Robotic Camera Calibration via Marker Position Association
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Solution Overview
Problem
Existing calibration methods for robotic systems are prone to accuracy variations due to operator-dependent touch-up operations, leading to decreased calibration precision.
Innovation Solution
A calibration method and device that utilize a fixed camera and a robot camera to detect the positions of reference markers in both coordinate systems, allowing for accurate association of the fixed camera coordinate system with the robot coordinate system without the need for operator-dependent touch-up operations, thereby stabilizing calibration accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a touch-up hand is used to visually observe and touch up reference points on a calibration jig, then the calibration process can be completed, but variations occur depending on the operator leading to decreased calibration accuracy
Solution Approach 1:
The patent replaces the mechanical touch-up operation with an optical detection system. A camera captures images of reference markers, and image processing algorithms automatically determine positions, eliminating the need for manual touch-up operations and the associated operator-dependent variations.
Solution Approach 2:
The calibration system performs self-calibration through automated image capture and processing. The system independently detects reference marker positions and calculates coordinate transformations without requiring human intervention, ensuring consistent and repeatable calibration results.
2Ease of manufacture
If manual visual observation and touch-up operations are used for calibration, then the calibration process can be performed, but calibration accuracy decreases or varies due to operator dependency
Solution Approach 1:
The patent substitutes manual mechanical touch-up operations with an automated optical measurement system. The camera-based system captures images of reference markers and uses image processing to automatically determine positions, eliminating operator dependency and ensuring consistent calibration results across different operators and time periods.
Solution Approach 2:
The system creates a digital copy of the reference marker positions through image capture and processing. This digital representation is then used for coordinate transformation calculations, replacing the need for physical touch-up operations and ensuring that the same reference points are measured consistently every time.
Data Source
AI summary
A calibration method includes: a fixed camera coordinate acquisition step for detecting a position of each reference marker in a fixed camera coordinate system set in the fixed camera, from fixed camera imaging data obtained by imaging a plurality of reference markers with the fixed camera; a robot coordinate acquisition step for detecting a position of each reference marker in a robot coordinate system, from robot camera imaging data obtained by imaging a plurality of reference markers with a robot camera that is mounted on a robot and that has been calibrated with a robot coordinate system set in the robot; and a calibration step of associating the fixed camera coordinate system and the robot coordinate system based on the positions of the reference markers in the fixed camera coordinate system and the positions of the reference markers in the robot coordinate system.