Quanta Storage Inc.

Techman Robot Inc.

Chung-Hsien Huang

Shih-Jung Huang

Shao-Ji Shia

Jen-Chen Wu

Shih-Kuo Chen

Pei-Jui Wang

Shih-Chih Ho

A calibration device fora 3D (three dimensional) camera and a robotic arm includes three plates with fixed relative positions and non-parallel separation disposed on a mount. Three spatial planes extending from the three plates intersect at a positioning point for external parameter correction. A calibration method for coordinates of a 3D (three dimensional) camera and a robotic arm using the calibration device is also specified in detail.

Device and method for calibrating coordinate system of 3D camera and robotic arm

A method for calibrating a 3D camera includes arranging a 3D object and a background with contrast color on surfaces, and capturing the 3D object to get an image by a 2D camera and capturing a point cloud by the 3D camera in a one-pass operation. The raw colors of the 3D object and the background of the point cloud are separated and recorded. The point cloud of the 3D object and the background are transformed into the position of the corresponding pixel in the image to get transformed colors. The missing score is computed based on color changes of the point cloud. The transform parameter transforming the coordinate systems of the cameras is optimized to reduce the missing score, so as to quickly calibrate the 3D camera.

Method for calibrating 3D camera by employing calibrated 2D camera

A method for programming a robot in a vision base coordinate is provided. The method includes the following steps. A robot is drawn to an operation point. The coordinates of the operation point in a photo operation are set as a new point. A teaching image is captured and a vision base coordinate system is established. A new point is added according to the newly established vision base coordinate system. When the robot is operating, the robot is controlled to capture an image from a photo operation point. A comparison between the captured image and a teaching image is made. The image being the same as the teaching image is searched according to the comparison result. Whether the vision base coordinate system maintains the same corresponding relation as in the teaching process is checked. Thus, the robot can be precisely controlled.

Method for programming robot in vision base coordinate

A method for teaching a robotic arm to pick or place an object includes the following steps. Firstly, the robot arm is pushed until a target appears within a vision. Then, an appearance position of the target is set as a visual point. Then, a first image is captured. Then, the robot arm is pushed to a target position from the visual point. Then, the target position is set as a pick and place point. Then, an automatic movement control of the robot arm is activated. Then, the robot arm automatically picks and places the object and returns to the visual point from the pick and place point. Then, a second image is captured. Then, a differential image is formed by subtracting the second image from the first image, the target image is set according to the differential image, and image characteristic of the target are automatically learned.

Method for teaching a robotic arm to pick or place an object

A teaching device and a teaching method for a robotic arm are disclosed. The teaching device comprises a robotic arm, a control device and a gesture recognition module. The gesture recognition module detects a control gesture signal and transmits the detected control gesture signal to the control device. After receiving the control gesture signal, the control device teaches the robotic arm to move and switches between an arm movement mode and a hand movement mode. In an arm movement mode, the control device, aided by an arm ambient image shown on an eye frame and an arm control gesture, teaches an arm unit to move to a target at a high velocity. In the hand movement mode, the control device, aided by a hand vicinity image shown on an eye-in-hand frame and a hand control gesture, teaches a hand unit to move the processing target at a low velocity.

Teaching device and method for robotic arm

An encoded calibrating plate is fixed on the working environment of the robot arm and has a chessboard pattern with each square in the chessboard pattern being an encoding. The encoding indicates direction or position on the encoded calibration plate. A visual system of the robot arm captures an image of the encoded calibrating plate, calculates the coordinates encoding of the encoded calibration plate, and positions the visual system to calibrate a positioning error of the robot arm and the visual system.

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Taoyuan, Taiwan

Chung-Hsien Huang