Robot System And Method For Calibration

Patent metadata

Field	Value
Publication number	US-2016039094-A1
Application number	US-201314781774-A
Country	US
Kind code	A1
Filing date	Apr 5, 2013
Priority date	Apr 5, 2013
Publication date	Feb 11, 2016
Grant date	—

Abstract

A method and a system for calibrating a first coordinate system R f of a robot unit with a second coordinate system C f of an object identification unit, wherein the robot unit includes a robot arm with an end effector and the object identification unit includes a camera unit. The calibration is performed using a calibration marker on the end effector. The method determines the intrinsic and the extrinsic parameters of the camera unit in two steps, a first step where the intrinsic parameters and a rotational part of the extrinsic parameters are determined, and a second step where a translational part of the extrinsic parameters are determined.

First claim

1 . A method for calibrating a first coordinate system R f of a robot unit with a second coordinate system C f of an object identification unit, wherein the robot unit comprises a robot arm with an end effector and the object identification unit comprises a camera unit, the end effector further comprises a calibration marker, the method comprises
moving the end effector to a plurality of first target points wherein the first target points are chosen to include movement of the end effector in all three axes of the first coordinate system R f of the robot unit and wherein the end effector maintains a same orientation, while generating position measurements in the first coordinate system R f and position measurements in an image plane coordinate system IP f for the calibration marker with the object identification unit for each first target points; calculating intrinsic parameters C int of the camera unit and a rotational part of the second coordinate system C f of the object identification unit based on the measurements in R f and IP f ; moving the end effector to a plurality of first orientations and for each of these orientations moving the end effector in a translation pattern while maintaining the same first orientation of the end effector and while generating position measurements in R f and IP f identifying the translation pattern; calculating a depth value Z from the camera unit to the calibration marker for each second target point based on said position measurements identifying the movement along the translation pattern; transforming position measurements in pixels in IP f to position values in the second coordinate system C f based on the depth value Z and C int ; calculating a translational part of the second coordinate system C f of the object identification unit based on the translation and reorientation between the first orientations; and using the rotational and the translational parts to store a relation between R f and C f to enable collaboration between the robot unit and the object identification unit.

2 . The method according to claim 1 , wherein the step of calculating the translational part of the second coordinate system C f comprises solving a hand-eye equation A·x=b, where A is a matrix describing rotation between different poses of the robot unit in said first orientations, and wherein b is a matrix describing a difference between the translation in C f and the translation in R f for the different poses.

3 . The method according to claim 2 , wherein the hand-eye equation is solved using a least square method.

4 . The method according to claim 1 , wherein the transforming step comprises transforming position measurements in pixels in IP f to Cartesian values X c , Y c , Z in the second coordinate system C f of the object identification unit using an equation (X c , Y c , Z)=(C int ) −1 ·(u, v, 1)·Z.

5 . The method according to claim 1 , wherein Z is derived from the equation Z=f*·|u,v|/m, where f is the focal length of the camera unit, |u, v| is a length in an image and m is a length of a movement along the translation pattern.

6 . The method according to claim 1 , comprising teaching the robot unit a subset of said plurality of first target points before moving the end effector to the plurality of first target points.

7 . The method according to claim 1 , comprising moving the end effector to at least three first orientations wherein the end effector has a different orientation in each of said first orientations.

8 . The method according to claim 1 , wherein the translation pattern is essentially orthogonal to an optical axis of the camera unit.

9 . A robot controller configured to execute the method according to claim 1 .

10 . A robot unit comprising an object identification unit, wherein the robot unit is configured to execute the method according to claim 1 .

11 . Use of a robot unit according to claim 10 .

12 . A computer program in connection with a robot system, where the computer program comprises computer instructions configured to cause a computer unit to perform the steps according to claim 1 .

13 . A computer product comprising computer instructions, stored on a computer readable medium, to perform the method steps according to claim 1 , when the computer instructions are executed on a computer unit.

14 . A robot system comprising
a robot unit defining a first coordinate system R f , wherein the robot unit comprises a robot arm with an end effector; an object identification unit defining a second coordinate system C f , wherein the object identification unit comprises a camera unit; a calibration marker on the end effector; a computer unit with a programming unit and a computer readable storage medium storing computer instructions operable to cause the programming unit to perform operations comprising: moving the end effector to a plurality of first target points wherein the first target points are chosen to include movement of the end effector in all three axes of the first coordinate system R f of the robot unit and wherein the end effector maintains a same orientation, while generating position measurements in the first coordinate system R f and position measurements in an image plane coordinate system IP f for the calibration marker with the object identification unit for each first target points; calculating intrinsic parameters C int of the camera unit and a rotational part of the second coordinate system C f of the object identification unit based on the measurements in R f and IP f ; moving the end effector to a plurality of first orientations and for each of these first orientations moving the end effector in a translation pattern while maintaining the same first orientation of the end effector and while generating position measurements in R f and IP f identifying the translation pattern; calculating a depth value Z from the camera unit to the calibration marker for each first orientation based on said position measurements identifying the translation pattern; transforming position measurements in pixels in IP f to position values in the second coordinate system C f based on the depth value Z and C int ; calculating a translational part of the second coordinate system C f of the object identification unit based on the translation and reorientation between the first orientations; and using the rotational and the translational parts to store a relation between R f and C f to enable collaboration between the robot unit and the object identification unit.

Assignees

• Abb Technology Ltd

Inventors

• Lundberg Ivan

Classifications

• B25J9/1692 Primary

  Calibration of manipulator · CPC title

• B25J9/1607

  Calculation of inertia, jacobian matrixes and inverses · CPC title

• G05B2219/39008

  Fixed camera detects reference pattern held by end effector · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title