Robot Camera Calibration Checks Using Verification Symbol Feedback
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Solution Overview
Problem
Robot calibration information, particularly camera calibration, becomes outdated due to changes in camera properties or environmental relationships over time, leading to errors in robot operations.
Innovation Solution
A robot control system performs automatic verification of calibration information by comparing reference images with verification images captured at different times, using a verification symbol to determine deviation parameters and triggering updates if thresholds are exceeded, ensuring accurate calibration for robot operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration operation is performed to determine camera calibration information, then calibration accuracy is improved, but operation time and complexity increase
Solution Approach 1:
The system performs self-calibration by automatically capturing images of the verification symbol at multiple positions, computing calibration parameters without human intervention. The robot arm autonomously moves the verification symbol through predefined positions and the control system automatically processes the captured images to determine calibration information.
Solution Approach 2:
The system pre-defines multiple verification symbol positions and capture parameters before actual calibration execution. The control system prepares the calibration workflow in advance, including setting up the verification symbol patterns, defining robot arm movement paths, and configuring camera capture parameters, which streamlines the actual calibration process.
2Measurement precision
If calibration information is updated frequently to maintain accuracy, then measurement precision is improved, but productivity decreases
Solution Approach 1:
The system performs calibration verification periodically by capturing images at predefined intervals or after specific numbers of operations. The control system monitors calibration validity and triggers verification only when necessary, rather than continuously or after every single operation, thus maintaining accuracy while minimizing disruption to productivity.
Solution Approach 2:
The system implements feedback mechanisms by continuously monitoring the robot arm position and comparing it with expected positions based on calibration data. When deviations exceed thresholds, the system automatically triggers calibration verification or update procedures, ensuring accuracy is maintained only when needed rather than through constant recalibration.
3Productivity
If verification images are captured during idle periods to minimize disruption, then productivity is maintained, but measurement precision may be affected due to timing constraints
Solution Approach 1:
The system dynamically adjusts the verification process based on robot operational state. During idle periods, the system captures verification images with extended exposure times or multiple captures to ensure quality. When time is constrained, the system adapts by capturing fewer images or using faster capture modes, and adjusts acceptance criteria accordingly to maintain sufficient verification accuracy without compromising productivity.
Data Source
AI summary
A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.