3D Workpiece Model Registration Without CAD Data
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Solution Overview
Problem
Existing 3D picking technologies face challenges in registering workpiece models without CAD data and require repeated registration of holding postures for parts with common shapes, as well as re-registration of holding positions due to changes in the relative positional relationship between the image capturing unit and the robot.
Innovation Solution
An image processing device and method that creates a workpiece model based on three-dimensional measurement data, sets a model coordinate system, and stores holding data for multiple workpiece models, allowing for three-dimensional search and precise robot operation without CAD data and without re-registering holding positions even when the relative positional relationship changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If CAD data are used to create a workpiece model, then the model coordinate system can be set based on precise CAD data, but it becomes impossible to register the model when CAD data are not on hand
Solution Approach 1:
The patent creates a workpiece model by copying the actual three-dimensional shape data obtained from measurement, rather than relying on CAD data. The workpiece model creating unit generates a model that accurately represents the measured workpiece geometry, enabling registration without requiring original CAD files.
Solution Approach 2:
The patent replaces the CAD data-based coordinate system setting mechanism with a measurement-data-based mechanism. Instead of importing and transforming CAD coordinates, the system directly establishes the model coordinate system from three-dimensional measurement data, substituting the mechanical/CAD-based approach with a measurement-based approach.
2Manufacturing precision
If holding postures are registered for multiple parts with common shapes, then each part can be held accurately, but the operation of setting holding data becomes complicated
Solution Approach 1:
The patent merges the registration process for multiple parts with common shapes into a single unified operation. By identifying common geometric features across multiple parts, the system allows holding data to be registered once for the common shape, automatically applying it to all parts sharing that shape, thereby reducing operational complexity while maintaining precision.
Solution Approach 2:
The patent creates a universal holding data registration mechanism that can handle multiple parts with common shapes through a single registration process. The system identifies geometric commonality and applies the same holding posture data across multiple parts, making the registration process multi-functional rather than requiring separate registrations for each part.
3Ease of operation
If the position for holding the workpiece is registered based on the relationship between master position on image and robot position coordinate, then the holding position can be obtained, but it becomes necessary to register the holding position again when the relative positional relationship between image capturing unit and robot changes
Solution Approach 1:
The patent replaces the image-based master position registration with a three-dimensional measurement-based registration. By copying the actual three-dimensional geometry and establishing the model coordinate system directly from measurement data, the system creates holding position data that is independent of image capturing unit position, eliminating the need for re-registration when positional relationships change.
Solution Approach 2:
The patent substitutes the image-based coordinate relationship mechanism with a three-dimensional measurement-based mechanism. Instead of relying on two-dimensional image coordinates and their relationship to robot positions, the system uses direct three-dimensional measurement data to establish the model coordinate system, creating a more stable foundation that is not affected by changes in image capturing unit or robot positioning.
Data Source
AI summary
A workpiece model is created based on three-dimensionally measured data obtained by performing a three-dimensional measurement on a working space in which the workpieces are loaded in bulk. Holding data including a holding position of the workpiece model and a posture of a holding unit of a robot are set by setting a model coordinate system. The setting of the model coordinate system and the setting of the holding data are repeated while sequentially changing the posture of the workpiece, and multiple pieces of holding data are stored such that the multiple pieces of holding data correspond to the workpiece models. A three-dimensional search process is performed on the obtained three-dimensionally measured data, and an operation of the holding unit of the robot is controlled based on the holding data set to the workpiece model.