Telecamera Needle Tip Detection for Robotic Toxic Substance Handling
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Solution Overview
Problem
Existing machines for automatic manipulation of toxic substances face difficulties in aligning containers with small mouth dimensions due to low precision in detecting the needle tip position, often caused by curvature or damage, making proper insertion impossible.
Innovation Solution
A method and machine that utilize a fixed-focus black-and-white analogical telecamera and image processing to acquire and process images from distinct observation points, determining the needle tip position and inclination through optical triangulation, allowing the robot arm to correct the container's position for precise axial alignment, even with bent needles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a photocell sensor is used for detecting needle tip position, then the device complexity is reduced, but the measurement precision deteriorates
Solution Approach 1:
The patent replaces the mechanical photocell sensor system with an optical imaging system using a telecamera. Instead of using a photocell to detect position, the system uses optical triangulation through image processing to determine the three-dimensional position of the needle tip, achieving higher precision while maintaining reasonable system complexity.
Solution Approach 2:
The patent introduces an optical intermediary system (telecamera and image processing) between the needle and the detection system. By capturing images from multiple viewpoints and processing them computationally, the system achieves precise needle tip position detection without direct contact or simple optical sensing.
2Productivity
If the mouth dimension of container is reduced, then the productivity is improved, but the alignment precision required increases
Solution Approach 1:
The patent replaces mechanical alignment methods with optical measurement and computational processing. By using a telecamera system to capture images from multiple angles and processing these images to determine the precise position and orientation of both the needle and container mouth, the system achieves the high alignment accuracy needed for small container mouths.
Solution Approach 2:
The patent transitions from two-dimensional sensor detection to three-dimensional spatial measurement through optical triangulation. By capturing images from multiple viewpoints and reconstructing the three-dimensional positions of the needle tip and container mouth, the system achieves precise axial alignment even when the container mouth has very small dimensions.
3Adaptability or versatility
If the needle is allowed to be bent due to storage or transport, then the adaptability is improved, but the alignment precision deteriorates
Solution Approach 1:
The patent introduces an optical intermediary system that can detect the actual position of the needle tip regardless of its shape. By using image processing to trace the needle contour and determine the tip position from multiple viewpoints, the system can accurately locate the needle tip even when the needle is bent, maintaining measurement precision while accommodating needle deformations.
Solution Approach 2:
The patent changes the detection parameter from assuming a straight needle geometry to detecting the actual three-dimensional position of the needle tip through optical triangulation. By measuring the apparent position of the needle tip from multiple angles and computing its true spatial location, the system can handle bent needles while maintaining alignment precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Achieves precise axial alignment with an error of less than 0.5 mm, enabling effective insertion and substance transfer even through small or bent needle openings, improving the machine's ability to handle containers with challenging geometries.
Implementation Method 1
acquire and process images from distinct observation points, determining the needle tip position and inclination through optical triangulation
Data Source
AI summary
In a machine for manipulating toxic substances, an anthropomorphic robot transfers a container, which has a mouth closed by a cap made of perforable material, from a magazine for containers to a dosage station, set in which is a syringe provided with a needle, axially aligns the mouth with the needle, correcting the position of the mouth according to the position of the tip of the needle obtained from processing a number of images of the needle acquired from at least two distinct observation points, and finally approaches the container to the syringe in such a way that the needle perforates the cap and penetrates into the container to be able to inject or extract a substance into or out of the container.