JP6737520B1 - ロボット制御のためのカメラキャリブレーションを更新する方法及び制御システム - Google Patents

ロボット制御のためのカメラキャリブレーションを更新する方法及び制御システム Download PDF

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JP6737520B1
JP6737520B1 JP2019130804A JP2019130804A JP6737520B1 JP 6737520 B1 JP6737520 B1 JP 6737520B1 JP 2019130804 A JP2019130804 A JP 2019130804A JP 2019130804 A JP2019130804 A JP 2019130804A JP 6737520 B1 JP6737520 B1 JP 6737520B1
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calibration
camera
robot
images
image set
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JP2020172015A (ja
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イスラム ラッセル
イスラム ラッセル
イエ シュタオ
イエ シュタオ
ローゼン，ダイナコフ
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Mujin Inc
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Mujin Inc
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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)
JP2019130804A 2019-04-12 2019-07-16 ロボット制御のためのカメラキャリブレーションを更新する方法及び制御システム Active JP6737520B1 (ja)

Applications Claiming Priority (2)

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

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JP2020119914A Division JP2020183035A (ja) 2019-04-12 2020-07-13 ロボット制御のためのカメラキャリブレーションを更新する方法及び制御システム

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JP6737520B1 true JP6737520B1 (ja) 2020-08-12
JP2020172015A JP2020172015A (ja) 2020-10-22

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JP2019130804A Active JP6737520B1 (ja) 2019-04-12 2019-07-16 ロボット制御のためのカメラキャリブレーションを更新する方法及び制御システム
JP2020119914A Pending JP2020183035A (ja) 2019-04-12 2020-07-13 ロボット制御のためのカメラキャリブレーションを更新する方法及び制御システム
JP2024030521A Pending JP2024088632A (ja) 2019-04-12 2024-02-29 ロボット制御のためのカメラキャリブレーションを更新する方法及び制御システム

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JP2020119914A Pending JP2020183035A (ja) 2019-04-12 2020-07-13 ロボット制御のためのカメラキャリブレーションを更新する方法及び制御システム
JP2024030521A Pending JP2024088632A (ja) 2019-04-12 2024-02-29 ロボット制御のためのカメラキャリブレーションを更新する方法及び制御システム

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US (4) US10576636B1 (cg-RX-API-DMAC7.html)
JP (3) JP6737520B1 (cg-RX-API-DMAC7.html)
CN (3) CN115122392A (cg-RX-API-DMAC7.html)
DE (1) DE102020109056A1 (cg-RX-API-DMAC7.html)

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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
US10906184B2 (en) 2019-03-29 2021-02-02 Mujin, Inc. Method and control system for verifying and updating camera calibration for robot control
US10399227B1 (en) 2019-03-29 2019-09-03 Mujin, Inc. Method and control system for verifying and updating camera calibration for robot control
US10576636B1 (en) * 2019-04-12 2020-03-03 Mujin, Inc. Method and control system for and updating camera calibration for robot control
US10766141B1 (en) * 2019-05-09 2020-09-08 Mujin, Inc. Robotic system with a coordinated transfer mechanism
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DE102020212279B3 (de) * 2020-09-29 2021-10-28 Myestro Interactive Gmbh Vorrichtung zum Kalibrieren einer räumlichen Lage eines Zentrums einer Eintrittspupille einer Kamera, Kalibrierverfahren hierfür sowie System zur Bestimmung relativer Position von Zentren von Eintrittspupillen mindestens zweier Kameras, die an einem gemeinsamen Tragrahmen montiert sind, zueinander sowie Bestimmungsverfahren hierfür
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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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US11571816B2 (en) 2023-02-07
US20230182308A1 (en) 2023-06-15
CN111203915B (zh) 2021-02-23
CN110253629A (zh) 2019-09-20
CN111203915A (zh) 2020-05-29
US10576636B1 (en) 2020-03-03
US12186918B2 (en) 2025-01-07
CN115122392A (zh) 2022-09-30
DE102020109056A1 (de) 2020-10-15
JP2024088632A (ja) 2024-07-02
JP2020183035A (ja) 2020-11-12
US20200324414A1 (en) 2020-10-15
US20250135649A1 (en) 2025-05-01
JP2020172015A (ja) 2020-10-22

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