US 11,883,964 B2
Method and control system for verifying and updating camera calibration for robot control
Russell Islam, Tokyo (JP); Xutao Ye, Tokyo (JP); and Rosen Diankov, Tokyo (JP)
Assigned to MUJIN, INC., Tokyo (JP)
Filed by MUJIN, INC., Tokyo (JP)
Filed on Feb. 3, 2023, as Appl. No. 18/164,295.
Application 18/164,295 is a continuation of application No. 17/135,261, filed on Dec. 28, 2020, granted, now 11,590,656.
Application 17/135,261 is a continuation of application No. 16/864,071, filed on Apr. 30, 2020, granted, now 10,906,184, issued on Feb. 2, 2021.
Application 16/864,071 is a continuation in part of application No. 16/732,832, filed on Jan. 2, 2020, granted, now 11,014,241, issued on May 25, 2021.
Application 16/732,832 is a continuation of application No. 16/525,004, filed on Jul. 29, 2019, granted, now 10,562,186, issued on Feb. 18, 2020.
Application 16/525,004 is a continuation of application No. 16/369,630, filed on Mar. 29, 2019, granted, now 10,399,227, issued on Sep. 3, 2019.
Claims priority of provisional application 62/916,798, filed on Oct. 18, 2019.
Prior Publication US 2023/0182309 A1, Jun. 15, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); G06T 7/80 (2017.01)
CPC B25J 9/1692 (2013.01) [B25J 9/1697 (2013.01); G06T 7/80 (2017.01); G05B 2219/39008 (2013.01); G06T 2207/30164 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computing system comprising:
a communication interface configured to communicate with: a robot having a robot arm with a plurality of arm portions that are movably attached to each other, and with a group of verification symbols that are disposed on one or more of the respective arm portions of the plurality of arm portions; and
a control circuit configured:
to determine a group of reference image coordinates, the group of reference image coordinates being respective coordinates at which the group of verification symbols appear in a reference image;
to receive a verification image, which is an additional image for representing the group of verification symbols;
to determine a group of verification image coordinates, the group of verification image coordinates being respective coordinates at which the group of verification symbols appear in the verification image;
to determine a group of respective deviation parameter values that are based on respective amounts of deviation between the group of reference image coordinates and the group of verification image coordinates, wherein the group of respective deviation parameter values are associated with the group of verification symbols, and
to determine whether at least one deviation parameter value of the group of respective deviation parameter values exceeds a defined deviation threshold.