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US 12,762,740 B1Granted
Continuous camera calibration and automated correction for robotic systems
AssigneeAmazon Technologies, Inc.
InventorsSanjeev Khanna, Bradley Penrow
Life of this patent
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Abstract
Systems, methods, and computer-readable media are disclosed for continuous camera calibration and automated correction for robotic systems. In one embodiment, an example robotic system may include a robotic manipulator and a picking assembly coupled to the robotic manipulator, where the picking assembly is configured to grasp and release items. The robotic system may include a first camera having a first field of view, a first calibration pattern disposed at a first location within the first field of view, and a controller configured to automatically calibrate the robotic system.
Claims17
A robotic system comprising:
- a robotic arm disposed in a closed environment;
- a picking assembly coupled to the robotic arm, the picking assembly configured to grasp and release objects;
- a first calibration plate rigidly mounted at a first location in the closed environment, the first calibration plate having a first pattern disposed thereon;
- a second calibration plate rigidly mounted at a second location in the closed environment, the second calibration plate having a second pattern disposed thereon;
- a first camera oriented towards the robotic arm at a downwards angle relative to horizontal, wherein at least the first calibration plate or the second calibration plate is within a field of view of the first camera;
- a second camera oriented towards the robotic arm at an upwards angle relative to horizontal, wherein at least the first calibration plate or the second calibration plate is within a field of view of the second camera;
- and
- a controller configured to:
- determine a first image of the first calibration pattern;
- determine, using the first image, a first calibration metric;
- determine that a difference between the first calibration metric and a default value is greater than or equal to a first threshold amount;
- cause a calibration process to be initiated;
- cause the robotic manipulator to move to a first predetermined position;
- determine first position data associated with a pose of the robotic manipulator at the first predetermined position;
- determine, using the first camera, a second image of the first calibration pattern when the robotic manipulator is at the first predetermined position;
- and
- determine a first calibration adjustment based at least in part on the first position data and the second image.
14 more elements
A robotic system comprising:
- a robotic manipulator;
- a picking assembly coupled to the robotic manipulator, the picking assembly configured to grasp and release items;
- a first camera having a first field of view;
- a first calibration pattern disposed at a first location within the first field of view;
- and
- a controller configured to automatically calibrate the robotic system, wherein the controller is configured to:
- determine a first image of the first calibration pattern;
- determine, using the first image, a first calibration metric;
- determine that a difference between the first calibration metric and a default value is greater than or equal to a first threshold amount;
- cause a calibration process to be initiated;
- cause the robotic manipulator to move to a first predetermined position;
- determine first position data associated with a pose of the robotic manipulator at the first predetermined position;
- determine, using the first camera, a second image of the first calibration pattern when the robotic manipulator is at the first predetermined position;
- and
- determine a first calibration adjustment based at least in part on the first position data and the second image.
12 more elements
A robotic picking system comprising:
- a robotic arm;
- a picking assembly coupled to the robotic arm;
- a first camera having a first field of view;
- a second camera having a second field of view;
- a first calibration pattern disposed at a first location within the first field of view;
- a second calibration pattern disposed at a second location within the second field of view;
- and
- a controller configured to automatically calibrate the robotic system using the first camera and the second camera, wherein the controller is configured to:
- determine a first image of the first calibration pattern;
- determine, using the first image, a first calibration metric;
- determine that a difference between the first calibration metric and a default value is greater than or equal to a first threshold amount;
- cause a calibration process to be initiated;
- cause the robotic manipulator to move to a first predetermined position;
- determine first position data associated with a pose of the robotic manipulator at the first predetermined position;
- determine, using the first camera, a second image of the first calibration pattern when the robotic manipulator is at the first predetermined position;
- and
- determine a first calibration adjustment based at least in part on the first position data and the second image.
14 more elements
Dependencies are inferred from the claim text.