Robot AR Registration Using Marker Motion for Precise Teaching
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Solution Overview
Problem
Current augmented reality registration methods for robot teaching systems require pre-installation of an AR registration card, which is impractical for remote and mobile industrial robots, and lacks precision in aligning virtual and physical robot coordinate systems.
Innovation Solution
A registration system and method that uses a registration marker on the physical robot, a camera, and a computer to calculate the conversion relation between camera and robot coordinate systems through intermittent movements, allowing for precise alignment without pre-installed AR cards, suitable for remote and mobile industrial robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an AR registration card is manually placed and transformation matrix is calculated in advance, then augmented reality registration can be achieved, but the system requires pre-installation which is impractical for remote and mobile industrial robots
Solution Approach 1:
The patent applies preliminary action by pre-programming the robot with automatic movement sequences that will position the registration marker at known coordinates. The robot autonomously performs fold-line movements to present the marker to the camera at predetermined positions, eliminating the need for manual pre-installation of AR cards while maintaining registration precision.
Solution Approach 2:
The system implements self-service by enabling the robot to automatically position itself and the registration marker without external intervention. The robot controller autonomously executes movement programs to bring the marker into the camera's field of view at specific coordinates, allowing the system to self-calibrate without requiring operators to manually place AR registration cards.
2Measurement precision
If transformation matrix between AR registration card and robot base coordinate system is measured in advance, then coordinate consistency can be achieved, but the method lacks adaptability for mobile industrial robots
Solution Approach 1:
The patent applies dynamics by transitioning from static pre-measured transformation matrices to dynamic real-time calculation. The robot performs automatic fold-line movements to present the registration marker at multiple predetermined positions, and the system calculates the transformation matrix dynamically based on actual camera observations during these movements, enabling adaptability to mobile robots while maintaining coordinate consistency.
Solution Approach 2:
The system implements feedback by using the camera to observe the registration marker's position and using this visual feedback to calculate the transformation matrix. The robot controller receives feedback from the camera about the marker's location and adjusts the transformation calculation accordingly, allowing the system to adapt to different robot positions and configurations in real-time.
3Measurement precision
If manual placement of AR registration card is used, then registration can be established, but man-machine interactivity is poor and teaching efficiency is reduced
Solution Approach 1:
The patent replaces the mechanical manual placement process with an automated visual system. Instead of manually positioning AR cards, the system uses a camera to detect the registration marker on the robot and automatically calculates transformation matrices through computer vision and coordinate geometry, significantly improving teaching efficiency while maintaining registration accuracy.
Data Source
AI summary
A registration system for robot-oriented augmented reality teaching system, comprising: a physical robot unit, a registration unit, a virtual robot generation unit and a computer; the physical robot unit comprising a physical robot, a physical robot controller and a robot point-to-point intermittent movement control program; the physical robot provided thereon with a physical robot base coordinate system; the physical robot controller connected with the physical robot and the computer respectively; the robot point-to-point intermittent movement control program installed in the computer; the registration unit comprising a registration marker, a camera and a conversion calculation unit; the registration marker arranged on the physical robot body; the camera fixed in a physical environment except the physical robot; the camera connected with the computer, and the conversion calculation unit arranged in the computer; the virtual robot generation unit arranged in the computer and used for generating a virtual robot model.