Robot Camera Calibration Checks Using Reference Symbol Feedback
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Solution Overview
Problem
Camera calibration for robot control becomes outdated due to changes in camera intrinsic parameters or environmental relationships over time, leading to errors in robot operation if not updated.
Innovation Solution
A robot control system performs automatic verification of camera calibration by comparing reference images with verification images captured during idle periods, determining deviation parameters, and performing additional calibration when thresholds are exceeded to ensure accurate camera calibration information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual camera calibration is performed, then initial calibration accuracy is achieved, but calibration becomes outdated over time due to camera parameter changes
Solution Approach 1:
The system implements automatic verification by capturing verification images at reference locations, comparing them against reference images, and determining deviation parameters. This feedback loop continuously monitors calibration accuracy and triggers recalibration when deviation exceeds thresholds, ensuring calibration remains valid over time without manual intervention
Solution Approach 2:
The robot performs self-verification of camera calibration using its own robot arm to position verification symbols and capture images. The control system automatically processes images, calculates deviations, and initiates recalibration when needed, enabling the system to maintain its own calibration accuracy without external assistance
2Measurement precision
If frequent calibration verification is performed, then calibration accuracy is maintained, but system complexity increases
Solution Approach 1:
The robot arm serves multiple functions: it performs robot operations, positions verification symbols for calibration, and captures verification images. The camera and control system also handle both operational imaging and calibration verification, reducing the need for dedicated verification hardware and simplifying the overall system
Solution Approach 2:
Reference images are captured and stored in advance at multiple reference locations. During verification, the system only needs to capture new verification images and compare them against the pre-stored reference images, simplifying the verification process and reducing computational complexity
3Reliability
If automatic calibration verification is implemented, then calibration accuracy is maintained with minimal intervention, but processing time increases
Solution Approach 1:
The system performs calibration verification periodically during robot operation by detecting idle periods. During these idle periods, the robot arm automatically positions verification symbols and captures images without interrupting overall robot productivity. Recalibration is triggered only when deviation thresholds are exceeded, balancing accuracy maintenance with time efficiency
Data Source
AI summary
A robot control system and a method for camera calibration verification is presented. The robot control system is configured to perform a first camera calibration, 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 camera calibration if the threshold is exceeded.