3D Sensor Workpiece Detection Excluding Inclined Surfaces
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Solution Overview
Problem
Existing workpiece pick-up systems often inaccurately identify positions for picking up workpieces due to incomplete three-dimensional information and incorrect exclusion of irrelevant data points, leading to inefficient and repetitive pick-up operations on inclined surfaces.
Innovation Solution
A workpiece pick-up system that uses a three-dimensional sensor to create groups of points based on predetermined conditions, excludes irrelevant groups, and detects workpieces using detection-purpose points to accurately identify and pick up workpieces positioned higher than a predetermined height.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If three-dimensional information is obtained from an upper side to determine the highest portion for workpiece pickup, then workpiece detection is automated, but detection accuracy deteriorates due to incomplete three-dimensional information and incorrect exclusion of irrelevant data points
Solution Approach 1:
The detection process is segmented into multiple stages: initial three-dimensional point cloud acquisition, grouping of adjacent points into candidate workpiece regions, exclusion of regions not satisfying predetermined conditions (size, area, length references), and final determination of pickup positions. This segmentation allows systematic filtering of irrelevant data while preserving detection automation.
Solution Approach 2:
The system performs preliminary grouping of three-dimensional points into candidate workpiece regions before final detection. By pre-organizing points into groups based on spatial adjacency and applying exclusion criteria in advance, the system eliminates irrelevant data points (such as those from inclined surfaces) before the final detection step, improving accuracy while maintaining automation.
2Measurement precision
If all three-dimensional points are used for workpiece detection, then detection coverage is maximized, but operational efficiency deteriorates due to unnecessary pick-up operations on inclined surfaces
Solution Approach 1:
The system extracts and excludes irrelevant three-dimensional point groups from the total point cloud before workpiece detection. By applying exclusion criteria to remove points corresponding to inclined surfaces and other non-workpiece regions, the system maintains comprehensive detection coverage while eliminating sources of unnecessary operations, thus improving operational efficiency.
Solution Approach 2:
The system converts potentially harmful irrelevant data points (from inclined surfaces) into beneficial exclusion criteria. By identifying and excluding these points through predetermined size, area, and length references, the system transforms what would be sources of error into a refined detection process that improves both accuracy and efficiency.
3Quantity of substance
If adjacent points are grouped without exclusion criteria, then point cloud utilization is maximized, but detection accuracy deteriorates due to inclusion of irrelevant regions
Solution Approach 1:
The system applies different quality criteria to different groups of adjacent points. By evaluating each point group against predetermined conditions (size reference, area reference, length reference), the system identifies and excludes groups with local characteristics inconsistent with workpieces (such as inclined surface regions), while retaining groups that satisfy workpiece characteristics. This local quality assessment maintains high point cloud utilization while improving identification accuracy.
Data Source
AI summary
A workpiece pick up system including: a three-dimensional sensor which is placed at an upper side of a container and which obtains a group of three-dimensional points each of which has height position information in the container, a group creating means which creates a plurality of three-dimensional point groups in each of which adjacent points satisfy a predetermined condition, an exclusion group determining means which determines that one or more three-dimensional point groups which satisfy at least one of a predetermined size reference, a predetermined area reference, and a predetermined length reference are excluded groups, and a workpiece detecting means which obtains a group of detection-purpose three-dimensional points for detecting workpieces by excluding points included in the excluded group from the group of three-dimensional points or the plurality of three-dimensional point groups, and which detects the workpieces to be picked up by using the group of detection-purpose three-dimensional points.