Robot Camera Pose Estimation for Simulation-Based Teaching Correction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot control systems struggle to accurately operate robots when there are deviations in the relative positional relationship between the robot and the camera, and they are not applicable when the camera cannot be mounted on the robot, leading to inaccuracies in simulating operations.
Innovation Solution
A control system that includes a simulation device, a robot controller, an imaging device, and an estimation means to estimate the position and pose of the imaging device relative to the robot, generating a simulation image that aligns with the actual image, allowing for accurate movement commands to be provided and corrections to be calculated to align the robot's position and pose with the simulation model.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the camera is mounted on the robot with a fixed relative positional relationship, then the robot can be operated according to simulation, but the system becomes inapplicable when the camera cannot be mounted on the robot or when deviation occurs in the relative positional relationship
Solution Approach 1:
The system dynamically estimates the position and pose of the camera relative to the robot using imaging data, rather than relying on a fixed predetermined relationship. This allows the system to adapt to different camera mounting configurations and positional deviations while maintaining accurate robot operation according to simulation
Solution Approach 2:
The patent replaces the mechanical fixed mounting relationship with an estimation mechanism that uses imaging data to determine camera position and pose. This substitution allows the system to work with cameras that cannot be physically mounted on the robot while maintaining simulation accuracy
2Measurement precision
If the relative positional relationship between robot and camera deviates, then the robot cannot be accurately operated according to simulation, but correcting the deviation requires additional calibration processes
Solution Approach 1:
The system continuously estimates camera position and pose based on imaging data and uses this feedback to correct robot operation in real-time, eliminating the need for separate calibration processes while maintaining accurate robot operation according to simulation
Solution Approach 2:
The system performs self-calibration by automatically estimating camera parameters from imaging data without requiring external calibration devices or processes, thereby maintaining accuracy while minimizing time loss
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A control device (100) estimates a position and pose of an imaging device (500) relative to a robot (200) based on an image of the robot (200) captured by the imaging device (500). A simulation device (400) arranges a robot model (90) at a teaching point, and generates a simulation image of the robot model (90) captured by a virtual camera (94) that is arranged so that a position and pose of the virtual camera (94) relative to the robot model (90) in the virtual space coincide with the estimated position and pose of the imaging device (500). The control device (100) determines an amount of correction of a position and pose of the robot (200) for the teaching point so that the position and pose of the robot (200) on the actual image captured after the robot (200) has been driven according to a movement command to the teaching point approximate to the position and pose of the robot model (90) on the simulation image.