3D Marker Detection for Calibration-Free Robot Teaching
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Solution Overview
Problem
Existing marker detection systems require complex camera parameter settings to calculate three-dimensional positions from two-dimensional images, leading to cumbersome preparations and increased operator dependence.
Innovation Solution
A marker detection apparatus that utilizes a 3D camera to detect three-dimensional planes, projects point group data perpendicularly to generate a two-dimensional plane image, and calculates three-dimensional coordinates for markers within this image, eliminating the need for complex camera parameter settings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If camera parameters are set in advance to calculate three-dimensional positions from two-dimensional images, then measurement precision is improved, but device complexity and preparation time increase
Solution Approach 1:
The patent transitions from two-dimensional camera imaging to three-dimensional camera acquisition. By capturing marker positions directly in 3D space, the system eliminates the need for complex camera parameter calibration while maintaining high measurement precision. The 3D camera inherently provides spatial coordinates without requiring additional computational transformations.
Solution Approach 2:
The patent replaces the mechanical/calibration-based camera parameter setting system with a direct 3D sensing approach. Instead of using 2D cameras that require intrinsic and extrinsic parameter calibration, the system uses 3D cameras that directly output spatial coordinates, substituting a complex calibration mechanism with a simpler direct measurement approach.
2Ease of manufacture
If two-dimensional camera is used to detect marker, then device cost is reduced, but preparation complexity increases due to required camera parameters
Solution Approach 1:
The patent upgrades from 2D to 3D camera technology, which directly outputs three-dimensional coordinates of markers. This dimensional enhancement eliminates the need for complex camera parameter configuration while maintaining ease of manufacture, as the 3D camera provides ready-to-use spatial data without requiring additional calibration steps.
3Adaptability or versatility
If operator manually operates robot to generate teaching data, then adaptability is improved, but productivity and time efficiency decrease
Solution Approach 1:
The patent implements an automated robot teaching system where the robot autonomously acquires its own position information through 3D marker detection. The system eliminates the need for operator intervention in teaching data generation, allowing the robot to self-calibrate and self-teach, thereby dramatically improving productivity while maintaining adaptability through programmable flexibility.
Solution Approach 2:
The patent replaces manual operator operations with an automated vision-based system. Instead of operators physically guiding the robot and manually recording positions, the system uses 3D camera capture and automated image processing to generate teaching data, substituting human labor with an efficient automated computational process.
Data Source
AI summary
Provided is a marker detection apparatus able to easily detect the position of a marker and a robot teaching system using the same. A marker detection apparatus includes: a three-dimensional plane detection unit that detects a three-dimensional plane serving as a plane in a three-dimensional space on a basis of point group data acquired by a 3D camera; a two-dimensional plane image generation unit that projects point group data constituting the detected three-dimensional plane in a perpendicular direction based on the three-dimensional plane, thereby generating a two-dimensional plane image; a marker detection unit that detects a marker from the generated two-dimensional plane image; and a marker position calculation unit that, for the detected marker included in the two-dimensional plane image, calculates three-dimensional coordinates on the three-dimensional plane.