Robot Coordinate Calibration Using Image-Based Self-Calibration
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Solution Overview
Problem
Current robot systems require extensive man-hours for calibration, particularly in associating the robot coordinate system with the camera coordinate system, which hinders the introduction of robots and increases lead time.
Innovation Solution
A control device and system that calculates a parameter representing transformation between the camera coordinate system and the robot coordinate system using position information from both systems, allowing for automatic calibration without the need for external markers or manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If calibration is performed using traditional methods with external markers or manual intervention, then measurement precision is improved, but loss of time increases due to extensive man-hours required
Solution Approach 1:
The robot performs calibration autonomously by capturing images of itself using its own imaging device and calculating coordinate system transformations without external markers or human intervention, enabling the system to calibrate itself
Solution Approach 2:
The patent replaces manual mechanical calibration operations with automated image processing and computational algorithms, substituting human operators and physical markers with computer vision-based coordinate extraction and transformation calculations
2Manufacturing precision
If extensive calibration procedures are performed to ensure accurate coordinate system association, then manufacturing precision is improved, but productivity decreases due to increased lead time
Solution Approach 1:
The robot performs calibration procedures in advance during system setup or maintenance periods, capturing multiple images and calculating transformation matrices before actual production tasks begin, ensuring readiness without impacting production timelines
Solution Approach 2:
The autonomous calibration capability allows the robot to perform its own setup and maintenance without requiring external calibration specialists or manual intervention, enabling rapid deployment and reducing lead time for robot introduction
3Measurement precision
If manual calibration operations are performed to associate coordinate systems accurately, then measurement precision is improved, but ease of operation worsens due to complex procedures
Solution Approach 1:
The robot autonomously performs coordinate system association by capturing images of itself, extracting feature points, and calculating transformation matrices without requiring operators to understand or execute complex calibration procedures
Solution Approach 2:
The patent replaces complex manual calibration operations with automated computer vision and computational geometry algorithms, substituting skilled manual procedures with algorithmic image processing that automatically determines coordinate transformations
Data Source
AI summary
This control device calculates a parameter, which represents transformation between a first coordinate system for image information obtained by capturing an image of a target to be controlled and a second coordinate system for defining the movement of the target to be controlled, by using position information indicating the position of the target to be controlled in the first coordinate system and position information indicating the position of the target to be controlled in the second coordinate system. Further, the control device uses image information containing the target to be controlled and the calculated parameter to calculate the position information of the target to be controlled for the second coordinate system, and controls the target to be controlled on the basis of the calculated position information of the target to be controlled.