Robot Visual Servo Control Using Axial Direction Detection
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Solution Overview
Problem
Visual servoing techniques face challenges in achieving high precision when insufficient features can be extracted from an image, particularly due to the shape of objects or partial visibility of target objects by the camera.
Innovation Solution
A control apparatus comprising an image obtaining unit, an axial direction obtainment unit, a target position detection unit, an operation generation unit, and a control unit that guides a robot to a target position using the axial direction and target position in the image, allowing for precise control even without sufficient image features.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual servoing is performed using traditional feature extraction methods, then the robot can be controlled based on image features, but high precision cannot be achieved when insufficient features are available due to object shape or partial visibility
Solution Approach 1:
The patent changes the detection parameters from traditional feature-based detection to axial direction and target position detection. Instead of relying on multiple image features, the system detects the axial direction of the control target and the target position, then generates operations based on these parameters. This parameter change enables precise control even when traditional feature extraction fails due to insufficient features in the image.
2Measurement precision
If calibration operations are performed to obtain precise position and orientation relationships between robot and camera, then control precision is improved, but the complexity and time required for calibration increases
Solution Approach 1:
The system performs self-calibration by detecting the axial direction and target position directly from the image without requiring external calibration operations. The control apparatus automatically determines the relationship between the robot and camera by analyzing the detected axial direction and target position, eliminating the need for separate calibration procedures and reducing both complexity and time requirements.
3Quantity of substance
If the camera is positioned to capture the target object, then the target can be imaged, but not enough features can be extracted when only a portion of the target appears in the image
Solution Approach 1:
The patent extracts only the essential information needed for control - the axial direction and target position - rather than relying on multiple image features. By focusing on these specific extracted parameters, the system achieves effective control even when the visible target area is limited and traditional feature extraction would yield insufficient features.
Data Source
AI summary
A control apparatus, comprising: an image obtaining unit configured to obtain an image in which a control target that a robot controls and a target position to which the control target is to be moved are imaged by an imaging apparatus that is attached to the robot; an axial direction obtainment unit configured to obtain an axial direction of a rotational axis of the control target; a target position detection unit configured to detect the target position in the image; an operation generation unit configured to generate an operation for the control target so that the target position is present in the axial direction and to further generate an operation by which the control target becomes closer to the target position in the axial direction; and a control unit configured to control the control target in accordance with the operation.