Workcell Vision Calibration for Relative Position Detection
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Solution Overview
Problem
Current robotic workcells require precise manual calibration and fixed positions of robot arms and fixtures, which is time-consuming and inefficient, and often rely on additional components like illuminators or structured light, increasing complexity and cost.
Innovation Solution
A system that allows a robotic workcell to autonomously determine the location and orientation of items using passive camera systems, converting information from a camera module's coordinate system to a robot module's coordinate system, enabling the robot arm to interact with items without continuous feedback from the camera, and utilizing embedded memory in fixtures for autonomous operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration and fixed positions are used for robot arms and fixtures, then positioning precision is achieved, but setup time and operational efficiency deteriorate
Solution Approach 1:
The system enables autonomous self-calibration where the robotic system automatically determines the positions and orientations of fixtures and tools using vision systems and fiducial markers, eliminating the need for manual calibration operations while maintaining positioning precision
Solution Approach 2:
The patent replaces manual mechanical calibration processes with an automated vision-based measurement system that uses cameras to detect fiducial markers and calculate spatial relationships, substituting human-operated mechanical adjustment with optical sensing and computational geometry
2Measurement precision
If additional components like illuminators or structured light are added, then measurement capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent introduces fiducial markers as intermediary objects that carry encoded spatial information and serve as mediators between the vision system and the physical fixtures, enabling measurement without requiring complex active illumination or structured light projects
Solution Approach 2:
The system uses passive visual copying of fiducial marker patterns captured by standard cameras to derive spatial information, replacing the need for active light emission and complex optical systems with simple optical imaging and image processing
3Measurement precision
If continuous feedback from camera module is maintained, then positioning accuracy is improved, but processing load and system complexity increase
Solution Approach 1:
The system performs preliminary calibration operations where the camera module captures images of fiducial markers to determine the positions and orientations of fixtures and tools, storing this spatial information for subsequent robot operations without requiring continuous real-time feedback during execution
Solution Approach 2:
The patent replaces continuous feedback control with open-loop operation where pre-calculated transformation matrices derived from fiducial marker detection are used to guide robot movements, eliminating the need for continuous vision processing and feedback loops
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Simplifies the setup and operation of robotic workcells by eliminating the need for manual calibration and additional components, enhancing efficiency and reducing costs while ensuring accurate interaction with items.
Implementation Method 1
two optical systems (120, 122) within an enclosure (110)... each optical system (120, 122) having a field of view... positioned such that images of items within the field of view are formed on sensors
Data Source
AI summary
A workcell that is configured to interact with a device having a plurality of target items and a first memory comprising information about 3D positions of the plurality of target items defined in a first coordinate system of the device. The workcell has a camera module and a processor. The camera module is configured to provide information about a first position of a target item on a first sensor and a second position of the same target item on the second sensor. The processor is configured to determine a position and an orientation of the device within the coordinate system of the workcell.