Vision Sensor Calibration via Virtual Coordinate Mapping
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Solution Overview
Problem
Conventional calibration methods for associating a vision sensor with a robot in offline simulations require special knowledge and a long time, involving measurement operations that burden the operator.
Innovation Solution
A data generation device and detection simulation system that use three-dimensional models in a virtual space to calculate and store the positional relationship between the robot and vision sensor coordinate systems, allowing for offline simulation without calibration, using a robot placement position designating part, vision sensor placement position designating part, and a positional relationship calculating part.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If calibration is carried out to identify the positional relationship between robot and vision sensor, then measurement precision is improved, but operation time and complexity increase
Solution Approach 1:
The patent applies preliminary action by pre-defining the positional relationship between the robot and vision sensor in the program code before actual operation. The coordinate transformation parameters are calculated and stored in advance based on the robot arm's movement distance and direction, eliminating the need for time-consuming on-site calibration operations.
Solution Approach 2:
The patent uses copying by creating a virtual model of the positional relationship in the program rather than physically calibrating the actual hardware setup. The coordinate transformation data is copied from pre-calculated values stored in the program, allowing the system to operate with accurate positional information without repeated physical calibration.
2Measurement precision
If calibration is carried out to identify the positional relationship between robot and vision sensor, then measurement precision is improved, but device complexity and operator burden increase
Solution Approach 1:
The patent applies self-service by enabling the system to automatically calculate and use coordinate transformation parameters from pre-stored program data. The robot control system automatically retrieves the necessary positional relationship information from the program and performs the coordinate transformation without requiring external calibration equipment or specialized operator intervention.
Solution Approach 2:
The patent extracts the calibration process from the operational workflow by separating the coordinate transformation parameter calculation from the actual robot-vision sensor calibration. The necessary transformation data is extracted and stored in the program in advance, allowing the system to function with simplified operations during actual use.
3Measurement precision
If special knowledge is required for calibration, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The system performs self-service by automatically managing the coordinate transformation using pre-stored program data. The robot control system independently retrieves and applies the positional relationship parameters without requiring operators to possess specialized calibration knowledge or perform complex calibration procedures.
Data Source
AI summary
A data generation device and a detection simulation system, capable of executing offline simulation using a vision sensor, without calibration for associating the vision sensor with the robot. The device has: a placing part which places three-dimensional models of a robot, a vision sensor and an object in a virtual space; a robot placement position designating part and a vision sensor placement position designating part which designate placement positions of the robot and the vision sensor in the virtual space, respectively, based on a reference coordinate system defined in the virtual space; a placement position storing part which stores the placement positions; a positional relationship calculating part which calculates a positional relationship between a robot coordinate system and a sensor coordinate system; and a positional relationship storing part which stores the positional relationship as data used in a detection process of the vision sensor.