Robot Camera Pose Calibration Without Task Interruption
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing camera pose calibration methods for robots interrupt ongoing tasks and require dedicated calibration operations, which are time-consuming and inefficient.
Innovation Solution
A camera pose calibration device that integrates task operation planning with calibration operation planning, allowing for simultaneous task execution and camera pose calibration without interrupting the robot's primary task, using a system with a task operation planning unit, calibration operation planning unit, and integration operation planning unit to prioritize and execute calibration operations based on task status and objectives.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a dedicated calibration operation is executed to calibrate camera pose, then calibration accuracy is improved, but the task operation is interrupted and time is lost
Solution Approach 1:
The patent merges the calibration operation plan with the task operation plan into a single integrated operation plan. The integration operation planning unit combines both plans and determines execution timing such that calibration operations are performed during idle periods or transitions in the task sequence, eliminating the need to interrupt ongoing tasks while ensuring calibration accuracy is maintained
Solution Approach 2:
The system performs calibration operations in advance during idle periods before they are needed for the next task phase. By anticipating when calibration will be required and executing it during available time slots in the integrated plan, the system avoids last-minute interruptions and maintains continuous task flow
2Measurement precision
If a dedicated calibration operation is executed sequentially before task operation, then calibration accuracy is improved, but productivity is reduced due to two-step operation
Solution Approach 1:
The patent combines calibration operations and task operations into a single integrated operation plan that is executed in one continuous sequence. This eliminates the traditional two-step process (calibration first, then task) and allows both calibration and task execution to occur interleaved within the same operational flow, thereby maintaining calibration accuracy while improving productivity
Solution Approach 2:
The system ensures continuous useful action by arranging the integrated operation plan so that calibration operations are performed during idle periods or transitions without stopping the overall task flow. The robot continuously alternates between task execution and calibration activities, maximizing productivity while ensuring calibration accuracy is maintained throughout the operation
Data Source
AI summary
The present invention addresses the problem of providing a camera position/attitude calibration device with which the relative position/attitude of a camera and a robot can be calibrated without interrupting a task which is set in the robot. This camera position/attitude calibration device is characterized by operating a robot and comprising: a task operation planning unit that plans, on the basis of an image captured by a camera installed in a robot and the position/attitude of the robot, an operation for executing a task which has been set in the robot; a calibration operation planning unit that plans, on the basis of the image and the position/attitude of the robot, an operation necessary for calibrating the relative position/attitude of the camera and the robot; and an integration operation planning unit that plans an operation by integrating the task operation plan which has been planned by the task operation planning unit and the calibration operation plan which has been planned by the calibration operation planning unit.