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.

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that automatically calibrates robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining a representation of a robotic operating environment. A user selection of a plurality of components to be configured to operate in the robotic operating environment is received. A mapping is obtained between pairs of components to be calibrated and one or more respective calibration processes to perform to calibrate each pair of components. From the mapping, one or more calibration processes to be performed on pairs of components based on the user selection of the plurality of components is computed. Calibration instruction data describing how to perform the one or more calibration processes to be performed on the pairs of components of the user selection is determined and presented.

According to one aspect of the present invention, disclosed is an automatic calibration method for a calibration device connected to a camera that is disposed the end effector of a robot and to a robot controller for controlling the robot. The method comprises the steps of: acquiring, from the camera and the robot controller, a robot-based coordinate system and an image of a marker marked in the work area of the robot (wherein the acquired image and robot-based coordinate system are recorded while the end effector is moved to a plurality of sample coordinates); and estimating the position of a robot coordinate system-based marker by using the acquired image and robot-based coordinate system.

The invention describes a generic framework for hand-eye calibration of camera-guided apparatuses, wherein the rigid 3D transformation between the apparatus and the camera must be determined. An example of such an apparatus is a camera-guided robot.

According to one aspect of the present invention, disclosed is an automatic calibration method for a calibration device connected to a camera that is disposed the end effector of a robot and to a robot controller for controlling the robot. The method comprises the steps of: acquiring, from the camera and the robot controller, a robot-based coordinate system and an image of a marker marked in the work area of the robot (wherein the acquired image and robot-based coordinate system are recorded while the end effector is moved to a plurality of sample coordinates); and estimating the position of a robot coordinate system-based marker by using the acquired image and robot-based coordinate system.

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 calibration device is provided. The calibration device includes a frame, a first optical sensing device, a second optical sensing device and a third optical sensing device. The frame includes a bottom plate and at least four sidewalls, wherein the sidewalls have a first grating hole, a second grating hole, a third grating hole and a fourth grating hole at a first height. The bottom plate has an image recognition pattern, a first measurement point, a second measurement point and a third measurement point.

An assembling apparatus that is provided with transfer mechanisms in three orthogonal directions and is capable of assembling plural parts with a high degree of accuracy using a holding device attached to one of the transfer mechanisms is provided. The assembling apparatus includes an x-axis transfer mechanism 101; a y-axis transfer mechanism 103; a z-axis transfer mechanism 105; a holding device 107 for holding a work piece, the holding device being attached to the z-axis transfer mechanism such that the holding device is movable in the z-axis direction; a base 1000 having a surface parallel to the x-axis and the y-axis; a first camera 201 attached to the z-axis transfer mechanism such that the optical axis is in the z-axis direction; and a second camera 203 attached to the base such that the optical axis is in the z-axis direction.

A system includes a pose manipulation system operationally that sets a pose of a position measurement system with respect to an object that is to be measured. The system further includes a pose tracking system configured to record a relative pose between a coordinate system associated with the position measurement system and a coordinate system of the object. The pose tracking system records a path along which the position measurement system is enabled to measure 3D coordinates of a surface of a type of an object, wherein recording the path comprises moving the pose manipulation system sequentially through a plurality of poses and recording, at each pose, the relative pose to measure the 3D coordinates. The pose manipulation system follows the path again, and the position measurement system measures the 3D coordinates by applying one or more of the recorded poses.

A robot control system and a method for automatic camera calibration is presented. The robot control system includes a control circuit configured to determine all corner locations of an imaginary cube that fits within a camera field of view, and determine a plurality of locations that are distributed on or throughout the imaginary cube. The control circuit is further configured to control a robot arm to move a calibration pattern to the plurality of locations, and to receive a plurality of calibration images corresponding to the plurality of locations, and to determine respective estimates of intrinsic camera parameters based on the plurality of calibration images, and to determine an estimate of a transformation function that describes a relationship between a camera coordinate system and a world coordinate system. The control circuit is further configured to control placement of the robot arm based on the estimate of the transformation function.