SE540459C2 - Measuring system and method of an industrial robot - Google Patents

Measuring system and method of an industrial robot

Info

Publication number
SE540459C2
SE540459C2 SE1630273A SE1630273A SE540459C2 SE 540459 C2 SE540459 C2 SE 540459C2 SE 1630273 A SE1630273 A SE 1630273A SE 1630273 A SE1630273 A SE 1630273A SE 540459 C2 SE540459 C2 SE 540459C2
Authority
SE
Sweden
Prior art keywords
mirror
camera
industrial robot
measuring system
robot
Prior art date
Application number
SE1630273A
Other languages
English (en)
Other versions
SE1630273A1 (sv
Inventor
Asplund Lars
Original Assignee
Unibap Ab
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 Unibap Ab filed Critical Unibap Ab
Priority to SE1630273A priority Critical patent/SE540459C2/sv
Priority to KR1020197016992A priority patent/KR102228835B1/ko
Priority to CN201780071106.2A priority patent/CN109983299A/zh
Priority to JP2019524389A priority patent/JP2020513333A/ja
Priority to US16/461,551 priority patent/US20190291276A1/en
Priority to BR112019010204A priority patent/BR112019010204A2/pt
Priority to AU2017366305A priority patent/AU2017366305A1/en
Priority to EP17873113.9A priority patent/EP3545257A4/en
Priority to CA3043463A priority patent/CA3043463A1/en
Priority to PCT/SE2017/051144 priority patent/WO2018097784A1/en
Publication of SE1630273A1 publication Critical patent/SE1630273A1/sv
Publication of SE540459C2 publication Critical patent/SE540459C2/sv

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/042—Calibration or calibration artifacts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of 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
    • 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
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
    • 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
    • G05B2219/37—Measurements
    • 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
    • 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
    • G05B2219/39025—Spheric tool interrupts transmitted calibration beam, in different configurations

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
SE1630273A 2016-11-22 2016-11-22 Measuring system and method of an industrial robot SE540459C2 (sv)

Priority Applications (10)

Application Number Priority Date Filing Date Title
SE1630273A SE540459C2 (sv) 2016-11-22 2016-11-22 Measuring system and method of an industrial robot
KR1020197016992A KR102228835B1 (ko) 2016-11-22 2017-11-17 산업용 로봇의 측정 시스템 및 방법
CN201780071106.2A CN109983299A (zh) 2016-11-22 2017-11-17 工业机器人的测量系统和方法
JP2019524389A JP2020513333A (ja) 2016-11-22 2017-11-17 産業用ロボットの測定システムおよび方法
US16/461,551 US20190291276A1 (en) 2016-11-22 2017-11-17 Measurement system and method of an industrial robot
BR112019010204A BR112019010204A2 (pt) 2016-11-22 2017-11-17 sistema e método de mensuração de um robô industrial
AU2017366305A AU2017366305A1 (en) 2016-11-22 2017-11-17 Measurement system and method of an industrial robot
EP17873113.9A EP3545257A4 (en) 2016-11-22 2017-11-17 SYSTEM AND METHOD OF MEASURING AN INDUSTRIAL ROBOT
CA3043463A CA3043463A1 (en) 2016-11-22 2017-11-17 Measurement system and method of an industrial robot
PCT/SE2017/051144 WO2018097784A1 (en) 2016-11-22 2017-11-17 Measurement system and method of an industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1630273A SE540459C2 (sv) 2016-11-22 2016-11-22 Measuring system and method of an industrial robot

Publications (2)

Publication Number Publication Date
SE1630273A1 SE1630273A1 (sv) 2018-05-23
SE540459C2 true SE540459C2 (sv) 2018-09-18

Family

ID=62195991

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1630273A SE540459C2 (sv) 2016-11-22 2016-11-22 Measuring system and method of an industrial robot

Country Status (10)

Country Link
US (1) US20190291276A1 (sv)
EP (1) EP3545257A4 (sv)
JP (1) JP2020513333A (sv)
KR (1) KR102228835B1 (sv)
CN (1) CN109983299A (sv)
AU (1) AU2017366305A1 (sv)
BR (1) BR112019010204A2 (sv)
CA (1) CA3043463A1 (sv)
SE (1) SE540459C2 (sv)
WO (1) WO2018097784A1 (sv)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200070349A1 (en) * 2018-08-31 2020-03-05 Kawasaki Jukogyo Kabushiki Kaisha Robot and method of adjusting original position of robot
CN111823222B (zh) * 2019-04-16 2021-04-27 华中科技大学无锡研究院 单目相机多视场视觉引导装置及引导方法
CN111397581B (zh) * 2020-02-27 2022-01-18 清华大学 基于红外led点阵的视觉定位靶标及靶标测量场
DK181486B1 (en) * 2022-07-28 2024-03-01 4Tech Ip Aps Robot calibration system and method for calibrating the position of a robot relative to a workplace

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5096353A (en) * 1990-07-27 1992-03-17 Motorola, Inc. Vision system for a robotic station
JP3574044B2 (ja) * 2000-03-23 2004-10-06 三洋電機株式会社 形状測定装置
US7230689B2 (en) * 2002-08-26 2007-06-12 Lau Kam C Multi-dimensional measuring system
WO2004114037A2 (en) * 2003-06-20 2004-12-29 Fanuc Robotics America, Inc. Multiple robot arm tracking and mirror jog
WO2006079617A1 (en) * 2005-01-26 2006-08-03 Abb Ab Device and method for calibrating the center point of a tool mounted on a robot by means of a camera
DE102005026654A1 (de) * 2005-06-09 2006-12-14 Ife Industrielle Forschung Und Entwicklung Gmbh Vorrichtung und Verfahren zur berührungslosen Vermessung der Geometrie, Raumposition und Raumorientierung von Körpern
DE602007010753D1 (de) * 2006-04-21 2011-01-05 Faro Tech Inc Kamerabasierte vorrichtung zur zielmessung und zielverfolgung mit sechs freiheitsgraden und drehbarem spiegel
CN101380235B (zh) * 2008-09-24 2010-12-01 南京航空航天大学 动物足-面接触运动反力的测试系统
CN101419061B (zh) * 2008-12-08 2011-06-29 北京航空航天大学 一种镜像式结构光视觉测量系统和测量方法
US9393694B2 (en) * 2010-05-14 2016-07-19 Cognex Corporation System and method for robust calibration between a machine vision system and a robot
US8780179B2 (en) * 2011-05-10 2014-07-15 Southwest Research Institute Robot vision with three dimensional thermal imaging
EP2533199B1 (en) * 2011-06-10 2014-08-13 Universität des Saarlandes Multi-view imaging system
US9501056B2 (en) * 2013-11-20 2016-11-22 Qualcomm Incorporated Autonomous robot for a mobile device
US9964398B2 (en) * 2015-05-06 2018-05-08 Faro Technologies, Inc. Three-dimensional measuring device removably coupled to robotic arm on motorized mobile platform

Also Published As

Publication number Publication date
CA3043463A1 (en) 2018-05-31
WO2018097784A1 (en) 2018-05-31
EP3545257A4 (en) 2020-08-12
EP3545257A1 (en) 2019-10-02
KR102228835B1 (ko) 2021-03-16
CN109983299A (zh) 2019-07-05
KR20190083661A (ko) 2019-07-12
AU2017366305A1 (en) 2019-06-06
JP2020513333A (ja) 2020-05-14
US20190291276A1 (en) 2019-09-26
SE1630273A1 (sv) 2018-05-23
BR112019010204A2 (pt) 2019-09-03

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