as an actual measurement position on the basis of image data of the marker captured by the visual sensor before and after the change in attitude.