Vision-Guided Following Robot for Moving Article Alignment
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Solution Overview
Problem
Conventional production line systems face challenges in accurately following and performing tasks on moving articles due to oscillations and positional inaccuracies caused by imperfect transfer device alignment and article movement, which affects defect inspection and polishing processes.
Innovation Solution
A work robot system equipped with a movable arm, visual sensors, and a control unit that calculates and adjusts movement commands based on image data to maintain alignment with the article, using servomotors and force sensors to ensure precise positioning and orientation, even during oscillations, and performing tasks like mounting components while following the article's movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot moves along rails at the same speed as the transfer device, then the robot can maintain position relative to the article, but oscillations and positional inaccuracies occur due to imperfect alignment and article movement
Solution Approach 1:
The patent employs visual sensors to continuously detect the article's position and orientation, and a control unit processes this information to generate real-time movement commands that correct deviations from the target position and orientation, forming a closed-loop feedback system that maintains precision despite transfer device imperfections
Solution Approach 2:
The patent replaces reliance on purely mechanical rail-based positioning with a vision-guided control system that uses image processing and calculated movement commands to achieve precise following, substituting mechanical precision requirements with sensor-based detection and software control
2Manufacturing precision
If the visual sensor continuously follows the article to maintain precise positioning, then alignment accuracy improves, but the system complexity increases due to continuous calculation and adjustment requirements
Solution Approach 1:
The control unit performs multiple functions including image processing, feature value calculation, movement command generation, and coordinate transformation within a single integrated component, reducing overall system complexity despite the continuous control requirements
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
The system effectively maintains precise alignment and orientation with the article, reducing errors and ensuring accurate task execution, such as mounting components, even during oscillations and imperfect transfer device alignment, thereby enhancing the efficiency and accuracy of defect inspection and polishing processes.
Implementation Method 1
a feature value detection unit that detects a second feature value regarding at least a current position and a current orientation of the following target, the second feature value being detected using an image obtained by the visual sensors
Data Source
AI summary
A robot includes an arm, one or more visual sensors provided on the arm, a storage unit that stores a first feature value regarding at least a position and an orientation of a following target, the first feature value being stored as target data for causing the visual sensors provided on the arm to follow the following target, a feature value detection unit that detects a second feature value regarding at least a current position and a current orientation of the following target, the second feature value being detected using an image obtained by the visual sensors, a movement amount calculation unit that calculates a movement command for the arm based on a difference between the second feature value and the first feature value, and a movement command unit that moves the arm based on the movement command.