Intelligent hand-eye calibration and adaptive correction system and method

By employing multimodal data acquisition and adaptive correction methods, combined with convolutional neural networks and neural networks, the problems of decreased calibration accuracy and fault diagnosis in large robotic arms were solved, achieving high-precision and intelligent fault identification, and improving system stability and maintenance efficiency.

CN121746503AInactive Publication Date: 2026-03-27SHANGHAI DALI ROBOT TECHNOLOGY CO LTD
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Patent Information

Application Number
CN202610224316.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-02-25
Publication Date
2026-03-27
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

Large robotic arms suffer from decreased accuracy due to flexible deformation during calibration, and lack an intelligent fault diagnosis mechanism, affecting visual positioning accuracy and system stability.

Method used

The method employs intelligent hand-eye calibration and adaptive correction, which involves multimodal data acquisition, convolutional neural network identification of marked points, adaptive stiffness model to compensate for flexible deformation, and neural network for fault diagnosis to generate maintenance strategies.

Benefits of technology

It enables real-time compensation for the flexible deformation of the robotic arm, improves calibration accuracy to the millimeter level, supports incremental learning to adapt to aging, reduces maintenance costs, and can automatically identify fault types, thereby improving system availability and reliability.

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Abstract

The invention relates to the field of robot vision positioning, and discloses an intelligent hand-eye calibration and self-adaptive correction system and method. According to the method, a mechanical arm is controlled to drive a camera to collect multi-modal calibration data, a convolutional neural network is utilized to identify a calibration plate mark point, and a three-dimensional coordinate under a camera coordinate system is calculated in combination with depth information; meanwhile, on the basis of an encoder and torque data, flexible deformation of the mechanical arm is compensated through a kinematic model and a self-adaptive rigidity model, and three-dimensional coordinates under a base coordinate system are obtained. And obtaining a hand-eye transformation matrix by solving a transformation relation between the two point sets. And repeatedly calibrating before and after operation, inputting the difference of the two transformation matrixes into the fault diagnosis neural network, outputting fault type probability distribution, and generating a maintenance strategy. According to the invention, high-precision hand-eye calibration, automatic compensation of flexible deformation and intelligent diagnosis of system state change can be realized, so that the long-term precision and reliability of a visual positioning system are improved.
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