CN115122392A - 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
CN115122392A
CN115122392A CN202210810268.6A CN202210810268A CN115122392A CN 115122392 A CN115122392 A CN 115122392A CN 202210810268 A CN202210810268 A CN 202210810268A CN 115122392 A CN115122392 A CN 115122392A
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China
Prior art keywords
calibration
camera
images
robot
captured
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Pending
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CN202210810268.6A
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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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Publication of CN115122392A publication Critical patent/CN115122392A/zh
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    • 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
    • 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
    • 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
    • B25J9/1679—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
    • B25J9/1694—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

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  • 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)
CN202210810268.6A 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 CN115122392A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/383,389 2019-04-12
US16/383,389 US10576636B1 (en) 2019-04-12 2019-04-12 Method and control system for and updating camera calibration for robot control
CN201910523868.2A 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

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CN115122392A true CN115122392A (zh) 2022-09-30

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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
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
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) CN110253629A (enExample)
DE (1) DE102020109056A1 (enExample)

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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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US20230182308A1 (en) 2023-06-15
CN111203915B (zh) 2021-02-23
US20200324414A1 (en) 2020-10-15
DE102020109056A1 (de) 2020-10-15
US20250135649A1 (en) 2025-05-01
JP2020183035A (ja) 2020-11-12
US11571816B2 (en) 2023-02-07
JP2020172015A (ja) 2020-10-22
JP6737520B1 (ja) 2020-08-12
US10576636B1 (en) 2020-03-03
JP2024088632A (ja) 2024-07-02
CN111203915A (zh) 2020-05-29
US12186918B2 (en) 2025-01-07
CN110253629A (zh) 2019-09-20

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