Robot Camera Calibration Drift Detection Using Verification Symbols
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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Robot calibration information, particularly camera calibration, becomes outdated due to changes in camera properties or environmental relationships over time, leading to errors in robot operations.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 by comparing reference images with verification images of a verification symbol to detect deviations, triggering an update of calibration information when deviations exceed a threshold, ensuring accurate 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-verification of calibration by automatically capturing verification images, comparing them against reference images, and determining whether recalibration is needed. The robot control system autonomously monitors calibration validity without requiring continuous manual intervention, allowing the system to self-diagnose calibration status during operation.
Solution Approach 2:
The system implements a feedback mechanism where verification images are continuously compared with reference images, and the deviation is used to trigger recalibration when thresholds are exceeded. This closed-loop feedback ensures calibration accuracy is maintained while minimizing unnecessary manual calibration operations by only triggering recalibration when actually needed.
2Reliability
If frequent calibration verification is performed to ensure accuracy, then reliability is improved, but productivity decreases due to operational interruptions
Solution Approach 1:
The system performs calibration verification periodically during robot operation at predetermined intervals or after a set number of operations. This periodic verification maintains calibration reliability without requiring continuous interruption, as the robot operates normally between verification cycles.
Solution Approach 2:
The verification frequency and timing are dynamically adjusted based on robot operation status, task type, and environmental conditions. The system can perform verification during idle periods or low-priority tasks, adapting the verification schedule to minimize impact on overall productivity while maintaining necessary reliability.
3Reliability
If calibration verification is performed during robot operation, then calibration currency is improved, but system complexity increases
Solution Approach 1:
The calibration verification function is merged with the existing robot control system, using the same camera, processing unit, and control infrastructure already present for robot operation. The verification process shares resources with normal operation, including the camera for image capture, the processor for image analysis, and the control system for coordinating verification activities, thereby minimizing additional system complexity.
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.