Electronic device for robot-vision calibration, and calibration method using same

Abstract

An electronic device according to embodiments of the present disclosure may comprise a robot assembly, a camera, at least one processor, and a memory for storing instructions. The instructions, when executed individually and / or collectively by the at least one processor, may cause the electronic device to: acquire object information including a height of an object; on the basis of the object information, adjust the robot assembly so that a first working distance between a calibration tool mounted on the robot assembly and the camera matches a second working distance between the object and the camera; in a state where the first working distance and the second working distance match, capture a pattern on the calibration tool by using the camera; acquire a first calibration parameter on the basis of a size of the captured pattern; and acquire a second calibration parameter on the basis of a direction or position of the pattern on the calibration tool in at least one image captured by the camera.

Description

Electronic device for robot-vision calibration and calibration method using the same

[0001] Various embodiments of the present disclosure relate to calibration technology, and more particularly, to an electronic device for robot-vision calibration and a calibration method using the same.

[0002] Recently, robotics technology has been rapidly developing and is being applied to various industrial sectors, contributing to automation and increased efficiency. In particular, robotic systems are being introduced in diverse application fields such as manufacturing, logistics, and healthcare. The latest robots, based on high precision and flexibility, can precisely control their position and movements. By integrating vision systems with robotics, robots can perform even more sophisticated tasks.

[0003] Vision-robot calibration is a technology that accurately identifies and controls the position and movement of a robot using a camera. Vision-robot calibration enables robots to recognize objects, move them to precise locations, and perform high-precision tasks. Conventional vision-robot calibration techniques primarily use calibration tools, such as checkerboard patterns, to align the coordinate systems between the camera and the robot.

[0004] In robotic vision systems, vision-robot calibration determines robot performance. Especially in manufacturing and medical fields requiring high-precision work, calibration accuracy can directly impact product quality and safety. Therefore, establishing precise positional and orientation relationships between the robot and the vision system through vision-robot calibration is essential.

[0005] Various embodiments of the present disclosure can provide an electronic device and a calibration method that increase the work accuracy and efficiency of a robot assembly by matching the working distance between the robot and the vision and setting the pixel resolution and the transformation relationship of the XY coordinate system using a calibration tool.

[0006] An electronic device according to embodiments of the present disclosure may include a robot assembly, a camera, at least one processor, and a memory storing instructions. The instructions, when individually and / or collectively executed by the at least one processor, may cause the electronic device to obtain object information including a height of the object, adjust the robot assembly based on the object information such that a first working distance between a calibration tool mounted on the robot assembly and the camera matches a second working distance between the object and the camera, capture a pattern on the calibration tool with the camera while the first working distance matches the second working distance, obtain a first calibration parameter based on a size of the captured pattern, and obtain a second calibration parameter based on a direction or position of the pattern on the calibration tool in at least one image captured by the camera.

[0007] A calibration method according to embodiments of the present disclosure may include an operation of obtaining object information including a height of the object, an operation of adjusting the robot assembly based on the object information so that a first working distance between a calibration tool mounted on the robot assembly and a camera matches a second working distance between the object and the camera, an operation of capturing a pattern on the calibration tool with the camera while the first working distance matches the second working distance, an operation of obtaining a first calibration parameter based on a size of the captured pattern, and an operation of obtaining a second calibration parameter based on a direction or position of the pattern on the calibration tool in at least one captured image.

[0008] According to various embodiments of the present disclosure, the electronic device and calibration method of the present disclosure can provide accurate information on the position and size of an object and increase the working precision of a robot assembly by matching the working distance between a calibration tool and a camera with the working distance between an object and a camera.

[0009] In addition, the electronic device and calibration method of the present disclosure can accurately control the position and direction of the robot assembly by setting a transformation relationship of the XY coordinate system between the robot assembly and the camera using a captured image according to a change in the position or direction of the calibration tool.

[0010] The effects that can be obtained from the exemplary embodiments of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly derived and understood by those skilled in the art to which the exemplary embodiments of the present disclosure pertain from the following description. In other words, unintended effects resulting from implementing the exemplary embodiments of the present disclosure can also be derived by those skilled in the art from the exemplary embodiments of the present disclosure.

[0011] FIG. 1 is a block diagram illustrating an electronic device within a network environment according to one embodiment of the present disclosure.

[0012] FIG. 2 is a drawing showing an electronic device including a control module, a robot assembly, and a camera according to one embodiment of the present disclosure.

[0013] FIG. 3 is a flowchart illustrating the operation of an electronic device according to one embodiment of the present disclosure.

[0014] FIG. 4 is an exemplary diagram showing a case where the first working distance and the second working distance of an electronic device according to one embodiment of the present disclosure do not match.

[0015] FIG. 5 is a flowchart illustrating an operation of an electronic device according to one embodiment of the present disclosure to match a first working distance and a second working distance.

[0016] FIGS. 6A and 6B are diagrams showing an operation of an electronic device applying a first force to a working surface according to one embodiment of the present disclosure.

[0017] FIG. 7 is a drawing showing an operation of an electronic device according to one embodiment of the present disclosure to move a calibration tool from a work surface.

[0018] FIG. 8 is a diagram illustrating an operation of an electronic device according to one embodiment of the present disclosure to obtain a first calibration parameter.

[0019] FIG. 9 is an exemplary diagram showing a checkerboard included in a calibration tool according to one embodiment of the present disclosure.

[0020] FIG. 10 is a diagram illustrating an operation of an electronic device according to one embodiment of the present disclosure to produce a TCP.

[0021] FIG. 11 is a diagram illustrating an operation of an electronic device according to one embodiment of the present disclosure to obtain a second calibration parameter for an XY coordinate system.

[0022] FIG. 12 is a drawing showing an operation of an electronic device according to one embodiment of the present disclosure to perform calibration when performing actual work on an object.

[0023] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather to include various modifications, equivalents, or substitutes of the embodiments.

[0024] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0025] The singular form of a noun corresponding to an item may include one or more items, unless the context clearly indicates otherwise.

[0026] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0027] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0028] When a component (e.g., a first component) is referred to as being “coupled” or “connected” to another component (e.g., a second component), with or without the terms “functionally” or “communicatively,” it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0029] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0030] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0031] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0032] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0033] The operating principle and embodiments of the present invention will be described with reference to the attached drawings below.

[0034] FIG. 1 is a block diagram illustrating an electronic device (101) within a network environment (100) according to one embodiment of the present disclosure.

[0035] Referring to FIG. 1, in a network environment (100), an electronic device (101) may communicate with an electronic device (102) via a first network (198) (e.g., a short-range wireless communication network), or may communicate with at least one of an electronic device (104) or a server (108) via a second network (199) (e.g., a long-range wireless communication network). According to one embodiment, the electronic device (101) may communicate with the electronic device (104) via the server (108). According to one embodiment, the electronic device (101) may include a processor (120), a memory (130), an input module (150), an audio output module (155), a display module (160), an audio module (170), a sensor module (176), an interface (177), a connection terminal (178), a haptic module (179), a camera module (180), a power management module (188), a battery (189), a communication module (190), a subscriber identification module (196), or an antenna module (197). In some embodiments, the electronic device (101) may omit at least one of these components (e.g., the connection terminal (178)), or may have one or more other components added. In some embodiments, some of these components (e.g., the sensor module (176), the camera module (180), or the antenna module (197)) may be integrated into one component (e.g., the display module (160)).

[0036] The processor (120) may, for example, execute software (e.g., a program (140)) to control at least one other component (e.g., a hardware or software component) of the electronic device (101) connected to the processor (120) and perform various data processing or operations. According to one embodiment, as at least a part of the data processing or operations, the processor (120) may store commands or data received from other components (e.g., a sensor module (176) or a communication module (190)) in a volatile memory (132), process the commands or data stored in the volatile memory (132), and store result data in a non-volatile memory (134). According to one embodiment, the processor (120) may include a main processor (121) (e.g., a central processing unit or an application processor) or an auxiliary processor (123) (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together with the main processor (121). For example, when the electronic device (101) includes the main processor (121) and the auxiliary processor (123), the auxiliary processor (123) may be configured to use less power than the main processor (121) or to be specialized for a given function. The auxiliary processor (123) may be implemented separately from the main processor (121) or as a part thereof.

[0037] The auxiliary processor (123) may control at least a portion of functions or states associated with at least one component (e.g., a display module (160), a sensor module (176), or a communication module (190)) of the electronic device (101), for example, on behalf of the main processor (121) while the main processor (121) is in an inactive (e.g., sleep) state, or together with the main processor (121) while the main processor (121) is in an active (e.g., application execution) state. In one embodiment, the auxiliary processor (123) (e.g., an image signal processor or a communication processor) may be implemented as a part of another functionally related component (e.g., a camera module (180) or a communication module (190)). In one embodiment, the auxiliary processor (123) (e.g., a neural network processing unit) may include a hardware structure specialized for processing artificial intelligence models. The artificial intelligence models may be generated through machine learning. This learning can be performed, for example, on the electronic device (101) itself where the artificial intelligence model is executed, or can be performed through a separate server (e.g., server (108)). The learning algorithm can include, for example, supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, but is not limited to the examples described above. The artificial intelligence model can include multiple artificial neural network layers.The artificial neural network may be one of a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a restricted Boltzmann machine (RBM), a deep belief network (DBN), a bidirectional recurrent deep neural network (BRDNN), a deep Q-network, or a combination of two or more of the above, but is not limited to the examples described above. In addition to, or alternatively to, a hardware structure, an artificial intelligence model may include a software structure.

[0038] The memory (130) can store various data used by at least one component (e.g., processor (120) or sensor module (176)) of the electronic device (101). The data can include, for example, software (e.g., program (140)) and input data or output data for commands related thereto. The memory (130) can include volatile memory (132) or non-volatile memory (134).

[0039] The program (140) may be stored as software in the memory (130) and may include, for example, an operating system (142), middleware (144), or an application (146).

[0040] The input module (150) can receive commands or data to be used in a component of the electronic device (101) (e.g., a processor (120)) from an external source (e.g., a user) of the electronic device (101). The input module (150) can include, for example, a microphone, a mouse, a keyboard, a key (e.g., a button), or a digital pen (e.g., a stylus pen).

[0041] The audio output module (155) can output audio signals to the outside of the electronic device (101). The audio output module (155) can include, for example, a speaker or a receiver. The speaker can be used for general purposes, such as multimedia playback or recording playback. The receiver can be used to receive incoming calls. In one embodiment, the receiver can be implemented separately from the speaker or as part of the speaker.

[0042] The display module (160) can visually provide information to an external party (e.g., a user) of the electronic device (101). The display module (160) may include, for example, a display, a holographic device, or a projector and a control circuit for controlling the device. According to one embodiment, the display module (160) may include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by the touch.

[0043] The audio module (170) can convert sound into an electrical signal, or vice versa, convert an electrical signal into sound. According to one embodiment, the audio module (170) can acquire sound through the input module (150), output sound through the sound output module (155), or an external electronic device (e.g., electronic device (102)) (e.g., speaker or headphone) directly or wirelessly connected to the electronic device (101).

[0044] The sensor module (176) can detect the operating status (e.g., power or temperature) of the electronic device (101) or the external environmental status (e.g., user status) and generate an electrical signal or data value corresponding to the detected status. According to one embodiment, the sensor module (176) can include, for example, a gesture sensor, a gyro sensor, a barometric pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an IR (infrared) sensor, a biometric sensor, a temperature sensor, a humidity sensor, or an illuminance sensor.

[0045] The interface (177) may support one or more designated protocols that may be used to directly or wirelessly connect the electronic device (101) with an external electronic device (e.g., the electronic device (102)). In one embodiment, the interface (177) may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, or an audio interface.

[0046] The connection terminal (178) may include a connector through which the electronic device (101) may be physically connected to an external electronic device (e.g., electronic device (102)). According to one embodiment, the connection terminal (178) may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (e.g., a headphone connector).

[0047] The haptic module (179) can convert electrical signals into mechanical stimuli (e.g., vibration or movement) or electrical stimuli that a user can perceive through tactile or kinesthetic sensations. According to one embodiment, the haptic module (179) can include, for example, a motor, a piezoelectric element, or an electrical stimulation device.

[0048] The camera module (180) can capture still images and videos. According to one embodiment, the camera module (180) may include one or more lenses, image sensors, image signal processors, or flashes.

[0049] The power management module (188) can manage power supplied to the electronic device (101). According to one embodiment, the power management module (188) can be implemented as, for example, at least a part of a power management integrated circuit (PMIC).

[0050] A battery (189) may power at least one component of the electronic device (101). In one embodiment, the battery (189) may include, for example, a non-rechargeable primary battery, a rechargeable secondary battery, or a fuel cell.

[0051] The communication module (190) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (101) and an external electronic device (e.g., electronic device (102), electronic device (104), or server (108)), and the performance of communication through the established communication channel. The communication module (190) may operate independently from the processor (120) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (190) may include a wireless communication module (192) (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (194) (e.g., a local area network (LAN) communication module, or a power line communication module). Among these communication modules, the corresponding communication module can communicate with an external electronic device (104) via a first network (198) (e.g., a short-range communication network such as Bluetooth, wireless fidelity (WiFi) direct, or infrared data association (IrDA)) or a second network (199) (e.g., a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN)). These various types of communication modules can be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips). The wireless communication module (192) can verify or authenticate the electronic device (101) within a communication network such as the first network (198) or the second network (199) by using subscriber information (e.g., an international mobile subscriber identity (IMSI)) stored in the subscriber identification module (196).

[0052] The wireless communication module (192) can support 5G networks and next-generation communication technologies following the 4G network, such as NR access technology (new radio access technology). The NR access technology can support high-speed transmission of high-capacity data (eMBB (enhanced mobile broadband)), minimization of terminal power and connection of multiple terminals (mMTC (massive machine type communications)), or high reliability and low latency (URLLC (ultra-reliable and low-latency communications)). The wireless communication module (192) can support, for example, a high-frequency band (e.g., mmWave band) to achieve a high data transmission rate. The wireless communication module (192) can support various technologies for securing performance in a high-frequency band, such as beamforming, massive multiple-input and multiple-output (MIMO), full dimensional MIMO (FD-MIMO), array antenna, analog beam-forming, or large scale antenna. The wireless communication module (192) can support various requirements specified in the electronic device (101), an external electronic device (e.g., the electronic device (104)), or a network system (e.g., the second network (199)). According to one embodiment, the wireless communication module (192) can support a peak data rate (e.g., 20 Gbps or more) for eMBB realization, a loss coverage (e.g., 164 dB or less) for mMTC realization, or a U-plane latency (e.g., 0.5 ms or less for downlink (DL) and uplink (UL), or 1 ms or less for round trip) for URLLC realization.

[0053] The antenna module (197) can transmit or receive signals or power to or from an external device (e.g., an external electronic device). In one embodiment, the antenna module (197) may include an antenna including a radiator formed of a conductor or a conductive pattern formed on a substrate (e.g., a PCB). In one embodiment, the antenna module (197) may include a plurality of antennas (e.g., an array antenna). In this case, at least one antenna suitable for a communication method used in a communication network, such as the first network (198) or the second network (199), may be selected from the plurality of antennas, for example, by the communication module (190). A signal or power may be transmitted or received between the communication module (190) and an external electronic device via the at least one selected antenna. In some embodiments, in addition to the radiator, another component (e.g., a radio frequency integrated circuit (RFIC)) may be additionally formed as a part of the antenna module (197).

[0054] According to various embodiments, the antenna module (197) may form a mmWave antenna module. In one embodiment, the mmWave antenna module may include a printed circuit board, an RFIC disposed on or adjacent a first side (e.g., a bottom side) of the printed circuit board and capable of supporting a designated high-frequency band (e.g., a mmWave band), and a plurality of antennas (e.g., an array antenna) disposed on or adjacent a second side (e.g., a top side or a side side) of the printed circuit board and capable of transmitting or receiving signals in the designated high-frequency band.

[0055] At least some of the above components can be interconnected and exchange signals (e.g., commands or data) with each other via a communication method between peripheral devices (e.g., a bus, GPIO (general purpose input and output), SPI (serial peripheral interface), or MIPI (mobile industry processor interface)).

[0056] According to one embodiment, commands or data may be transmitted or received between the electronic device (101) and an external electronic device (104) via a server (108) connected to a second network (199). Each of the external electronic devices (102 or 104) may be the same or a different type of device as the electronic device (101). According to one embodiment, all or part of the operations executed in the electronic device (101) may be executed in one or more of the external electronic devices (102, 104, or 108). For example, when the electronic device (101) is to perform a certain function or service automatically or in response to a request from a user or another device, the electronic device (101) may, instead of or in addition to executing the function or service itself, request one or more external electronic devices to perform the function or at least a part of the service. One or more external electronic devices that receive the request may execute at least a portion of the requested function or service, or an additional function or service related to the request, and transmit the result of the execution to the electronic device (101). The electronic device (101) may process the result as is or additionally and provide it as at least a portion of a response to the request. For this purpose, cloud computing, distributed computing, mobile edge computing (MEC), or client-server computing technology may be used, for example. The electronic device (101) may provide an ultra-low latency service by using distributed computing or mobile edge computing, for example. In another embodiment, the external electronic device (104) may include an Internet of Things (IoT) device. The server (108) may be an intelligent server utilizing machine learning and / or a neural network. According to one embodiment, the external electronic device (104) or the server (108) may be included in the second network (199).The electronic device (101) can be applied to intelligent services (e.g., smart home, smart city, smart car, or healthcare) based on 5G communication technology and IoT-related technology.

[0057] Hereinafter, in the present disclosure, an electronic device may refer to an electronic system in which a control module, a robot assembly, and / or a camera are combined. The control module may control the robot assembly and / or the camera. The robot assembly may be used to change the position of an external object. The camera may be used to identify the target position of the external object. For example, to automate the process of assembling parts or moving objects, the electronic device may use a combination of the control module, the robot assembly, and / or the camera. For example, the electronic device may be referred to as a robot-vision system. The electronic device may perform calibration of the relationship between the robot assembly and the camera for a more accurate process.

[0058] FIG. 2 is a diagram illustrating an electronic device (101) including a control module (210), a robot assembly (220), and / or a camera (230) according to one embodiment of the present disclosure.

[0059] Referring to FIG. 2, the electronic device (101) may include at least one of a control module (210), a robot assembly (220), or a camera (230).

[0060] The control module (210) can control the robot assembly (220) and / or the camera (230). For example, the control module (210) can include at least one processor (e.g., the processor (120) of FIG. 1) and / or a memory (e.g., the memory (130) of FIG. 1) that stores instructions. The control module (210) can transmit a control signal to the robot assembly (220) that controls the operation of the robot assembly (220). The control module (210) can receive an image signal from the camera (230). For example, the control module (210) can perform robot-vision calibration based on the image signal.

[0061] The robot assembly (220) may include a robot base (221), an arm section (222) including at least one joint and at least one link, a flange (223) connected to the arm section (222), a force torque sensor (224) connected to the flange (223), and an end effector connected to the force torque sensor (224). For example, the end effector may be a calibration tool (225).

[0062] The robot base (221) may be a component that serves as the foundation of the robot assembly (220). For example, the robot base (221) may support the weight of the robot and minimize vibrations generated during operation, thereby providing a stable working environment. For example, a fixed robot base (221) may be fixed in one location and operated. For example, a mobile robot base (221) may be used to move the robot assembly (220) to various work locations.

[0063] The arm section (222) is the main moving part of the robot and is composed of joints and links to implement various movements of the robot. The arm section (222) may include at least one joint and at least one link. The joint may be configured to connect each part of the robot assembly (220) and enable rotational or linear movement. For example, the joint may include at least one of a rotational joint or a linear joint. The link may be a part that connects joints and joints and may be each segment that constitutes the arm of the robot assembly (220). For example, the working range and operating efficiency of the robot assembly (220) may be determined depending on the length and structure of the link.

[0064] The flange (223) is located at the end of the robot arm and can connect a force torque sensor (224) and an end effector. For example, the flange (223) can include an interface that allows for easy mounting and replacement of various types of components (e.g., force torque sensor (224), end effector).

[0065] The force torque sensor (224) can measure the force and torque detected by the robot assembly (220) during operation. For example, the robot assembly (220) can transmit the force and torque detected by the force torque sensor (224) to the control module (210). For example, the force torque sensor (224) can sense the force and torque using at least one of a strain gauge method, a piezoresistive method, a capacitive method, a piezoelectric method, an optical fiber method, or a magnetostriction method.

[0066] An end effector may be a tool mounted at the end of a robot arm and used to perform actual tasks. The type of end effector may vary, including devices such as grippers, welders, drills, and / or suction pads, and may be selected based on the purpose of the task being performed. For example, when acquiring (or generating) calibration parameters, the end effector may be a calibration tool (225).

[0067] The camera (230) can capture the surrounding environment of the camera (230). For example, the camera (230) can obtain information about the environment based on the characteristics of the camera (230) (e.g., field of view). For example, the information can include a video or an image. In FIG. 2, an electronic device (101) including one camera (230) is illustrated, but the present disclosure is not limited thereto. For example, the electronic device (101) can include multiple cameras (230). When the electronic device (101) includes one camera (230), information about the position and / or posture of an object in a two-dimensional (2D) space can be obtained. When the electronic device (101) includes multiple cameras (230), information about the position and / or posture of an object in a three-dimensional (3D) space can be obtained.

[0068] The electronic device (101) of the present disclosure can provide accurate information on the position and size of the object (1) and increase the working precision of the robot assembly (220) by matching the working distance between the calibration tool (225) and the camera (230) with the working distance between the object (1) and the camera (230). The object (1) can be positioned on the working surface (3) on the worktable (2).

[0069] The electronic device (101) and calibration method of the present disclosure can accurately control the position and / or direction of the robot assembly (220) by setting a transformation relationship of the XY coordinate system between the robot assembly (220) and the camera (230) using a captured image according to a change in the position and / or direction of the calibration tool (225).

[0070] FIG. 3 is a flowchart showing the operation of an electronic device (101) according to one embodiment of the present disclosure.

[0071] Referring to FIG. 3, the electronic device (101) obtains object information including the height of an object (e.g., object (1) of FIG. 2) (operation 310), and, based on the object information, adjusts the robot assembly (operation 320) so that a first working distance (WD1) between a calibration tool (e.g., calibration tool (225) of FIG. 2) and a camera (e.g., camera (230) of FIG. 2) mounted on the robot assembly matches a second working distance (WD2) between the object (1) and the camera (230), and, in a state where the first working distance (WD1) and the second working distance (WD2) match, captures a pattern on the calibration tool (225) with the camera (230) (operation 330), obtains a first calibration parameter based on the size of the captured pattern (operation 340), and calculates the calibration parameter from at least one image captured by the camera (230). A second calibration parameter can be obtained (operation 350) based on the direction or position of the pattern on the tool (225).

[0072] According to an example, in operation 310, the electronic device (101) may obtain object information including at least one of an object weight or an object height. For example, the object information may include an object weight or an object height. The object weight may represent the weight of the object (1). For example, the object weight may be a physical quantity obtained by multiplying the mass of the object (1) by the acceleration of gravity. The object height may represent the thickness of the object (1).

[0073] The electronic device (101) can sense object information using at least one sensor. For example, the electronic device (101) can sense the weight of an object using a weight sensor. For example, the electronic device (101) can sense the height of an object using a height sensor.

[0074] The electronic device (101) can obtain object information from an external server. For example, the electronic device (101) can receive object weight or object height by querying object information from a database stored in the external server. For example, the electronic device (101) can obtain object information by receiving user input regarding object weight or object height from the external server.

[0075] According to an example, in operation 320, the electronic device (101) can match the first working distance (WD1) and the second working distance (WD2). Based on the object information, the electronic device (101) can match the first working distance (WD1) between the calibration tool (225) and the camera (230) with the second working distance (WD2) between the object (1) and the camera (230). Hereinafter, operation 320 of the electronic device (101) will be described in detail with reference to FIGS. 4 to 7.

[0076] FIG. 4 is an exemplary diagram showing a case where the first working distance (WD1) and the second working distance (WD2) of an electronic device (101) according to one embodiment of the present disclosure do not match.

[0077] Referring to FIG. 4, an error may occur between the working distance during the process of acquiring calibration parameters and the working distance during the process of performing calibration. For example, when the electronic device (101) performs calibration, the first working distance (WD1) between the calibration tool (225) and the camera (230) and the second working distance (WD2) between the object (1) and the camera (230) may vary depending on the weight or height of the object.

[0078] For example, an object (1) has a predetermined weight, and the height of a work surface (3) on a workbench (2) may vary depending on the material properties. For example, since the object (1) has a predetermined height, the position of the calibration tool (225) needs to be adjusted according to the object height. Meanwhile, if a user manually adjusts the calibration tool (225), human error may occur due to the user's operation.

[0079] FIG. 5 is a flowchart showing an operation of an electronic device (101) according to one embodiment of the present disclosure to match a first working distance (WD1) and a second working distance (WD2).

[0080] Referring to FIG. 5, the electronic device (101) can apply a first force (F1) in a first direction to the work surface (3) using a calibration tool (225) (operation 510) and move the calibration tool (225) a first distance (D1) in a second direction opposite to the first direction (operation 520).

[0081] According to an example, in operation 510, the electronic device (101) may apply a first force (F1) in a first direction to the work surface (3) using the calibration tool (225). For example, the electronic device (101) may apply a first force (F1) in a first direction equal to the weight of the object to the work surface (3) using the calibration tool (225) based on a force sensing value acquired using the force torque sensor (224). Hereinafter, operation 510 will be described with reference to FIGS. 6A and 6B.

[0082] FIGS. 6A and 6B are drawings showing an operation of an electronic device (101) applying a first force (F1) to a working surface (3) according to one embodiment of the present disclosure.

[0083] Referring to FIGS. 6A and 6B, the robot assembly (220) may include a force / torque sensor (224). The force / torque sensor (224) may measure forces and torques detected by the robot assembly (220) during operation. For example, the force / torque sensor (224) may include at least one of a strain gauge force / torque sensor, a piezoresistive force / torque sensor, a capacitive force / torque sensor, a piezoelectric force / torque sensor, a fiber optic force / torque sensor, or a magnetostrictive force / torque sensor.

[0084] The electronic device (101) can sense the force that the calibration tool (225) applies to the work surface (3) using the force torque sensor (224). For example, the electronic device (101) can determine whether the first force (F1) that the calibration tool (225) applies to the work surface (3) is equal to the weight of the object. For example, as shown in FIG. 6B, the electronic device (101) can increase the force that it applies to the work surface (3) until the first force (F1) is equal to the weight of the object. (For example, from the section t1 to t2) The electronic device (101) can maintain the magnitude of the first force (F1) when the first force (F1) becomes equal to the weight of the object. (For example, from the section t2 to t3)

[0085] The electronic device (101) can apply a first force in a first direction corresponding to the weight of the object included in the object information to the work surface on which the object is placed using the calibration tool (225), based on a force sensing value obtained using the force torque sensor (224) mounted on the robot assembly (220). When the electronic device (101) applies the first force (F1) to the work surface (3), the work surface (3) can be maintained in the same state as when the object (1) presses the work surface (3) due to the weight of the object. That is, when the electronic device (101) applies the first force (F1) to the work surface (3), a work distance error due to the weight of the object can be prevented.

[0086] According to an example, in operation 520, the electronic device (101) can move the calibration tool (225) a first distance (D1) in a second direction opposite to the first direction. For example, the electronic device (101) can move the calibration tool (225) a first distance (D1) corresponding to the height of the object in the second direction opposite to the first direction while the first force (F1) is applied to the work surface (3). The first distance (D1) may be equal to the height of the object (1). Hereinafter, operation 520 will be described with reference to FIG. 7.

[0087] FIG. 7 is a drawing showing an operation of an electronic device (101) according to one embodiment of the present disclosure to move a calibration tool (225) from a work surface (3).

[0088] Referring to FIG. 7, the electronic device (101) can move the calibration tool (225) by the object height included in the object information while the first force (F1) is applied to the work surface (3). By moving the first distance (D1) equal to the object height, the first working distance (WD1) between the calibration tool (225) and the camera (230) and the second working distance (WD2) between the object (1) and the camera (230) can be made to match.

[0089] That is, the electronic device (101) of the present disclosure can provide accurate information on the position and size of the object (1) and increase the working precision of the robot assembly (220) by matching the working distance between the calibration tool (225) and the camera (230) with the working distance between the object (1) and the camera (230).

[0090] According to an example, in operation 330, the electronic device (101) can capture a pattern on the calibration tool (225) with the camera (230) while the first working distance (WD1) and the second working distance (WD2) are matched.

[0091] In one example, at operation 340, the electronic device (101) may obtain a first calibration parameter based on the size of the captured pattern. The first calibration parameter may be a calibration parameter for pixel resolution.

[0092] Hereinafter, operations 330 and 340 of the electronic device (101) will be described in detail with reference to FIGS. 8 and 9.

[0093] FIG. 8 is a diagram showing an operation of an electronic device (101) according to one embodiment of the present disclosure to obtain a first calibration parameter, and FIG. 9 is an exemplary diagram showing a checkerboard included in a calibration tool (225) according to one embodiment of the present disclosure.

[0094] As shown in (a) of FIG. 8, the electronic device (101) can store a captured image taken of the calibration tool (225) by the camera (230). As shown in (b) of FIG. 8, the captured image can include information about x pixels and information about y pixels centered on the calibration tool (225). Here, the information about x pixels and the information about y pixels can be pixel resolutions identified by the camera (230).

[0095] Referring to FIG. 9, the calibration tool (225) may include a checkerboard. The checkerboard may include a pattern having a predetermined shape and a predetermined size.

[0096] For example, as shown in (a) of FIG. 9, the pattern on the checkerboard of the calibration tool (225) may be a pattern (P1) in which white squares and black squares are repeated. For example, as shown in (b) of FIG. 9, the pattern on the checkerboard of the calibration tool (225) may be a pattern (P2) in which black circles are regularly arranged on a white background. For example, as shown in (c) of FIG. 9, the pattern on the checkerboard of the calibration tool (225) may be a pattern (P3) in which irregular shapes are irregularly arranged.

[0097] The electronic device (101) can calculate the pixel resolution by analyzing the size of the pattern on the checkerboard in the captured image. Here, the pixel resolution calculated by the electronic device (101) may be the actual pixel resolution of the checkerboard of the calibration tool (225). For example, the pattern on the checkerboard may include markers indicating physical length and physical size. For example, the electronic device (101) can calculate the actual pixel resolution based on the size of the pattern on the checkerboard.

[0098] The electronic device (101) can obtain a first calibration parameter by comparing the actual pixel resolution with the pixel resolution of the camera (230). For example, the electronic device (101) can obtain the first calibration parameter for correcting at least one of a focal length, an optical center, or a distortion coefficient based on the actual pixel resolution. The electronic device (101) can perform a correction to match the pixel resolution of the camera (230) to the actual pixel resolution using the first calibration parameter.

[0099] According to an example, in operation 350, the electronic device (101) can obtain a second calibration parameter based on the direction or position of the pattern on the calibration tool (225) from at least one image captured by the camera (230). For example, the electronic device (101) can obtain a second calibration parameter for the transformation relationship of the XY coordinate system between the robot assembly (220) and the camera (230) by using a plurality of the captured images according to a change in the position or direction of the calibration tool (225). Hereinafter, operation 350 of the electronic device (101) will be described in detail with reference to FIGS. 10 and 11.

[0100] FIG. 10 is a diagram showing an operation of an electronic device (101) according to one embodiment of the present disclosure to calculate a TCP (Tool Center Point).

[0101] Referring to FIG. 10, the electronic device (101) can calculate a TCP for an XY coordinate system. The TCP may refer to a center point of an end effector (e.g., a calibration tool (225)). The electronic device (101) can obtain an XY coordinate system with the TCP as an origin. For example, the electronic device (101) can store at least three capture images (e.g., capture image 1, capture image 2, capture image 3) taken of the calibration tool (225) by the camera (230) while changing the angle of the calibration tool (225). For example, based on the first capture image (capture image 1), the second capture image (capture image 2) may have an angle of the calibration tool (225) changed by 45°. For example, based on the first capture image (capture image 1), the angle of the calibration tool (225) may be changed by 90° in the third capture image (capture image 3).

[0102] The electronic device (101) can calculate a TCP based on the at least three captured images. For example, the electronic device (101) can detect intersections (e.g., corners) from the at least three captured images. For example, the electronic device (101) can use a corner detection algorithm (e.g., Harris Corner Detector, Shi-Tomasi Corner Detector) to detect intersections. The electronic device (101) can calculate pixel coordinates of the detected intersections. The electronic device (101) can calculate a TCP by integrating the coordinates of the detected intersections into a single coordinate set.

[0103] FIG. 11 is a diagram illustrating an operation of an electronic device (101) according to one embodiment of the present disclosure to obtain a second calibration parameter for an XY coordinate system.

[0104] Referring to FIG. 11, the electronic device (101) can store at least three capture images (e.g., capture image 1, capture image 4, capture image 5) taken of the calibration tool (225) by the camera (230) while changing the position of the calibration tool (225). For example, based on the first capture image (capture image 1), the position of the calibration tool (225) can be moved in the Y-axis direction in the fourth capture image (capture image 4). For example, based on the first capture image (capture image 1), the position of the calibration tool (225) can be moved in the X-axis direction in the fifth capture image (capture image 5).

[0105] The electronic device (101) can define the X-axis and the Y-axis with respect to the TCP based on the at least three captured images. For example, the electronic device (101) can define the Y-axis with respect to the TCP based on a change in the position of the calibration tool (225) between the first captured image and the fourth captured image. For example, the electronic device (101) can define the X-axis with respect to the TCP based on a change in the position of the calibration tool (225) between the first captured image and the fifth captured image.

[0106] The electronic device (101) can calculate a transformation matrix from the XY coordinate system of the camera (230) to the XY coordinate system of the robot assembly (220) based on the TCP, the X-axis, and the Y-axis. For example, the transformation matrix can include a rotation matrix R and a transformation vector t. For example, the rotation matrix R can represent a rotation between the coordinate system of the camera (230) and the coordinate system of the robot assembly (220). For example, the transformation vector t can represent a parallel movement between the coordinate system of the camera (230) and the coordinate system of the robot assembly (220).

[0107] The electronic device (101) can obtain the second calibration parameter including the transformation relationship of the XY coordinate system between the robot assembly (220) and the camera (230) based on the transformation matrix. The electronic device (101) can perform a correction to match the XY coordinate system of the camera (230) to the XY coordinate system of the robot assembly (220) using the second calibration parameter.

[0108] FIG. 12 is a drawing showing an operation of an electronic device (101) performing calibration when performing actual work on an object (1) according to one embodiment of the present disclosure.

[0109] Referring to FIG. 12, when performing a predetermined task on the object (1), the electronic device (101) can perform robot-vision calibration. For example, when performing a predetermined task on the object (1), the electronic device (101) can perform a first calibration that adjusts the pixel resolution of the camera (230) based on a first calibration parameter. For example, when performing a predetermined task on the object (1), the electronic device (101) can perform a second calibration that aligns at least one of the TCP, the X-axis, or the Y-axis between the robot assembly (220) and the camera (230) based on a second calibration parameter.

[0110] In this way, the electronic device (101) and calibration method of the present disclosure can provide accurate information on the position and size of the object (1) and increase the working precision of the robot assembly (220) by matching the working distance between the calibration tool (225) and the camera (230) with the working distance between the object (1) and the camera (230).

[0111] In addition, the electronic device (101) and calibration method of the present disclosure can accurately control the position and direction of the robot assembly (220) by setting a transformation relationship of the XY coordinate system between the robot assembly (220) and the camera (230) using a captured image according to a change in the position or direction of the calibration tool (225).

[0112] The term "module" used in various embodiments of this document may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be an integral component, or a minimum unit or part of such a component that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC).

[0113] According to various embodiments, each component (e.g., a module or a program) of the above-described components may include one or more entities, and some of the entities may be separated and placed in other components. According to various embodiments, one or more components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (e.g., a module or a program) may be integrated into a single component. In such a case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. According to various embodiments, the operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

[0114] An electronic device according to embodiments of the present disclosure may include a robot assembly, a camera, at least one processor, and a memory storing instructions. The instructions, when individually and / or collectively executed by the at least one processor, may cause the electronic device to obtain object information including a height of an object, adjust the robot assembly based on the object information such that a first working distance between a calibration tool mounted on the robot assembly and the camera matches a second working distance between the object and the camera, capture a pattern on the calibration tool with the camera while the first working distance matches the second working distance, obtain a first calibration parameter based on a size of the captured pattern, and obtain a second calibration parameter based on a direction or position of the pattern on the calibration tool in at least one image captured by the camera.

[0115] In one embodiment, when performing an operation on the object, the instructions, when individually and / or collectively executed by the at least one processor, may cause the electronic device to perform a first calibration that adjusts the pixel resolution of the camera based on the first calibration parameter, and to perform a second calibration that aligns at least one of a Tool Center Point (TCP), an X-axis, or a Y-axis between the robot assembly and the camera based on the second calibration parameter.

[0116] In one embodiment, the robot assembly may include a robot base, an arm section including at least one joint and at least one link, a flange connected to the arm section, a force torque sensor connected to the flange, and an end effector connected to the force torque sensor.

[0117] In one embodiment, in order to adjust the robot assembly so that the first working distance and the second working distance match, the instructions, when individually and / or collectively executed by the at least one processor, may cause the electronic device to apply a first force in a first direction corresponding to the weight of the object included in the object information to the working surface on which the object is placed using the calibration tool based on a force sensing value obtained using a force torque sensor mounted on the robot assembly, and to move the calibration tool a first distance corresponding to the height of the object in a second direction opposite to the first direction while the first force is applied to the working surface.

[0118] In one embodiment, the at least one force / torque sensor may include at least one of a strain gauge force / torque sensor, a piezoresistive force / torque sensor, a capacitive force / torque sensor, a piezoelectric force / torque sensor, a fiber optic force / torque sensor, or a magnetostrictive force / torque sensor.

[0119] In one embodiment, the instructions, when individually and / or collectively executed by the at least one processor, may cause the electronic device to store a captured image of the calibration tool taken by the camera, analyze a size of the pattern in the captured image to calculate the pixel resolution, and obtain the first calibration parameter that corrects at least one of a focal length, an optical center, or a distortion coefficient based on the pixel resolution.

[0120] In one embodiment, the calibration tool may include a checkerboard. The checkerboard may include a pattern having a predetermined shape and a predetermined size.

[0121] In one embodiment, the instructions, when individually and / or collectively executed by the at least one processor, may cause the electronic device to store at least three captured images of the calibration tool taken by the camera while changing an angle of the calibration tool, and to calculate a Tool Center Point (TCP) based on the at least three captured images.

[0122] In one embodiment, the instructions, when individually and / or collectively executed by the at least one processor, may cause the electronic device to store at least three captured images of the calibration tool taken by the camera while changing the position of the calibration tool, define an X-axis and a Y-axis with respect to a TCP based on the at least three captured images, calculate a transformation matrix from an XY coordinate system of the camera to an XY coordinate system of the robot assembly based on the TCP, the X-axis, and the Y-axis, and obtain the second calibration parameter including a transformation relationship of the XY coordinate system between the robot assembly and the camera based on the transformation matrix.

[0123] A calibration method according to embodiments of the present disclosure may include an operation of obtaining object information including a height of an object, an operation of adjusting a robot assembly based on the object information such that a first working distance between a calibration tool mounted on the robot assembly and a camera matches a second working distance between the object and the camera, an operation of capturing a pattern on the calibration tool with the camera while the first working distance matches the second working distance, an operation of obtaining a first calibration parameter based on a size of the captured pattern, and an operation of obtaining a second calibration parameter based on a direction or position of the pattern on the calibration tool in at least one image captured by the camera.

[0124] In one embodiment, the calibration method according to embodiments of the present disclosure may further include an operation of performing calibration when performing a task on the object. The operation of performing calibration may include an operation of performing a first calibration to adjust the pixel resolution of the camera based on the first calibration parameter, and an operation of performing a second calibration to match at least one of a Tool Center Point (TCP), an X-axis, or a Y-axis between the robot assembly and the camera based on the second calibration parameter.

[0125] In one embodiment, the robot assembly may include a robot base, an arm section including at least one joint and at least one link, a flange connected to the arm section, a force torque sensor connected to the flange, and an end effector connected to the force torque sensor.

[0126] In one embodiment, the operation of matching the first working distance with the second working distance may include an operation of applying a first force in a first direction corresponding to the weight of the object included in the object information to the working surface on which the object is placed using the calibration tool based on a force sensing value obtained using a force torque sensor mounted on the robot assembly, and an operation of moving the calibration tool in a second direction opposite to the first direction a first distance corresponding to the height of the object while the first force is applied to the working surface.

[0127] In one embodiment, the at least one force / torque sensor may include at least one of a strain gauge force / torque sensor, a piezoresistive force / torque sensor, a capacitive force / torque sensor, a piezoelectric force / torque sensor, a fiber optic force / torque sensor, or a magnetostrictive force / torque sensor.

[0128] In one embodiment, the operation of obtaining the first calibration parameter may include the operation of storing a captured image of the calibration tool with the camera, the operation of calculating the pixel resolution by analyzing the size of the pattern in the captured image, and the operation of obtaining the first calibration parameter that corrects at least one of a focal length, an optical center, or a distortion coefficient based on the pixel resolution.

[0129] In one embodiment, the calibration tool may include a checkerboard. The checkerboard may include a pattern having a predetermined shape and a predetermined size.

[0130] In one embodiment, the operation of obtaining the second calibration parameter may include an operation of storing at least three captured images of the calibration tool taken by the camera while changing an angle of the calibration tool, and an operation of calculating a Tool Center Point (TCP) based on the at least three captured images.

[0131] In one embodiment, the operation of obtaining the second calibration parameter may include an operation of storing at least three captured images of the calibration tool taken by the camera while changing the position of the calibration tool, an operation of defining an X-axis and a Y-axis with respect to a TCP based on the at least three captured images, an operation of calculating a transformation matrix from an XY coordinate system of the camera to an XY coordinate system of the robot assembly based on the TCP, the X-axis, and the Y-axis, and an operation of obtaining the second calibration parameter including a transformation relationship of the XY coordinate system between the robot assembly and the camera based on the transformation matrix.

Claims

1. In an electronic device (101) for calibration of a robot manipulating an object, Robot assembly (220); Camera (230); At least one processor (120); and It includes a memory (130) for storing commands, The above instructions, when individually and / or collectively executed by the at least one processor, cause the electronic device to: Obtain object information including the height of the object, Based on the object information, the robot assembly is adjusted so that the first working distance between the calibration tool (225) mounted on the robot assembly and the camera matches the second working distance between the object and the camera. In a state where the first working distance and the second working distance are matched, the pattern on the calibration tool is captured with the camera, Obtain the first calibration parameter based on the size of the above captured pattern, Causing a second calibration parameter to be obtained based on the direction or position of the pattern on the calibration tool in at least one image captured by the camera; Electronic devices.

2. In paragraph 1, When performing a task on the object, the instructions, when individually and / or collectively executed by the at least one processor, cause the electronic device to: Performing a first calibration to adjust the pixel resolution of the camera based on the first calibration parameter; Causing a second calibration to be performed to align at least one of the TCP (Tool Center Point), X-axis, or Y-axis between the robot assembly and the camera based on the second calibration parameter; Electronic devices.

3. In paragraph 1 or 2, The above robot assembly, robot base; A female section comprising at least one joint and at least one link; A flange connected to the above female section; a force torque sensor connected to the above flange; and an end effector connected to the force torque sensor; Electronic devices.

4. In any one of paragraphs 1 to 3, To adjust the robot assembly so that the first working distance and the second working distance are identical, the instructions, when individually and / or collectively executed by the at least one processor, cause the electronic device to: Based on the force sensing value obtained using the force torque sensor mounted on the robot assembly, a first force in a first direction corresponding to the weight of the object included in the object information is applied to the work surface on which the object is placed using the calibration tool, In a state where the first force is applied to the work surface, causing the calibration tool to move a first distance corresponding to the height of the object in a second direction opposite to the first direction, Electronic devices.

5. In paragraph 3 or 4, At least one force torque sensor, At least one of a strain gauge force / torque sensor, a piezoresistive force / torque sensor, a capacitive force / torque sensor, a piezoelectric force / torque sensor, a fiber optic force / torque sensor, or a magnetostrictive force / torque sensor, Electronic devices.

6. In any one of paragraphs 1 to 5, The above instructions, when individually and / or collectively executed by the at least one processor, cause the electronic device to: Save the captured image taken by the calibration tool with the above camera, By analyzing the size of the pattern in the captured image, the pixel resolution is calculated, Causing to obtain the first calibration parameter that corrects at least one of a focal length, an optical center, or a distortion coefficient based on the pixel resolution; Electronic devices.

7. In any one of paragraphs 1 to 6, The above instructions, when individually and / or collectively executed by the at least one processor, cause the electronic device to: While changing the angle of the calibration tool, save at least three captured images of the calibration tool taken by the camera, Causing the TCP to be calculated based on at least three captured images, Electronic devices.

8. In any one of paragraphs 1 to 7, The above instructions, when individually and / or collectively executed by the at least one processor, cause the electronic device to: While changing the position of the calibration tool, save at least three captured images of the calibration tool taken by the camera, Defining the X-axis and the Y-axis based on the TCP based on the at least three captured images, Calculate a transformation matrix from the XY coordinate system of the camera to the XY coordinate system of the robot assembly based on the TCP, the X-axis, and the Y-axis, Causing the second calibration parameter to be obtained, which includes a transformation relationship of the XY coordinate system between the robot assembly and the camera based on the transformation matrix. Electronic devices.

9. A method for calibrating a robot that manipulates an object, An operation of obtaining object information including the height of the object; An operation of adjusting the robot assembly based on the object information so that a first working distance between a calibration tool mounted on the robot assembly and a camera matches a second working distance between the object and the camera; An operation of capturing a pattern on the calibration tool with the camera while the first working distance and the second working distance are matched; An operation of obtaining a first calibration parameter based on the size of the captured pattern; and An operation of obtaining a second calibration parameter based on a direction or position of the pattern on the calibration tool in at least one image captured by the camera; How to calibrate.

10. In paragraph 9, When performing an operation on the above object, further comprising an operation of performing calibration; The operation to perform the above calibration is: An operation of performing a first calibration for adjusting the pixel resolution of the camera based on the first calibration parameter; and An operation of performing a second calibration to match at least one of the TCP (Tool Center Point), X-axis, or Y-axis between the robot assembly and the camera based on the second calibration parameter; How to calibrate.

11. In paragraph 9 or 10, The above robot assembly, robot base; A female section comprising at least one joint and at least one link; A flange connected to the above female section; a force torque sensor connected to the above flange; and an end effector connected to the force torque sensor; How to calibrate.

12. In any one of paragraphs 9 to 11, The operation of matching the above first working distance with the above second working distance is: An operation of applying a first force in a first direction corresponding to the weight of the object included in the object information to the work surface on which the object is placed using the calibration tool based on a force sensing value obtained using a force torque sensor mounted on the robot assembly; and An operation of moving the calibration tool in a second direction opposite to the first direction a first distance equal to the height of the object while the first force is applied to the work surface; How to calibrate.

13. In paragraph 11 or 12, At least one force torque sensor, At least one of a strain gauge force / torque sensor, a piezoresistive force / torque sensor, a capacitive force / torque sensor, a piezoelectric force / torque sensor, a fiber optic force / torque sensor, or a magnetostrictive force / torque sensor, How to calibrate.

14. In any one of paragraphs 9 to 13, The operation of obtaining the above first calibration parameter is as follows: An action of saving a captured image taken by the calibration tool with the camera; An operation of calculating the pixel resolution by analyzing the size of the pattern in the captured image; and An operation of obtaining the first calibration parameter for correcting at least one of a focal length, an optical center, or a distortion coefficient based on the pixel resolution; How to calibrate.

15. In any one of paragraphs 9 to 14, The operation of obtaining the above second calibration parameter is as follows: An operation of saving at least three captured images of the calibration tool taken by the camera while changing the angle of the calibration tool; and An operation of calculating the TCP based on at least three captured images; How to calibrate.

Images