Patent ID: 11883964
Assignee: MUJIN, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. A non-transitory computer-readable medium having instructions stored thereon that, when executed by a control circuit of a computing system, causes the control circuit
to determine a group of reference image coordinates based on a reference image received by the computing system, wherein the computing system is configured to communicate with: a robot having a robot arm that includes a plurality of arm portions that are movably attached to each other, and includes a group of verification symbols that are disposed on one or more of the respective arm portions of the plurality of arm portions,
the group of reference image coordinates being respective coordinates at which the group of verification symbols appear in the 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.