CN113840695A - 标定检验组件、机器人系统、检验方法和标定方法 - Google Patents
标定检验组件、机器人系统、检验方法和标定方法 Download PDFInfo
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- CN113840695A CN113840695A CN201980096363.0A CN201980096363A CN113840695A CN 113840695 A CN113840695 A CN 113840695A CN 201980096363 A CN201980096363 A CN 201980096363A CN 113840695 A CN113840695 A CN 113840695A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Abstract
本发明提供了一种标定检验组件、机器人系统、检验方法和标定方法。检验方法包括如下步骤：显示触摸屏展示特征图形，特征图形具有特征点(S302)；图像获取装置拍摄包含特征图形的图像，并将包含该图像信息的信号发送至计算控制模块(S303)；计算控制模块对接收到的信号进行处理和计算，并基于计算结果控制末端执行机构带动触屏装置以特征点为目标而触摸显示触摸屏(S304)；基于触屏装置在显示触摸屏上的触屏点和特征点的实际位置之间的距离得出检验结果。根据本发明，能够在机器人的图像获取装置标定之后对标定结果进行检验，并且该检验结果还能够以图形、数据和图标等形式直观地反映给使用者。该检验方法较为高效、准确且能够自动实现。
Description
PCT国内申请，说明书已公开。
Claims (19)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/104559 WO2021042332A1 (zh) | 2019-09-05 | 2019-09-05 | 标定检验组件、机器人系统、检验方法和标定方法 |
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| CN113840695A true CN113840695A (zh) | 2021-12-24 |
| CN113840695B CN113840695B (zh) | 2024-03-08 |
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| Country | Link |
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| CN (1) | CN113840695B (zh) |
| WO (1) | WO2021042332A1 (zh) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114052915B (zh) * | 2021-11-02 | 2023-11-21 | 武汉联影智融医疗科技有限公司 | 手术机器人定位精度的测试方法、系统和模体 |
| IT202100032777A1 (it) * | 2021-12-28 | 2023-06-28 | Comau Spa | "Apparecchiatura e procedimento per testare in modo automatico un sistema di infotainment di un autoveicolo" |
| CN115235527B (zh) * | 2022-07-20 | 2023-05-12 | 上海木蚁机器人科技有限公司 | 传感器外参标定方法、装置以及电子设备 |
Citations (8)
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| CN102294695A (zh) * | 2010-06-25 | 2011-12-28 | 鸿富锦精密工业（深圳）有限公司 | 机器人标定方法及标定系统 |
| US20150168719A1 (en) * | 2013-12-18 | 2015-06-18 | Hyundai Motor Company | Inspection device and method of head up display for vehicle |
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| US10399227B1 (en) * | 2019-03-29 | 2019-09-03 | Mujin, Inc. | Method and control system for verifying and updating camera calibration for robot control |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105094405A (zh) * | 2014-05-23 | 2015-11-25 | 中兴通讯股份有限公司 | 自动调整有效触点的方法及装置 |
| CN109807885B (zh) * | 2018-12-29 | 2021-06-29 | 深圳市越疆科技有限公司 | 一种机械手的视觉标定方法、装置及智能终端 |
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- 2019-09-05 WO PCT/CN2019/104559 patent/WO2021042332A1/zh active Application Filing
- 2019-09-05 CN CN201980096363.0A patent/CN113840695B/zh active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008014940A (ja) * | 2006-06-08 | 2008-01-24 | Fast:Kk | 平面状被撮像物のカメラ計測のためのカメラキャリブレーション方法、および応用計測装置 |
| CN102294695A (zh) * | 2010-06-25 | 2011-12-28 | 鸿富锦精密工业（深圳）有限公司 | 机器人标定方法及标定系统 |
| US20150168719A1 (en) * | 2013-12-18 | 2015-06-18 | Hyundai Motor Company | Inspection device and method of head up display for vehicle |
| CN105844670A (zh) * | 2016-03-30 | 2016-08-10 | 东莞市速美达自动化有限公司 | 水平机器人移动相机多点移动标定方法 |
| CN107053177A (zh) * | 2017-04-13 | 2017-08-18 | 北京邮电大学 | 改进的基于筛选和最小二乘法的手眼标定算法 |
| CN109887041A (zh) * | 2019-03-05 | 2019-06-14 | 中测国检（北京）测绘仪器检测中心 | 一种机械臂控制数字相机摄影中心位置和姿态的方法 |
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| CN110148174A (zh) * | 2019-05-23 | 2019-08-20 | 北京阿丘机器人科技有限公司 | 标定板、标定板识别方法及装置 |
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| Publication number | Publication date |
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| CN113840695B (zh) | 2024-03-08 |
| WO2021042332A1 (zh) | 2021-03-11 |
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