CN110253629A - 用于更新用于机器人控制的相机校准的方法和控制系统 - Google Patents

用于更新用于机器人控制的相机校准的方法和控制系统 Download PDF

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Publication number
CN110253629A
CN110253629A CN201910523868.2A CN201910523868A CN110253629A CN 110253629 A CN110253629 A CN 110253629A CN 201910523868 A CN201910523868 A CN 201910523868A CN 110253629 A CN110253629 A CN 110253629A
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CN
China
Prior art keywords
calibration
camera
images
captured
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910523868.2A
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English (en)
Chinese (zh)
Inventor
R·伊斯兰
叶旭涛
出杏光鲁仙
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Mu Jinkeji
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Mu Jinkeji
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Filing date
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Application filed by Mu Jinkeji filed Critical Mu Jinkeji
Priority to CN202210810268.6A priority Critical patent/CN115122392A/zh
Priority to CN202010044646.5A priority patent/CN111203915B/zh
Publication of CN110253629A publication Critical patent/CN110253629A/zh
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)
  • Studio Devices (AREA)
  • Image Analysis (AREA)
CN201910523868.2A 2019-04-12 2019-06-18 用于更新用于机器人控制的相机校准的方法和控制系统 Pending CN110253629A (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202210810268.6A CN115122392A (zh) 2019-04-12 2019-06-18 用于更新用于机器人控制的相机校准的方法和控制系统
CN202010044646.5A CN111203915B (zh) 2019-04-12 2019-06-18 用于更新用于机器人控制的相机校准的方法和控制系统

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US16/383,389 US10576636B1 (en) 2019-04-12 2019-04-12 Method and control system for and updating camera calibration for robot control
US16/383,389 2019-04-12

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN202010044646.5A Division CN111203915B (zh) 2019-04-12 2019-06-18 用于更新用于机器人控制的相机校准的方法和控制系统
CN202210810268.6A Division CN115122392A (zh) 2019-04-12 2019-06-18 用于更新用于机器人控制的相机校准的方法和控制系统

Publications (1)

Publication Number Publication Date
CN110253629A true CN110253629A (zh) 2019-09-20

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CN202210810268.6A Pending CN115122392A (zh) 2019-04-12 2019-06-18 用于更新用于机器人控制的相机校准的方法和控制系统
CN201910523868.2A Pending CN110253629A (zh) 2019-04-12 2019-06-18 用于更新用于机器人控制的相机校准的方法和控制系统
CN202010044646.5A Active CN111203915B (zh) 2019-04-12 2019-06-18 用于更新用于机器人控制的相机校准的方法和控制系统

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US (4) US10576636B1 (enExample)
JP (3) JP6737520B1 (enExample)
CN (3) CN115122392A (enExample)
DE (1) DE102020109056A1 (enExample)

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CN111203915A (zh) * 2019-04-12 2020-05-29 牧今科技 用于更新用于机器人控制的相机校准的方法和控制系统
CN111890371A (zh) * 2019-03-29 2020-11-06 牧今科技 验证和更新机器人控制用校准信息的方法和控制系统
US11014241B2 (en) 2019-03-29 2021-05-25 Mujin, Inc. Method and control system for verifying and updating camera calibration for robot control
CN115570556A (zh) * 2021-07-21 2023-01-06 牧今科技 具有基于深度的处理机制的机器人系统及其操作方法
US11590656B2 (en) 2019-03-29 2023-02-28 Mujin, Inc. Method and control system for verifying and updating camera calibration for robot control

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DE102020212279B3 (de) * 2020-09-29 2021-10-28 Myestro Interactive Gmbh Vorrichtung zum Kalibrieren einer räumlichen Lage eines Zentrums einer Eintrittspupille einer Kamera, Kalibrierverfahren hierfür sowie System zur Bestimmung relativer Position von Zentren von Eintrittspupillen mindestens zweier Kameras, die an einem gemeinsamen Tragrahmen montiert sind, zueinander sowie Bestimmungsverfahren hierfür
CN112754616B (zh) * 2020-12-30 2022-05-10 诺创智能医疗科技(杭州)有限公司 超声定位穿刺系统和存储介质
JP7559580B2 (ja) * 2021-01-28 2024-10-02 セイコーエプソン株式会社 ロボットシステムの制御方法およびロボットシステム
US11931908B2 (en) * 2021-03-16 2024-03-19 Intrinsic Innovation Llc Detecting robotic calibration accuracy discrepancies
DE112021006059T5 (de) 2021-04-20 2023-12-07 Fanuc Corporation Roboter
TWI799310B (zh) * 2022-06-30 2023-04-11 國立清華大學 機器人及機器人手眼校正方法
CN115984389B (zh) * 2023-03-17 2023-06-02 梅卡曼德（北京）机器人科技有限公司 标定方法、系统标定方法、装置和电子设备

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111890371A (zh) * 2019-03-29 2020-11-06 牧今科技 验证和更新机器人控制用校准信息的方法和控制系统
CN111890371B (zh) * 2019-03-29 2021-05-04 牧今科技 验证和更新机器人控制用校准信息的方法和控制系统
US11014241B2 (en) 2019-03-29 2021-05-25 Mujin, Inc. Method and control system for verifying and updating camera calibration for robot control
US11590656B2 (en) 2019-03-29 2023-02-28 Mujin, Inc. Method and control system for verifying and updating camera calibration for robot control
US11883964B2 (en) 2019-03-29 2024-01-30 Mujin, Inc. Method and control system for verifying and updating camera calibration for robot control
CN111203915A (zh) * 2019-04-12 2020-05-29 牧今科技 用于更新用于机器人控制的相机校准的方法和控制系统
US11571816B2 (en) 2019-04-12 2023-02-07 Mujin, Inc. Method and control system for updating camera calibration for robot control
US12186918B2 (en) 2019-04-12 2025-01-07 Mujin, Inc. Method and control system for and updating camera calibration for robot control
CN115570556A (zh) * 2021-07-21 2023-01-06 牧今科技 具有基于深度的处理机制的机器人系统及其操作方法
CN115570556B (zh) * 2021-07-21 2025-06-17 牧今科技 具有基于深度的处理机制的机器人系统及其操作方法

Also Published As

Publication number Publication date
JP2020183035A (ja) 2020-11-12
US12186918B2 (en) 2025-01-07
US20230182308A1 (en) 2023-06-15
CN111203915B (zh) 2021-02-23
CN111203915A (zh) 2020-05-29
US20250135649A1 (en) 2025-05-01
JP2020172015A (ja) 2020-10-22
JP6737520B1 (ja) 2020-08-12
JP2024088632A (ja) 2024-07-02
US11571816B2 (en) 2023-02-07
US10576636B1 (en) 2020-03-03
US20200324414A1 (en) 2020-10-15
CN115122392A (zh) 2022-09-30
DE102020109056A1 (de) 2020-10-15

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