Robotic Bin Picking Pose Scanning for Precise Workpiece Placement
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Solution Overview
Problem
Robotic bin picking is challenging due to the high accuracy and precision required, which is often beyond the capabilities of traditional robot programming methods, especially when dealing with hazardous or heavy workpieces.
Innovation Solution
A method and system that associate a workpiece with a robot's end effector, scan the workpiece to determine its pose relative to the robot, and allow for visual verification and adjustment of the pose through a graphical user interface, enabling the robot to pick and place the workpiece by specifying robot poses relative to the workpiece's pose.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robot programming methods are used, then the programming process is simpler, but the accuracy and precision of workpiece pose detection are insufficient
Solution Approach 1:
The patent replaces traditional mechanical teaching methods with an optical scanning system. A scanner captures images of the workpiece, and image processing algorithms automatically determine the workpiece pose, eliminating the need for manual mechanical positioning and teaching, thereby significantly improving measurement precision while reducing programming complexity
Solution Approach 2:
The patent creates a digital copy of the workpiece through scanning. The scanner generates an image representation of the actual workpiece, which is then processed to extract pose information. This digital copy allows for accurate pose detection without physical contact or complex mechanical teaching procedures
2Loss of information
If the robot moves during scanning to teach poses, then more pose information can be collected, but the programming time and complexity increase
Solution Approach 1:
The patent performs preliminary scanning and pose detection before robot execution. The workpiece pose is determined in advance through scanning and image processing, allowing the robot to directly execute the predetermined pose without requiring movement during teaching, thus reducing programming time while maintaining complete pose information
Solution Approach 2:
The scanning system automatically detects and determines the workpiece pose without requiring robot movement or manual intervention. The system serves itself by capturing images, processing them, and extracting pose information autonomously, eliminating the time-consuming process of moving the robot during teaching
3Manufacturing precision
If visual verification and adjustment features are added, then the accuracy of workpiece-end effector relationship improves, but the system complexity increases
Solution Approach 1:
The patent implements a feedback mechanism where the scanned workpiece image and determined pose are displayed on a graphical user interface for visual verification. Users can review the detected pose and make adjustments if needed, creating a closed-loop system that improves accuracy while keeping the interface intuitive and not overly complex
Solution Approach 2:
The patent introduces a graphical user interface as an intermediary between the scanning system and the user. This intermediary layer provides visual feedback and allows for easy adjustment of pose parameters without requiring complex system modifications, bridging the gap between automated scanning and user verification/adjustment
Data Source
AI summary
A method and system for programming picking and placing of a workpiece is provided. Embodiments may include associating a workpiece with an end effector that is attached to a robot and scanning the workpiece while the workpiece is associated with the end effector. Embodiments may also include determining a pose of the workpiece relative to the robot, based upon, at least in part, the scanning.