CN114390963A - 用于工业机器人的标定方法及装置、三维环境建模方法及设备、计算机存储介质以及工业机器人操作平台 - Google Patents

用于工业机器人的标定方法及装置、三维环境建模方法及设备、计算机存储介质以及工业机器人操作平台 Download PDF

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CN114390963A
CN114390963A CN201980100008.6A CN201980100008A CN114390963A CN 114390963 A CN114390963 A CN 114390963A CN 201980100008 A CN201980100008 A CN 201980100008A CN 114390963 A CN114390963 A CN 114390963A
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model
industrial robot
environment
coordinate system
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丁万
鄢留鹏
王炜
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G06T7/0006—Industrial image inspection using a design-rule based approach
    • 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
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10116—X-ray image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10152—Varying illumination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30128—Food products

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Software Systems (AREA)
  • Geometry (AREA)
  • Theoretical Computer Science (AREA)
  • Remote Sensing (AREA)
  • Computer Graphics (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

一种用于工业机器人的标定方法，所述方法包括：接收所述工业机器人的第一模型，其中所述第一模型与实际环境中处于特定位置的所述工业机器人的位姿状态已同步；接收所述工业机器人周围的环境模型，所述环境模型包含所述工业机器人的第二模型；至少通过选择所述第一模型和所述第二模型中对应的至少三组不共线的点对进行配准，获得所述第二模型的配准信息；以及基于所述配准信息，将所述环境模型的坐标系标定到所述工业机器人的基坐标系。另外还提供了一种用于工业机器人的三维环境建模方法、标定装置、三维环境建模设备、计算机存储介质以及工业机器人操作平台。

Description

PCT国内申请，说明书已公开。

Claims (21)

  1. PCT国内申请，权利要求书已公开。
CN201980100008.6A 2019-09-06 2019-09-06 用于工业机器人的标定方法及装置、三维环境建模方法及设备、计算机存储介质以及工业机器人操作平台 Pending CN114390963A (zh)

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PCT/CN2019/104732 WO2021042376A1 (zh) 2019-09-06 2019-09-06 用于工业机器人的标定方法及装置、三维环境建模方法及设备、计算机存储介质以及工业机器人操作平台

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US (1) US20220331969A1 (zh)
CN (1) CN114390963A (zh)
DE (1) DE112019007337T5 (zh)
WO (1) WO2021042376A1 (zh)

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CN113091771B (zh) * 2021-04-13 2022-09-23 清华大学 一种激光雷达-相机-惯导联合标定方法及系统

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CN103106688A (zh) * 2013-02-20 2013-05-15 北京工业大学 基于双层配准方法的室内三维场景重建方法
JP2013139067A (ja) * 2012-01-05 2013-07-18 Fujitsu Ltd 撮像装置を搭載したロボットの動作設定法。
CN103456038A (zh) * 2013-08-19 2013-12-18 华中科技大学 一种井下环境三维场景重建方法
JP2014071035A (ja) * 2012-09-28 2014-04-21 Kddi Corp 画像処理装置及び方法
US20140205205A1 (en) * 2011-07-01 2014-07-24 Thomas Neubauer Method and apparatus for determining and storing the position and orientation of antenna structures
CN107729295A (zh) * 2017-10-19 2018-02-23 广东工业大学 一种羽毛球的实时落点预判方法、平台及设备
CN108161931A (zh) * 2016-12-07 2018-06-15 广州映博智能科技有限公司 基于视觉的工件自动识别及智能抓取系统
CN109961406A (zh) * 2017-12-25 2019-07-02 深圳市优必选科技有限公司 一种图像处理的方法、装置及终端设备

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CN100547614C (zh) * 2007-12-20 2009-10-07 昆山华恒工程技术中心有限公司 一种工业机器人的标定方法
JP6848269B2 (ja) * 2016-09-01 2021-03-24 アイシン精機株式会社 パレタイジング装置
JP6964989B2 (ja) * 2017-02-09 2021-11-10 キヤノン株式会社 制御方法、ロボットシステム、物品の製造方法、プログラム、及び記録媒体
CN107243897B (zh) * 2017-06-23 2020-02-07 昆明理工大学 一种工业机器人的标定系统及方法
JP6843251B2 (ja) * 2017-09-07 2021-03-17 川崎重工業株式会社 ロボットシステム及びその運転方法
CN107650144A (zh) * 2017-09-16 2018-02-02 埃夫特智能装备股份有限公司 一种工业机器人工件坐标系的标定校准系统及其方法
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Publication number Priority date Publication date Assignee Title
US20140205205A1 (en) * 2011-07-01 2014-07-24 Thomas Neubauer Method and apparatus for determining and storing the position and orientation of antenna structures
JP2013139067A (ja) * 2012-01-05 2013-07-18 Fujitsu Ltd 撮像装置を搭載したロボットの動作設定法。
JP2014071035A (ja) * 2012-09-28 2014-04-21 Kddi Corp 画像処理装置及び方法
CN103106688A (zh) * 2013-02-20 2013-05-15 北京工业大学 基于双层配准方法的室内三维场景重建方法
CN103456038A (zh) * 2013-08-19 2013-12-18 华中科技大学 一种井下环境三维场景重建方法
CN108161931A (zh) * 2016-12-07 2018-06-15 广州映博智能科技有限公司 基于视觉的工件自动识别及智能抓取系统
CN107729295A (zh) * 2017-10-19 2018-02-23 广东工业大学 一种羽毛球的实时落点预判方法、平台及设备
CN109961406A (zh) * 2017-12-25 2019-07-02 深圳市优必选科技有限公司 一种图像处理的方法、装置及终端设备

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WO2021042376A1 (zh) 2021-03-11
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