Vision-Based Robot Path Programming
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Solution Overview
Problem
Current methods for programming industrial robots to follow a desired path are time-consuming, inaccurate, and require operators to be within the robot's workspace, posing collision risks and inefficiencies.
Innovation Solution
A method that uses visually acquired information from a workpiece to generate a continuous three-dimensional path, allowing a robot system to move a tool along the path without pre-programming, by extracting data from images and calibration data to synthesize a robot program.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual teaching method is used to program robot path, then the robot can be programmed to follow desired path, but the process is time-consuming and requires operator within robot workspace posing collision risks
Solution Approach 1:
The patent replaces the manual mechanical teaching process with an automated vision-based system. A camera captures images of the workpiece, and image processing algorithms automatically extract geometric features and generate robot path data, eliminating the need for manual operator intervention within the robot workspace.
Solution Approach 2:
The patent introduces a vision system as an intermediary between the workpiece and the robot controller. The vision system captures visual information, processes it to extract path data, and transmits this data to the robot controller, serving as a safe intermediary that eliminates the need for operators to be physically present in the robot workspace during programming.
2Ease of operation
If manual teaching method is used to program robot path, then the robot can be programmed to follow desired path, but the process is difficult and often not accurate enough to yield satisfactory results
Solution Approach 1:
The patent replaces the manual mechanical teaching process with an automated vision-based system. A camera captures images of the workpiece, and image processing algorithms automatically extract geometric features and generate robot path data, eliminating the need for manual operator intervention within the robot workspace.
Solution Approach 2:
The vision system provides feedback by capturing actual workpiece geometry and using this information to automatically generate accurate path data, improving both the ease of operation and the precision of path programming compared to manual methods.
3Adaptability or versatility
If vision system is used for correcting preprogrammed path during robot operation, then deviations between actual desired path and preprogrammed path can be accommodated, but it is necessary to preprogram the robot in conventional manner for each part
Solution Approach 1:
The patent performs preliminary action by capturing images of the workpiece before robot operation and using image processing to pre-extract all necessary path data. This eliminates the need for subsequent path corrections during operation and removes the requirement for conventional preprogramming of each part.
Solution Approach 2:
The patent creates a digital copy of the workpiece geometry through image capture and processing. This visual copy contains all the necessary path information, replacing the need for conventional preprogramming and enabling direct generation of accurate robot paths without manual intervention.
Data Source
AI summary
A method of controlling a robot system includes the steps of providing a tool supported by a moveable mechanism of the robot system, providing a workpiece supported by a holder, generating an image of the workpiece, extracting a data from the image, the data relating to a feature of the workpiece, generating a continuous three-dimensional path along the workpiece using data extracted from the image, and moving the tool along the path.