ES2145194T3 - Procedimiento para determinar la posicion de un cuerpo en el espacio. - Google Patents

Procedimiento para determinar la posicion de un cuerpo en el espacio.

Info

Publication number
ES2145194T3
ES2145194T3 ES95114588T ES95114588T ES2145194T3 ES 2145194 T3 ES2145194 T3 ES 2145194T3 ES 95114588 T ES95114588 T ES 95114588T ES 95114588 T ES95114588 T ES 95114588T ES 2145194 T3 ES2145194 T3 ES 2145194T3
Authority
ES
Spain
Prior art keywords
space
values
coordinated
procedure
stored
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.)
Expired - Lifetime
Application number
ES95114588T
Other languages
English (en)
Inventor
Enis Dipl-Ing Ersu
Stephan Dipl-Ing Wienand
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.)
Individual
Original Assignee
Individual
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=8219621&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=ES2145194(T3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Individual filed Critical Individual
Application granted granted Critical
Publication of ES2145194T3 publication Critical patent/ES2145194T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • G05B2219/39038—Determine position of two cameras by using a common reference grid
    • 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
    • G05B2219/39039—Two cameras detect same reference on workpiece to define its position in space

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

EN UN PROCEDIMIENTO PARA LA DETERMINACION DE LA POSICION DE UN CUERPO EN EL ESPACIO, PARA LA REALIZACION DE MANIPULACIONES EN EL, SE PROPONE PARA LA OBTENCION DEL OBJETIVO, UN ELEMENTO A SER MANIPULADO CON REFERENCIA A APLICACION DIRECTA POR EL MANIPULADOR, DE TAL MODO QUE DISPONE DE MULTIPLES CAMARAS ELECTRONICAS SEPARADAS ESPACIALMENTE CON PROCESADO DE IMAGEN MEDIANTE MEDICIONES EN UNA TABLA DE CALIBRACION COORDINADA CON MUESTRAS DE PUNTEO, CUYAS IMAGENES ASI COMO LA MUESTRA DE PUNTOS SE PROCESAN PARA LA DETERMINACION DE LA POSICION DE ACUERDO CON CAMARAS INDIVIDUALES COLOCADAS EN EL ESPACIO Y ALMACENANDOSE SU POSICION, DE TAL MODO QUE SE CONSIGUE UNA MEDICION SEPARADA DE LAS TABLAS DE CALIBRACION DE UNA CON RESPECTO A OTRA, DE TAL FORMA QUE ESTOS VALORES SE ALMACENAN, APLICANDOSE A CONTINUACION DEL CUERPO CAMARAS ELECTRONICAS EN EL ESPACIO CORRESPONDIENTE, DE TAL MODO QUE SE CONFIGURA UN PUNTO CARACTERISTICO SOBRE EL CUERPO DE ACUERDO CON UNA CAMARA ELECTRONICA COORDINADA, QUE PROCESA SUPOSICION EN IMAGEN CON SUS PUNTOS CONSTRUCTIVOS, PREVISTOS EN CUANTO A SU POSICION CARACTERISTICA SOBRE EL CUERPO CONJUNTAMENTE CON LOS VALORES ALMACENADOS Y DE TAL FORMA QUE TODOS LOS VALORES PROCESADOS DE ESTE MODO QUE SE DISPONEN EN LA POSICION DEL CUERPO EN EL ESPACIO, CARACTERIZAN SEIS GRADOS DE LIBERTAR ESPACIALES.
ES95114588T 1995-09-15 1995-09-15 Procedimiento para determinar la posicion de un cuerpo en el espacio. Expired - Lifetime ES2145194T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19950114588 EP0763406B1 (de) 1995-09-15 1995-09-15 Verfahren zum Bestimmen der Lage eines Körpers im Raum

Publications (1)

Publication Number Publication Date
ES2145194T3 true ES2145194T3 (es) 2000-07-01

Family

ID=8219621

Family Applications (1)

Application Number Title Priority Date Filing Date
ES95114588T Expired - Lifetime ES2145194T3 (es) 1995-09-15 1995-09-15 Procedimiento para determinar la posicion de un cuerpo en el espacio.

Country Status (5)

Country Link
EP (1) EP0763406B1 (es)
DE (1) DE59507847D1 (es)
DK (1) DK0763406T3 (es)
ES (1) ES2145194T3 (es)
PT (1) PT763406E (es)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6615112B1 (en) 1999-06-26 2003-09-02 Kuka Schweissanlagen Gmbh Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices
DE10016963C2 (de) * 2000-04-06 2002-02-14 Vmt Vision Machine Technic Gmb Verfahren zur Bestimmung der Position eines Werkstücks im 3D-Raum
DE10039442A1 (de) * 2000-08-11 2002-02-21 Duerr Systems Gmbh Verfahren und Programmsteuersystem zum Beschichten oder Bearbeiten von Werkstücken längs toleranzbehafteter Pfade
DE10111729A1 (de) * 2001-03-09 2002-09-26 Isra Vision Systems Ag Verfahren zur Bestimmung der Lage eines Körpers im Raum
DE10115149B4 (de) 2001-03-27 2004-07-29 Vmt Bildverarbeitungssysteme Gmbh Reintegration einer digitalen Kamera in ein Bildverarbeitungssystem, welche aus einer kalibrierten Position in eine unkalibrierte Position versetzt worden ist
DE10118514B4 (de) 2001-04-16 2005-08-18 Vmt Bildverarbeitungssysteme Gmbh Verfahren zur Arbeitspunktstabilisierung bei berührungsloser 3D- Positionserkennung eines zu vermessenden Objektes mittels Digitalkameras
WO2003064116A2 (en) 2002-01-31 2003-08-07 Braintech Canada, Inc. Method and apparatus for single camera 3d vision guided robotics
DE10305896B3 (de) * 2003-01-12 2004-01-22 Pepperl + Fuchs Gmbh Verfahren zum Bestimmen der Position eines Objektes im Raum mittels eines vom Objekt ausgesendeten und von Empfängern empfangenen Signals
JP2008506953A (ja) 2004-07-14 2008-03-06 ブレインテック カナダ インコーポレイテッド 機械視覚のための方法及び装置
DE102005007536A1 (de) 2005-02-17 2007-01-04 Isra Vision Systems Ag Verfahren zur Kalibrierung eines Messsystems
WO2008036354A1 (en) 2006-09-19 2008-03-27 Braintech Canada, Inc. System and method of determining object pose
US7957583B2 (en) 2007-08-02 2011-06-07 Roboticvisiontech Llc System and method of three-dimensional pose estimation
FR2921492B1 (fr) * 2007-09-21 2010-02-05 Cap Tech Procede de positionnement cartesien d'un objet sur une surface et dispositif pour sa mise en oeuvre
US8559699B2 (en) 2008-10-10 2013-10-15 Roboticvisiontech Llc Methods and apparatus to facilitate operations in image based systems
EP2189753A3 (en) * 2008-11-24 2011-01-05 Politechnika Slaska Assembly stand for mineral cutting head
JP7067479B2 (ja) * 2016-09-21 2022-05-16 日本電気株式会社 変位計測装置、変位計測システム、変位計測方法及びプログラム
CZ2017834A3 (cs) * 2017-12-22 2019-03-06 Ĺ KODA AUTO a.s. Systém pro svařování karoserie automobilu
CN112534240A (zh) 2018-07-24 2021-03-19 玻璃技术公司 用于测量波形玻璃片的表面的系统及方法
DE202018003711U1 (de) 2018-08-12 2019-11-14 Fritz Schmitt Vorrichtung zum beschleunigen von Wirkstoffen
US11867630B1 (en) 2022-08-09 2024-01-09 Glasstech, Inc. Fixture and method for optical alignment in a system for measuring a surface in contoured glass sheets

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4796200A (en) * 1986-12-09 1989-01-03 Diffracto Ltd. Target based determination of robot and sensor alignment
US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
JP2690603B2 (ja) * 1990-05-30 1997-12-10 ファナック株式会社 視覚センサのキャリブレーション方法
US5297238A (en) * 1991-08-30 1994-03-22 Cimetrix Incorporated Robot end-effector terminal control frame (TCF) calibration method and device
NO302055B1 (no) 1993-05-24 1998-01-12 Metronor As Fremgangsmåte og system for geometrimåling
FR2706345B1 (fr) * 1993-06-11 1995-09-22 Bertin & Cie Procédé et dispositif de repérage dans l'espace d'un objet mobile tel qu'un capteur ou un outil porté par un robot.
FR2706999A1 (en) * 1993-06-21 1994-12-30 Peugeot Calibration method for determining a transfer matrix between sensor means and an object, such as one or more hinges of a motor vehicle body, and device for implementing this method

Also Published As

Publication number Publication date
DK0763406T3 (da) 2000-07-24
EP0763406B1 (de) 2000-02-23
PT763406E (pt) 2000-08-31
EP0763406A1 (de) 1997-03-19
DE59507847D1 (de) 2000-03-30

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