CN115256374A - 验证和更新机器人控制用相机校准的方法和控制系统 - Google Patents
验证和更新机器人控制用相机校准的方法和控制系统 Download PDFInfo
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- CN115256374A CN115256374A CN202210804445.XA CN202210804445A CN115256374A CN 115256374 A CN115256374 A CN 115256374A CN 202210804445 A CN202210804445 A CN 202210804445A CN 115256374 A CN115256374 A CN 115256374A
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- verification
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- camera calibration
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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
- 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
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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
- 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
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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
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- 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
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- 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
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
-
- 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)
- Image Analysis (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US16/369,630 US10399227B1 (en) | 2019-03-29 | 2019-03-29 | Method and control system for verifying and updating camera calibration for robot control |
| US16/369,630 | 2019-03-29 | ||
| CN201910478785.6A CN110193832B (zh) | 2019-03-29 | 2019-06-04 | 验证和更新机器人控制用相机校准的方法和控制系统 |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910478785.6A Division CN110193832B (zh) | 2019-03-29 | 2019-06-04 | 验证和更新机器人控制用相机校准的方法和控制系统 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115256374A true CN115256374A (zh) | 2022-11-01 |
Family
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Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010044652.0A Active CN111230865B (zh) | 2019-03-29 | 2019-06-04 | 验证和更新机器人控制用相机校准的方法和控制系统 |
| CN201910478785.6A Active CN110193832B (zh) | 2019-03-29 | 2019-06-04 | 验证和更新机器人控制用相机校准的方法和控制系统 |
| CN202210804552.2A Pending CN115157248A (zh) | 2019-03-29 | 2019-06-04 | 验证和更新机器人控制用相机校准的方法和控制系统 |
| CN202210804445.XA Pending CN115256374A (zh) | 2019-03-29 | 2019-06-04 | 验证和更新机器人控制用相机校准的方法和控制系统 |
Family Applications Before (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010044652.0A Active CN111230865B (zh) | 2019-03-29 | 2019-06-04 | 验证和更新机器人控制用相机校准的方法和控制系统 |
| CN201910478785.6A Active CN110193832B (zh) | 2019-03-29 | 2019-06-04 | 验证和更新机器人控制用相机校准的方法和控制系统 |
| CN202210804552.2A Pending CN115157248A (zh) | 2019-03-29 | 2019-06-04 | 验证和更新机器人控制用相机校准的方法和控制系统 |
Country Status (4)
| Country | Link |
|---|---|
| US (3) | US10399227B1 (enExample) |
| JP (2) | JP6688517B1 (enExample) |
| CN (4) | CN111230865B (enExample) |
| DE (1) | DE102020106973B4 (enExample) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115157248A (zh) * | 2019-03-29 | 2022-10-11 | 牧今科技 | 验证和更新机器人控制用相机校准的方法和控制系统 |
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| 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 |
| CN112677146A (zh) | 2019-10-18 | 2021-04-20 | 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 |
| US10766141B1 (en) | 2019-05-09 | 2020-09-08 | Mujin, Inc. | Robotic system with a coordinated transfer mechanism |
| WO2021042332A1 (zh) * | 2019-09-05 | 2021-03-11 | 西门子(中国)有限公司 | 标定检验组件、机器人系统、检验方法和标定方法 |
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| CN111791226B (zh) * | 2019-12-31 | 2021-12-03 | 深圳市豪恩声学股份有限公司 | 通过机器人实现组装的方法、装置及机器人 |
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| CN115157248A (zh) * | 2019-03-29 | 2022-10-11 | 牧今科技 | 验证和更新机器人控制用相机校准的方法和控制系统 |
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| CN111230865A (zh) | 2020-06-05 |
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| US10399227B1 (en) | 2019-09-03 |
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| JP2020163556A (ja) | 2020-10-08 |
| CN110193832A (zh) | 2019-09-03 |
| CN111230865B (zh) | 2021-04-06 |
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