Industrial Robot Coordinate Setting with Single-View Calibration
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Solution Overview
Problem
Existing methods for setting a coordinate system for robot control are time-consuming and prone to errors, especially when operated by inexperienced personnel, and require capturing images from multiple viewpoints, which is inefficient.
Innovation Solution
A system using a calibrated visual sensor, calibration data storage, and image processing to set a coordinate system by capturing an image of a calibration jig, determining its position relative to the sensor and a reference position, and setting the coordinate system without manual teacher operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual touch-up operation is used to set coordinate system, then coordinate system can be set, but it requires time and is prone to errors when operated by unfamiliar personnel
Solution Approach 1:
The system performs automatic coordinate system setting without requiring manual touch-up operations. The calibration jig with known marker positions enables the system to self-calibrate by capturing images and automatically computing the coordinate transformation, eliminating the need for operator intervention and reducing both time and error risks.
Solution Approach 2:
The manual mechanical touch-up operation is replaced by an automated image processing system. Instead of physically touching markers with a robot, the system uses a camera to capture images of the calibration jig and computationally determines the coordinate system, substituting mechanical operations with optical and computational processes.
2Productivity
If automatic coordinate system setting using calibration jig is used, then setting speed increases, but it requires capturing images from multiple viewpoints which is time-consuming
Solution Approach 1:
The calibration jig is divided into multiple markers with known relative positions. By capturing images of these segmented markers from a single viewpoint, the system can reconstruct the three-dimensional coordinate system through triangulation and geometric relationships, avoiding the need to capture the entire jig from multiple viewpoints.
Solution Approach 2:
The system transitions from capturing images in multiple viewpoints (spatial dimension approach) to capturing a single image and solving for 3D positions through computational geometry. The known marker positions provide dimensional constraints that enable reconstruction from a single 2D image, eliminating the need for multiple capture positions.
3Measurement precision
If multiple viewpoint imaging is used for calibration, then coordinate system can be set, but the process becomes complex and time-consuming
Solution Approach 1:
The calibration jig is pre-configured with markers at known precise positions before the calibration process. This preliminary arrangement of markers with predetermined coordinates eliminates the need for complex multi-viewpoint capture and computation, simplifying the calibration process while maintaining measurement precision through the pre-established geometric relationships.
Data Source
AI summary
Provided is a coordinate system setting system with which it is possible to easily set a coordinate system used in control of an industrial machine, A coordinate system setting system 1 comprises: a calibrated camera 4; a calibration data storage unit 12 that stores, in advance, calibration data obtained when the camera 4 was calibrated; an image processing unit 11 that processes a captured image obtained upon imaging a calibration jig J disposed at a position for which a coordinate system is to be set by the camera 4; and a coordinate system setting unit 21 that uses the result of image processing performed by the image processing unit 11 to set a coordinate system used in controlling a robot 2.