A robotic cell calibration method comprising a robotic cell system having elements comprising: one or more cameras, one or more sensors, components, and a robotic arm. The method comprises localizing positions of the one or more cameras and components relative to a position of the robotic arm using a common coordinate frame, moving the robotic arm in a movement pattern, and using the cameras and sensors to determine robotic arm position at multiple times during the movement. The method includes identifying a discrepancy in robotic arm position between a predicted position and the determined position in real time, and computing, by an auto-calibrator, a compensation for the identified discrepancy, the auto-calibrator solving for the elements in the robotic cell system as a system. The method includes modifying actions of the robotic arm in real time during the movement based on the compensation.

On the basis of a measured shape, which is a three-dimensional shape of a subject measured by means of a measuring unit using an image captured when an image capturing unit is disposed in a first position and a first attitude, a movement control unit determines a second position and a second attitude for capturing an image of the subject again, and sends an instruction to a movement mechanism. The three-dimensional shape is represented by means of height information from a reference surface. The movement control unit extracts, from the measured shape, a deficient region having deficient height information, and determines the second position and the second attitude on the basis of the height information around the deficient region of the measured shape. The position and attitude of the image capturing unit can be determined in such a way as to make it easy to eliminate the effects of shadows.

The present invention addresses the problem of providing a camera position/attitude calibration device with which the relative position/attitude of a camera and a robot can be calibrated without interrupting a task which is set in the robot. This camera position/attitude calibration device is characterized by operating a robot and comprising: a task operation planning unit that plans, on the basis of an image captured by a camera installed in a robot and the position/attitude of the robot, an operation for executing a task which has been set in the robot; a calibration operation planning unit that plans, on the basis of the image and the position/attitude of the robot, an operation necessary for calibrating the relative position/attitude of the camera and the robot; and an integration operation planning unit that plans an operation by integrating the task operation plan which has been planned by the task operation planning unit and the calibration operation plan which has been planned by the calibration operation planning unit.

A method is provided for automatically calibrating a camera-robot system having tool offsets.

A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.

A system for calibrating tool center point of robot is provided, which may include a first image sensor, a second image sensor, and a controller. The first image sensor may have a first image central axis. The second image sensor may have a second image central axis not parallel to the first image central axis, and intersect the first image central axis at an intersection point. The controller may control a robot to repeatedly move a tool center point thereof between the first and the second image central axis. The controller may record a calibration point including the coordinates of the joints of the robot when the tool center point overlaps the intersection point, and then move the tool center point and repeat the above steps to generate several calibration points, whereby the controller may calculate the coordinate of the tool center point according to the calibration points.

A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.

On the basis of a measured shape, which is a three-dimensional shape of a subject measured by means of a measuring unit using an image captured when an image capturing unit is disposed in a first position and a first attitude, a movement control unit determines a second position and a second attitude for capturing an image of the subject again, and sends an instruction to a movement mechanism. The three-dimensional shape is represented by means of height information from a reference surface. The movement control unit extracts, from the measured shape, a deficient region having deficient height information, and determines the second position and the second attitude on the basis of the height information around the deficient region of the measured shape. The position and attitude of the image capturing unit can be determined in such a way as to make it easy to eliminate the effects of shadows.

A robot system includes a robot, a robot work environment in which the robot works, and a robot controller including circuitry that stores position information indicating a position of each of measured robot postures in the robot work environment, obtains a measured position of each of the measured robot postures based on a detection result obtained by a sensor, and corrects a movement position of the robot based on the measured position.

A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.