Conveyor Tracking Calibration via Mobile Touch Feedback
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Solution Overview
Problem
Conventional conveyor tracking systems require experienced users to correctly calibrate the transformation of camera coordinates to robot coordinates, as the precise alignment of the robot's hand with calibration patterns demands a certain level of skill, and new camera calibration is impractical.
Innovation Solution
A conveyor tracking system that includes a mobile device with a touch panel for displaying calibration patterns, allowing users to calculate a parameter set based on image measurement results and touch positions, enabling accurate calibration even for users with little experience, by transmitting touch position information to a control device for coordinate transformation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional calibration methods using fixed pattern sheets are used, then calibration accuracy can be achieved, but the operation becomes difficult and requires experienced users
Solution Approach 1:
The invention uses a mobile device (smartphone or tablet) to display a calibration pattern, creating a flexible digital copy of the traditional fixed pattern sheet. The mobile device's display serves as the calibration target, allowing users to interact with it using touch input. This copying approach maintains the essential calibration function while enabling easier operation through the mobile device's intuitive touch interface, eliminating the need for complex manual alignment of physical pattern sheets.
2Adaptability or versatility
If a new camera is provided for calibration, then calibration can be performed, but it requires additional calibration of the new camera itself
Solution Approach 1:
The mobile device serves dual purposes: it acts as both the calibration pattern display and the measurement tool. The mobile device's built-in camera captures images of the displayed pattern, and its touch screen detects the robot's hand position. This self-service capability eliminates the need for separate calibration equipment, allowing the same device to perform both calibration and measurement functions, thereby reducing calibration time and avoiding the need for additional camera calibration.
3Manufacturing precision
If precise alignment of robot hand with calibration pattern is required, then coordinate transformation accuracy is improved, but the calibration process becomes more complex
Solution Approach 1:
The system provides visual feedback by displaying the calibration pattern on the mobile device screen, which the robot's vision system can detect. The touch panel provides precise feedback on where the robot's hand contacted the device. This feedback mechanism allows the system to automatically calculate the transformation parameters based on the detected pattern position and touch location, simplifying the calibration process while maintaining high precision through automated calculations rather than manual alignment.
Data Source
AI summary
A method for allowing even a user with little experience in robot operation to be able to perform correct calibration is provided. A mobile device displays one or more patterns at predetermined positions and transmits information indicating a touch position to a control device according to touching applied to the touch position in a state that the patterns are displayed. The control device calculates a parameter set based on an image measurement result obtained by a visual sensor when the mobile device is disposed in an image visual field in a state that the patterns are displayed, a touch position when the mobile device is touched by a robot, and a distance between a position of the mobile device when disposed in the imaging visual field and a position when the mobile device is touched by the robot.