CN119947870A - 运算装置、运算系统、机器人系统、运算方法及计算机程序 - Google Patents

运算装置、运算系统、机器人系统、运算方法及计算机程序 Download PDF

Info

Publication number
CN119947870A
CN119947870A CN202280100172.9A CN202280100172A CN119947870A CN 119947870 A CN119947870 A CN 119947870A CN 202280100172 A CN202280100172 A CN 202280100172A CN 119947870 A CN119947870 A CN 119947870A
Authority
CN
China
Prior art keywords
learning
image data
posture
processing
data
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
CN202280100172.9A
Other languages
English (en)
Chinese (zh)
Inventor
小柳大辅
木下真一郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nikon Corp
Original Assignee
Nikon Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nikon Corp filed Critical Nikon Corp
Publication of CN119947870A publication Critical patent/CN119947870A/zh
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program 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
    • 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
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • G05B2219/39001—Robot, manipulator control
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20084—Artificial neural networks [ANN]
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
CN202280100172.9A 2022-09-29 2022-09-29 运算装置、运算系统、机器人系统、运算方法及计算机程序 Pending CN119947870A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/036535 WO2024069886A1 (ja) 2022-09-29 2022-09-29 演算装置、演算システム、ロボットシステム、演算方法及びコンピュータプログラム

Publications (1)

Publication Number Publication Date
CN119947870A true CN119947870A (zh) 2025-05-06

Family

ID=90476868

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280100172.9A Pending CN119947870A (zh) 2022-09-29 2022-09-29 运算装置、运算系统、机器人系统、运算方法及计算机程序

Country Status (5)

Country Link
US (1) US20260102920A1 (https=)
EP (1) EP4596188A1 (https=)
JP (1) JPWO2024069886A1 (https=)
CN (1) CN119947870A (https=)
WO (1) WO2024069886A1 (https=)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010188439A (ja) 2009-02-16 2010-09-02 Mitsubishi Electric Corp パラメータ算出方法及びパラメータ算出装置
JP5371927B2 (ja) 2010-10-27 2013-12-18 三菱電機株式会社 座標系校正方法及びロボットシステム
JP6074272B2 (ja) * 2013-01-17 2017-02-01 キヤノン株式会社 画像処理装置および画像処理方法
JP6487493B2 (ja) * 2017-05-18 2019-03-20 ファナック株式会社 画像処理システム
JP7446060B2 (ja) * 2019-03-27 2024-03-08 三菱電機株式会社 情報処理装置、プログラム及び情報処理方法
JP2020193946A (ja) * 2019-05-30 2020-12-03 本田技研工業株式会社 光学装置及び把持システム
JP6992099B2 (ja) * 2020-01-16 2022-01-13 本田技研工業株式会社 情報処理装置、車両、車両の制御方法、プログラム、情報処理サーバ、情報処理方法
JP7230896B2 (ja) * 2020-03-12 2023-03-01 株式会社豊田中央研究所 車載センシング装置及びセンサパラメータ最適化装置。

Also Published As

Publication number Publication date
WO2024069886A1 (ja) 2024-04-04
JPWO2024069886A1 (https=) 2024-04-04
US20260102920A1 (en) 2026-04-16
EP4596188A1 (en) 2025-08-06

Similar Documents

Publication Publication Date Title
CN113524194B (zh) 基于多模特征深度学习的机器人视觉抓取系统的目标抓取方法
JP5567908B2 (ja) ３次元計測装置、その計測方法及びプログラム
US10805546B2 (en) Image processing system, image processing device, and image processing program
JP6573354B2 (ja) 画像処理装置、画像処理方法、及びプログラム
JP6004809B2 (ja) 位置姿勢推定装置、情報処理装置、情報処理方法
JP6444027B2 (ja) 情報処理装置、情報処理装置の制御方法、情報処理システムおよびプログラム
JP6860620B2 (ja) 情報処理装置、情報処理方法、及びプログラム
CN110136208A (zh) 一种机器人视觉伺服系统的联合自动标定方法及装置
JP6092530B2 (ja) 画像処理装置、画像処理方法
JP6677522B2 (ja) 情報処理装置、情報処理装置の制御方法およびプログラム
JP2012042396A (ja) 位置姿勢計測装置、位置姿勢計測方法、およびプログラム
JP2020047049A (ja) 画像処理装置及び画像処理方法
US11590657B2 (en) Image processing device, control method thereof, and program storage medium
JP5976089B2 (ja) 位置姿勢計測装置、位置姿勢計測方法、およびプログラム
JP2021026599A (ja) 画像処理システム
WO2023127021A1 (ja) 制御装置、制御システム、ロボットシステム、制御方法及びコンピュータプログラム
US11559888B2 (en) Annotation device
JP2015132523A (ja) 位置姿勢計測装置、位置姿勢計測方法及びプログラム
CN119947870A (zh) 运算装置、运算系统、机器人系统、运算方法及计算机程序
CN119665859A (zh) 一种用于结构件的多目视觉孔位测量方法及装置
CN119832151A (zh) 开放式三维重建方法、自动深度定位方法、设备及机器人
US20250326125A1 (en) Control apparatus, control system, robot system, control method, and computer program
JP6285765B2 (ja) 情報処理装置、情報処理方法
Fröhlig et al. Three-dimensional pose estimation of deformable linear object tips based on a low-cost, two-dimensional sensor setup and AI-based evaluation
JP2019105588A (ja) 情報処理装置、システム、情報処理方法及びプログラム

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination