Robot Camera Posture Calibration Without Optical Markers
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Solution Overview
Problem
Current methods for determining the image pickup posture of a robot-mounted camera require repetitive visual observation and adjustment, making the process cumbersome, and the determination of correction parameters for converting image coordinates to robot coordinates is complex, often necessitating the use of optical markers.
Innovation Solution
An image processing apparatus that uses teaching point information to specify the working area and image pickup area, allowing for automatic determination of the image pickup posture and correction parameters, thereby simplifying the process and eliminating the need for optical markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If repetitive visual observation and adjustment is performed to determine image pickup posture, then the camera can pick up the working area appropriately, but the operation becomes troublesome and time-consuming
Solution Approach 1:
The system performs self-calibration by automatically determining the image pickup posture and correction parameters using teaching point information and image processing, eliminating the need for manual visual observation and adjustment by the user
Solution Approach 2:
Teaching points are registered in advance during robot operation, and the image pickup posture is determined based on these pre-registered points, allowing automatic calibration without requiring manual adjustment during the actual image pickup process
2Measurement precision
If calibration using optical marker is used to determine correction parameter, then the position and posture conversion can be achieved, but the correction becomes complicated requiring marker installation and calibration work
Solution Approach 1:
The optical marker is extracted from the calibration process entirely. Instead of using physical markers, the system uses teaching point information (coordinates and postures) already registered during robot operation to determine correction parameters through image processing of the working area
Solution Approach 2:
The teaching point information, originally used for robot position control, is also utilized for determining image pickup posture and correction parameters, making the existing robot operation data serve multiple functions and eliminating the need for separate calibration procedures
Data Source
AI summary
An image processing apparatus capable of simplifying operations for determining an image pickup posture of an image pickup apparatus attached to a robot. The image processing apparatus processes an image that an image pickup apparatus attached to a robot picks up. The image processing apparatus includes a memory device that stores a set of instructions, and at least one processor that executes the set of instructions to specify a working area of the robot based on teaching point information showing a plurality of designated teaching points, specify an image pickup area of the image pickup apparatus so as to include the specified working area; and determine an image pickup posture of the robot based on the specified image pickup area.