US 11,912,513 B1
Robotic system camera calibration and localization using robot-mounted registered patterns
Felipe De Arruda Camargo Polido, North Reading, MA (US); Sanjeev Khanna, Boston, MA (US); and Steven Alexander Viola, Medford, MA (US)
Assigned to Amazon Technologies, Inc., Seattle, WA (US)
Filed by Amazon Technologies, Inc., Seattle, WA (US)
Filed on Apr. 14, 2021, as Appl. No. 17/230,333.
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); B25J 15/06 (2006.01); B65G 47/91 (2006.01)
CPC B65G 47/917 (2013.01) [B25J 9/1692 (2013.01); B25J 9/1697 (2013.01); B25J 13/088 (2013.01); B25J 15/065 (2013.01); B65G 47/918 (2013.01); B65G 2203/0283 (2013.01); B65G 2203/041 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a vacuum suction system configured to provide negative air pressure;
a robotic arm;
a picking assembly coupled to the vacuum suction system and the robotic arm, the picking assembly configured to grasp and release objects, wherein the picking assembly comprises a shell having a hexagonal cross-sectional geometry, such that six flat faces are formed on an external surface of the shell;
a first calibration plate rigidly mounted to a first face of the shell, the first calibration plate having a first pattern disposed thereon, wherein the first calibration plate is non-reflective;
a second calibration plate rigidly mounted to a second face of the shell, the second calibration plate having a second pattern disposed thereon, wherein the second calibration plate is non-reflective;
a first camera oriented towards the robotic arm at a downwards angle relative to horizontal;
a second camera oriented towards the robotic arm at an upwards angle relative to horizontal; and
a controller configured to calibrate positioning of the picking assembly by:
causing the robotic arm to move to a first predetermined waypoint;
determining first position data and first orientation data associated with a pose of the robotic arm at the first predetermined waypoint;
determining, using the first camera, a first image of the first calibration plate when the robotic arm is at the first predetermined waypoint;
determining a first calibration adjustment based at least in part on the first position data, the first orientation data, and the first image, wherein the first calibration adjustment includes an adjustment to at least one coordinate associated with the first predetermined waypoint, and wherein the adjustment causes a change in physical position;
causing the robotic arm to move to a second predetermined waypoint;
determining second position data and second orientation data associated with a pose of the robotic arm at the second predetermined waypoint;
determining, using the second camera, a second image of the second calibration plate when the robotic arm is at the second predetermined waypoint; and
determining a second calibration adjustment based at least in part on the second position data, the second orientation data, and the second image.