Robot Vision Calibration Using Link-to-Camera Coordinate Mapping
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Solution Overview
Problem
Conventional robot systems equipped with vision devices are limited by the need for fixed camera positions, restricting their ability to track movements of mechanical arms and requiring cumbersome initial calibration for each operation position.
Innovation Solution
A method and apparatus for managing a robot system by determining a mapping between the vision coordinate system and the link coordinate system, allowing the vision device to be positioned freely on any arm, using orientations and images to establish transformations between coordinate systems, enabling flexible and automatic calibration and operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the vision device is mounted at a fixed position for calibration, then the calibration accuracy is improved, but the operational flexibility and adaptability are reduced
Solution Approach 1:
The patent transforms the static calibration approach into a dynamic one by mounting the vision device on the moving arm rather than fixing it externally. The calibration method adapts to different arm positions and orientations, allowing the system to maintain calibration accuracy while gaining operational flexibility. The vision device moves with the arm, enabling calibration and operation at various positions without requiring external fixed mounting.
2Adaptability or versatility
If the vision device is mounted on a moving arm, then the operational flexibility is improved, but the calibration complexity increases
Solution Approach 1:
The patent performs preliminary calibration actions by establishing the mapping relationship between the vision coordinate system and link coordinate system before actual operations. The calibration data is stored and reused during operations, eliminating the need for repeated complex calibration procedures. This preliminary calibration step simplifies subsequent operations while maintaining the flexibility of mounting the vision device on the moving arm.
3Ease of manufacture
If conventional fixed-position calibration is used, then the calibration process is simple, but the vision device cannot track moving arms
Solution Approach 1:
The patent makes the vision device universal by mounting it on the moving arm, enabling it to perform multiple functions: both calibration and tracking operations. The vision device becomes part of the robotic system rather than an external fixed component, allowing it to move with the arm and maintain visual contact with objects throughout the workspace. This multi-functional mounting approach eliminates the trade-off between calibration simplicity and tracking capability.
Data Source
AI summary
Embodiments of the present disclosure provide methods for managing a robot system. In one method, orientations for links in the robot system may be obtained when the links are arranged in at least one posture, here each of the orientations indicates a direction pointed by one of the links. At least one image of an object placed in the robot system may be obtained from a vision device equipped on one of the links. Based on the orientations and the at least one image, a first mapping may be determined between a vision coordinate system of the vision device and a link coordination system of the link. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for managing a robot system. The vision device may be calibrated by the first mapping and may be used to manage operations of the robot system.