Robot Time Calibration for Vision-Guided Position Estimation
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Solution Overview
Problem
Conventional calibration procedures for vision-guided motion systems fail to accurately account for time delays between the sensing time point and the recording time point, leading to errors in position estimation and instability in servo systems.
Innovation Solution
A method for time calibration that determines a time delay between sensing and recording time points by associating robot feedback information with sensing information from a sensor, using a combination of orthogonal and rotation motions with different frequencies to establish a precise association.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional calibration procedures are used for vision-guided motion systems, then the calibration process is simple, but time delays between sensing and recording time points cause errors in position estimation and instability in servo systems
Solution Approach 1:
The patent performs preliminary time delay measurement during the calibration phase. By measuring the time delay between sensing and recording time points in advance using orthogonal and rotation motions, the system establishes a time compensation model before actual vision-guided operations, eliminating position estimation errors without adding complexity during runtime
Solution Approach 2:
The patent changes the motion parameters (orthogonal motion and rotation motion with different frequencies) to create distinguishable sensing and recording time points. By varying motion frequencies and types, the system can accurately measure time delays and establish compensation models for different operational conditions
2Reliability
If time delay compensation is implemented in vision-guided motion systems, then position estimation accuracy improves, but the calibration and control system becomes more complex
Solution Approach 1:
The patent implements feedback by measuring the time delay between sensing and recording time points and using this information to compensate for position estimation errors. The system continuously monitors and adjusts for time delays, improving servo system stability through closed-loop control while maintaining manageable complexity through systematic calibration procedures
Solution Approach 2:
The patent introduces a time delay compensation model as an intermediary between the sensing system and the control system. This model acts as a mediator that corrects timing discrepancies without requiring fundamental changes to the existing sensor or controller hardware, thus improving reliability while adding minimal complexity
Data Source
AI summary
Devices, systems, and methods for time calibration. The method comprises determining a first reference position of a robot in a robot coordinate system based on first feedback information received from the robot; determining an association between the first reference position and first sensing information receive from a sensor; receiving, from the robot, second feedback information associated with a second motion of the robot and, from the sensor, second sensing information associated with the second motion; and determining a time delay between a sensing time point when a sensing position of the robot in the second motion is sensed by the sensor and a recording time point when the sensing position is recorded by the robot in the second motion.