Marker Position Registration for Error-Free Robot Axis Calibration

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Solution Overview

Problem

Existing methods for setting a marker coordinate system on a robot-coordinate-system specification marker require manual alignment, which can lead to ambiguous direction recognition, resulting in incorrect axis specification and improper robot movement.

Innovation Solution

A marker position registration program that displays an input form for workers to associate specific positions on a marker with position identifiers, allowing coordinates in the robot coordinate system to be input without awareness of axial directions, and includes a detection unit to determine a conversion formula for coordinate conversion between camera and marker systems.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If manual alignment method is used to set marker coordinate system, then robot can be moved to touch up origin and axis points, but worker may ambiguously recognize direction and specify wrong axis

Engineering Contradiction:

Improvemarker position registration accuracyVSAvoidoperation complexity

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The patent replaces the manual mechanical alignment method with an automated image processing system. The camera captures images of the marker, and the system automatically detects marker positions and calculates coordinate transformations, eliminating the need for manual robot movement and touch-up operations.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent uses image copying to capture the marker's position information. By photographing the marker with a camera and processing the image data, the system creates a digital representation of the marker's location, which is then used for coordinate system calibration without physical contact.

Inventive Principle:

Principle #26Copying

2Reliability

If worker manually specifies XY directions in robot coordinate system, then marker coordinate system can be set, but wrong direction may be specified due to ambiguous understanding

Engineering Contradiction:

Improveaxis specification accuracyVSAvoidcoordinate system calibration process

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system performs self-calibration by automatically detecting marker positions from images and calculating the coordinate transformation. The robot and camera systems work autonomously to establish the marker coordinate system without requiring worker intervention for axis specification.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system uses image feedback to automatically determine marker positions and validate the coordinate system setup. The camera captures images, the system processes them to verify marker detection accuracy, and adjusts the coordinate transformation accordingly, ensuring reliable axis specification.

Inventive Principle:

Principle #23Feedback

3Measurement precision

If multiple markers are used for different positions, then each position can be registered separately, but marker management burden increases

Engineering Contradiction:

Improveposition registration accuracyVSAvoidnumber of markers

Core Design Contradiction:

Measurement precisionVSQuantity of substance

Solution Approach 1:

The patent makes a single marker serve multiple functions by enabling it to represent multiple position points. The image processing system detects various positions on the same marker (such as corners, center, or specific patterns), allowing one marker to provide coordinate information for multiple registration points.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system segments the marker into multiple detectable position points through image processing. By identifying different features on the same marker (such as corner positions or pattern elements), the system extracts multiple position coordinates from a single physical marker.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS20230405827A1Non-transitory computer readable medium recording thereon marker position registration program, marker position registration device, marker position registration method, and marker for use in the method

Publication Date: 2023.12.21 DAIHEN CORP

AI summary

Provided is a marker position registration device that can prevent an axial direction in a coordinate system from being erroneously registered when a position in a marker is to be registered. The marker position registration device includes a display control unit that causes an input form to be displayed, the input form allowing coordinates in a robot coordinate system corresponding to a specific portion of an industrial robot when the specific portion indicates a specific position in a marker to be input in association with a position identifier for specifying the specific position which is assigned to the marker and a registration unit that registers the specific position in the robot coordinate system on the basis of a content input to the input form.