FI20050681A - Paikoitusmenetelmä - Google Patents

Paikoitusmenetelmä Download PDF

Info

Publication number
FI20050681A
FI20050681A FI20050681A FI20050681A FI20050681A FI 20050681 A FI20050681 A FI 20050681A FI 20050681 A FI20050681 A FI 20050681A FI 20050681 A FI20050681 A FI 20050681A FI 20050681 A FI20050681 A FI 20050681A
Authority
FI
Finland
Prior art keywords
determination method
location determination
location
determination
Prior art date
Application number
FI20050681A
Other languages
English (en)
Swedish (sv)
Other versions
FI117835B (fi
FI20050681A0 (fi
Inventor
Jouni Erikkilae
Original Assignee
Sime Oy
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 Sime Oy filed Critical Sime Oy
Priority to FI20050681A priority Critical patent/FI117835B/fi
Publication of FI20050681A0 publication Critical patent/FI20050681A0/fi
Priority to US11/921,636 priority patent/US8477987B2/en
Priority to PCT/FI2006/000216 priority patent/WO2006136649A1/en
Priority to EP06764442.7A priority patent/EP1934128A4/en
Publication of FI20050681A publication Critical patent/FI20050681A/fi
Application granted granted Critical
Publication of FI117835B publication Critical patent/FI117835B/fi

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • G05B2219/39045—Camera on end effector detects reference pattern
    • 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
    • G05B2219/39046—Compare image of plate on robot with reference, move till coincidence, camera
    • 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
    • G05B2219/39397—Map image error directly to robot movement, position with relation to world, base not needed, image based visual servoing
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40003—Move end effector so that image center is shifted to desired position
    • 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
    • G06T2207/30244—Camera pose
FI20050681A 2005-06-22 2005-06-22 Paikoitusmenetelmä FI117835B (fi)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FI20050681A FI117835B (fi) 2005-06-22 2005-06-22 Paikoitusmenetelmä
US11/921,636 US8477987B2 (en) 2005-06-22 2006-06-19 Method for repositioning a numerically controlled device
PCT/FI2006/000216 WO2006136649A1 (en) 2005-06-22 2006-06-19 Method for repositioning a numerically controlled device
EP06764442.7A EP1934128A4 (en) 2005-06-22 2006-06-19 Method for repositioning a numerically controlled device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20050681A FI117835B (fi) 2005-06-22 2005-06-22 Paikoitusmenetelmä
FI20050681 2005-06-22

Publications (3)

Publication Number Publication Date
FI20050681A0 FI20050681A0 (fi) 2005-06-22
FI20050681A true FI20050681A (fi) 2006-12-23
FI117835B FI117835B (fi) 2007-03-15

Family

ID=34778393

Family Applications (1)

Application Number Title Priority Date Filing Date
FI20050681A FI117835B (fi) 2005-06-22 2005-06-22 Paikoitusmenetelmä

Country Status (4)

Country Link
US (1) US8477987B2 (fi)
EP (1) EP1934128A4 (fi)
FI (1) FI117835B (fi)
WO (1) WO2006136649A1 (fi)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH705743A2 (de) 2011-11-14 2013-05-15 Illinois Tool Works Umreifungsvorrichtung.
US9529824B2 (en) * 2013-06-05 2016-12-27 Digitalglobe, Inc. System and method for multi resolution and multi temporal image search
EP3170783B1 (en) 2015-11-23 2019-05-29 ABB Schweiz AG Container crane control system
US10642272B1 (en) * 2016-09-28 2020-05-05 Amazon Technologies, Inc. Vehicle navigation with image-aided global positioning system

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1987002484A1 (en) 1985-10-18 1987-04-23 Caterpillar Inc. Target and control system for positioning an automatically guided vehicle
DE3909762C2 (de) 1989-03-23 2003-02-06 Msts Logistik Gmbh & Co Müllsammelsystem mit einem Müllsammelfahrzeug und Müllbehältern
DE4405683A1 (de) 1994-02-22 1995-08-24 Siemens Ag Verfahren zur Förderung einer Last mittels eines Krans
JPH07291582A (ja) * 1994-04-28 1995-11-07 Hitachi Ltd 位置決め認識装置付きクレーン
WO1997018153A1 (en) * 1995-11-14 1997-05-22 Sime Oy Method and device to pick up, transport and put down a load
JPH09216736A (ja) 1996-02-14 1997-08-19 Shikoku Electric Power Co Inc アンローダの自動追尾型相対位置検出装置の制御方法及びその装置
DE19725315C2 (de) 1997-06-09 2001-03-22 Mannesmann Ag Kran, insbesondere Hüttenwerkskran
JP4209532B2 (ja) * 1999-03-04 2009-01-14 東芝三菱電機産業システム株式会社 クレーン位置検出システム
US6801653B1 (en) * 1999-08-05 2004-10-05 Sony Corporation Information processing apparatus and method as well as medium
JP2002104771A (ja) * 2000-07-25 2002-04-10 Inst Of Physical & Chemical Res コンテナ位置検出装置
US6681151B1 (en) * 2000-12-15 2004-01-20 Cognex Technology And Investment Corporation System and method for servoing robots based upon workpieces with fiducial marks using machine vision
JP4672190B2 (ja) * 2001-04-26 2011-04-20 三菱電機株式会社 映像ナビゲーション装置
DE10323915A1 (de) * 2003-05-23 2005-02-03 Daimlerchrysler Ag Kamerabasierte Positionserkennung für ein Straßenfahrzeug
DE102004028763A1 (de) * 2004-06-16 2006-01-19 Daimlerchrysler Ag Andockassistent

Also Published As

Publication number Publication date
US8477987B2 (en) 2013-07-02
EP1934128A1 (en) 2008-06-25
FI117835B (fi) 2007-03-15
FI20050681A0 (fi) 2005-06-22
WO2006136649A1 (en) 2006-12-28
US20090129633A1 (en) 2009-05-21
EP1934128A4 (en) 2017-03-29

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