Robot Visual Servoing with Selective Reference Image Acquisition
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Solution Overview
Problem
The manual acquisition of reference images for visual servoing in robotic assembly increases worker workload, and existing methods for automatic acquisition can lead to inefficiencies due to mixed execution and reference image acquisition points.
Innovation Solution
A robot apparatus with an imaging unit and control unit that operates at multiple teaching points, allowing selection between operation modes for visual servoing and reference image acquisition, enabling automatic reference image acquisition where needed and efficient operation mode switching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual acquisition of reference images is used, then reference images can be accurately captured, but worker workload increases
Solution Approach 1:
The robot system performs self-service by automatically acquiring reference images at teaching points without requiring manual intervention from workers. The imaging unit captures images automatically when the robot reaches designated positions, eliminating the need for workers to manually operate the imaging unit while maintaining accurate reference image acquisition.
2Ease of operation
If automatic reference image acquisition is implemented, then worker workload is reduced, but operation efficiency decreases due to mixed execution and reference image acquisition points
Solution Approach 1:
The patent segments the operation modes into distinct categories: reference image acquisition mode and visual servoing execution mode. This segmentation allows the system to efficiently switch between acquiring reference images at teaching points and executing visual servoing operations, preventing the confusion of mixed operations while maintaining automated acquisition benefits.
Solution Approach 2:
The system dynamically switches between different operation modes based on the current task requirements. The control unit changes the operation mode from reference image acquisition to visual servoing execution or vice versa, allowing flexible adaptation to different phases of the robotic task while maintaining high operational efficiency.
3Adaptability or versatility
If multiple operation modes are implemented, then operation flexibility improves, but system complexity increases
Solution Approach 1:
The robot system achieves multi-functionality by integrating both reference image acquisition and visual servoing execution capabilities within a single unified system. The imaging unit and control unit serve dual purposes: capturing reference images during teaching point operations and executing visual servoing control during assembly tasks, thereby achieving operation flexibility without proportionally increasing system complexity.
Data Source
AI summary
A robot apparatus includes a robot with an imaging unit and a control unit that operates at a plurality of teaching points, a processing unit that executes visual servoing based on a reference image and outputs a control signal for controlling the robot in a predetermined section, and a mode selection unit that selects one of a plurality of operation modes as an operation mode of the robot at each of the teaching points, wherein in a case where the mode selection unit selects a first operation mode, the control unit moves the robot to the teaching point and causes the imaging unit to acquire the reference image, and in a case where the mode selection unit selects a second operation mode, the control unit moves the robot to the teaching point and controls the robot in the predetermined section based on the control signal.