Workpiece Picking Device Adaptive Detection
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Solution Overview
Problem
Existing workpiece picking devices face challenges in accurately detecting the size and position of workpieces in a random pile, leading to incorrect detection and potential interference with other objects or equipment, especially when the size difference between workpieces is significant, such as with brake discs.
Innovation Solution
A workpiece picking device that uses an imaging system to detect workpieces based on predetermined features, with a condition setting part that adjusts the detection range by adding a margin to the stored detection results, ensuring accurate selection and positioning of the robot for picking, utilizing a combination of imaging and three-dimensional vision sensors to improve detection reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a wide detection range is used to detect workpieces at various positions, then both workpieces at higher and lower positions can be detected, but the size of the workpiece may be incorrectly detected
Solution Approach 1:
The patent dynamically adjusts the detection threshold based on the detected workpiece size. When a workpiece is detected, the system calculates its size and adjusts the threshold for subsequent detections. This allows the system to maintain a wide detection range while ensuring accurate size measurement by adapting the detection parameters to each specific workpiece.
Solution Approach 2:
The system changes the detection parameter (threshold) based on the detected workpiece characteristics. By modifying the threshold value according to the size of detected workpieces, the system can accurately detect workpieces of varying sizes without compromising measurement precision, thus resolving the contradiction between wide detection range and accurate size detection.
2Adaptability or versatility
If the detection threshold is set to detect workpieces of all sizes, then workpieces at different positions can be detected, but incorrect detection occurs when size difference is large
Solution Approach 1:
The system implements feedback by using the size information of detected workpieces to adjust the detection threshold for subsequent detections. This feedback mechanism ensures that the detection system adapts to the actual workpiece sizes in the pile, maintaining both wide detection coverage and high detection accuracy even when size differences are large.
Solution Approach 2:
The system performs preliminary detection to estimate workpiece sizes before final detection. By initially detecting workpiece size and using this information to set appropriate thresholds, the system ensures accurate detection across varying sizes while maintaining comprehensive coverage.
3Measurement precision
If a stereo visual device is used to obtain correct three-dimensional position information, then accurate position detection is achieved, but the picking device may interfere with other workpieces or equipment when verification fails
Solution Approach 1:
Instead of requiring full stereo verification for all workpieces, the system uses partial verification based on detection confidence and position. When a workpiece is clearly visible and its position can be determined with sufficient accuracy through single-view detection, the system accepts this partial information, avoiding unnecessary stereo verification that could lead to failed detections and subsequent interference issues.
Data Source
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AI summary
A workpiece picking device capable of correctly detecting the size of a workpiece (14). The picking device has a robot (16) capable of picking the same kind of workpieces (14) contained in a work container (12), a robot controller (18) for controlling the robot (16), a video camera (20) positioned above the work container (12) so as to widely image the workpieces (14) and an image processor (22) for processing an image obtained by the video camera (20). The three-dimensional position and posture of each workpiece (14) is measured by a three-dimensional vision sensor (24) arranged on a wrist element of the robot.