WO2020252631A1 - Procédé d'étalonnage d'un système de coordonnées, appareil et support lisible par ordinateur - Google Patents

Procédé d'étalonnage d'un système de coordonnées, appareil et support lisible par ordinateur Download PDF

Info

Publication number
WO2020252631A1
WO2020252631A1 PCT/CN2019/091574 CN2019091574W WO2020252631A1 WO 2020252631 A1 WO2020252631 A1 WO 2020252631A1 CN 2019091574 W CN2019091574 W CN 2019091574W WO 2020252631 A1 WO2020252631 A1 WO 2020252631A1
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
coordinate system
camera
target object
photo
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.)
Ceased
Application number
PCT/CN2019/091574
Other languages
English (en)
Chinese (zh)
Inventor
梁栋
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.)
Siemens Ltd China
Original Assignee
Siemens Ltd China
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 Siemens Ltd China filed Critical Siemens Ltd China
Priority to CN201980096166.9A priority Critical patent/CN113795358B/zh
Priority to PCT/CN2019/091574 priority patent/WO2020252631A1/fr
Publication of WO2020252631A1 publication Critical patent/WO2020252631A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis

Definitions

  • the invention relates to the technical field of industrial robots, in particular to a coordinate system calibration method, device and computer readable medium.
  • the "eye on hand” robot means that the camera (eye) is installed on the actuator (hand, such as a gripper) connected to the robotic arm, rather than installed next to the robot.
  • the actuator hand, such as a gripper
  • it is necessary to determine the conversion relationship between the actuator coordinate system and the camera coordinate system, that is, perform hand-eye calibration.
  • the user 30 uses the teach pendant 50 to control the robot arm 21 connected to the actuator 20 so that the actuator touches several on the workbench 40 Points (usually 9 points or 16 points). As shown in Fig. 1, by the actuator 20 touching the points on the worktable 40, the coordinates of these points in the actuator coordinate system can be obtained. After that, the user 30 controls the robotic arm 21 to move to a preset position, and then controls the camera 10 to take pictures of the touched points to obtain their coordinates in the camera coordinate system. Then calculate the conversion relationship between the two coordinate systems.
  • the user 30 controls the robotic arm 21 to pass through various points on the workbench 40 along a set path, and controls the camera 10 to perform an operation on a target object 60 on the workbench 40 during the movement. Take pictures. Then, the conversion relationship between the two coordinate systems is determined according to the position of the actuator 20 during the movement of the robot arm 21 and the coordinates of the target object 60 recorded by the photo.
  • the embodiments of the present invention provide a coordinate system calibration method, device, and computer readable medium for hand-eye calibration. Compared with the foregoing two methods, the embodiment of the present invention has the advantages of convenient operation and simple operation.
  • a coordinate system calibration method including: when an actuator fixedly connected to a mechanical arm is in a first position, controlling a camera fixedly connected to the actuator to a workbench operated by the mechanical arm The placed target object is photographed, wherein the z axis of the actuator coordinate system of the actuator and the z'axis of the camera coordinate system of the camera are both perpendicular to the worktable; the robot arm is controlled to move so that the execution The actuator rotates around the z-axis of the actuator to the second position and the third position; when the actuator is in the second position and the third position, the camera is respectively controlled to take pictures of the target object The position of the target object in the photo taken at the second position and the position of the target object in the photo taken at the third position are merged into the photo taken at the first position; the merged position The center of the circle where the three positions of the target object in the photo are located is determined as the TCP position of the actuator in the camera coordinate system; the camera coordinates are determined according to the determined TCP
  • a coordinate system calibration device including: a control module configured to control a camera fixedly connected to the actuator to the mechanical arm when the actuator fixedly connected to the actuator is in the first position The target object placed on the worktable operated by the arm is photographed, wherein the z axis of the actuator coordinate system of the actuator and the z'axis of the camera coordinate system of the camera are both perpendicular to the worktable; controlling the machine The arm moves so that the actuator rotates around the z-axis of the actuator to the second position and the third position; when the actuator is in the second position and the third position, the camera is controlled respectively Take a picture of the target object; a photo processing module configured to merge the position of the target object in the photo taken at the second position and the position of the target object in the photo taken at the third position into the In the photo taken at the first position; a calculation module configured to determine the center of the circle where the three positions of the target object in the photo after the combined position are located as the TCP position of the actuator in the camera coordinate
  • a coordinate system calibration device which includes: at least one memory configured to store computer-readable codes; at least one processor configured to call the computer-readable codes to perform the following steps:
  • the actuator fixedly connected to the mechanical arm is in the first position
  • the camera fixedly connected to the actuator is controlled to take a picture of the target object placed on the workbench operated by the mechanical arm, wherein the actuator coordinate system of the actuator
  • the z axis of the camera and the z'axis of the camera coordinate system of the camera are perpendicular to the worktable
  • the movement of the robot arm is controlled so that the actuator rotates around the z axis of the actuator to the second position and the first position Three positions; when the actuator is in the second position and the third position, respectively control the camera to take pictures of the target object; the position of the target object in the photo taken at the second position And the positions of the target objects in the photos taken at the third position are all merged into the photos taken at the first position; the circle centers of the three positions of the target objects in the photos after
  • a computer-readable medium is provided, and computer-readable instructions are stored on the computer-readable medium.
  • the processor executes the following steps: When the actuator fixedly connected to a mechanical arm is in the first position, the camera fixedly connected to the actuator is controlled to take a picture of the target object placed on the workbench operated by the mechanical arm, wherein the actuator coordinates of the actuator The z axis of the camera and the z'axis of the camera coordinate system of the camera are both perpendicular to the worktable; control the movement of the robotic arm so that the actuator rotates to the second position around the z axis of the actuator, and The third position; when the actuator is in the second position and the third position, respectively control the camera to take pictures of the target object; the position of the target object in the photo taken at the second position And the positions of the target objects in the photos taken at the third position are all merged into the photos taken at the first position; the circle centers of the three positions of the target objects in the
  • the robot arm can also be controlled to move so that the actuator moves from the first position to the fourth position along the x-axis of the actuator coordinate system, and Control the camera to take pictures; merge the position of the target object in the photo taken at the fourth position into the photo taken at the first position; according to the two positions of the target object in the photo after merging the positions in the camera coordinates
  • the coordinates under the system determine the rotation angle between the actuator coordinate system and the camera coordinate system.
  • the coordinate system of the actuator and the camera may also be determined according to the coordinates of the two positions of the target object in the photo of the combined position in the camera coordinate system.
  • the proportional relationship of length in the coordinate system may also be determined according to the coordinates of the two positions of the target object in the photo of the combined position in the camera coordinate system.
  • the embodiment of the present invention and the existing hand-eye calibration solution have the advantages of simple, easy and efficient operation.
  • In order to obtain the parameters required for coordinate transformation it is only necessary to control the movement and rotation of the robot arm for a limited number of times, and there is no need to precisely control the distance and angle of the actuator movement. This means that the operation is easier, and there is no need to set a large number of parameters. Lower.
  • Figure 1 and Figure 2 show two hand-eye calibration methods.
  • Fig. 3 is a scene where the robot arm is controlled to move and take pictures in an embodiment of the present invention, as well as the actuator coordinate system and the camera coordinate system.
  • Figure 4 shows the four parameters required for coordinate system conversion.
  • Figure 5 shows the position of the target object and the camera in the photo taken when the actuator is in the original position, and the field of view of the camera.
  • Figure 6 shows the control actuator to rotate and take pictures of the target object, the position of the camera, and the field of view of the camera.
  • Fig. 7 shows a method for determining the TCP position of an actuator in an embodiment of the present invention.
  • Fig. 8 shows the target object, the position of the camera and the field of view of the camera in the control actuator to translate and take photos.
  • Fig. 9 shows a method for determining the scale factor K and the rotation angle ⁇ in an embodiment of the present invention.
  • FIG. 10 is a flowchart of a coordinate system calibration method provided by an embodiment of the present invention.
  • Fig. 11 is a schematic structural diagram of a coordinate system calibration device provided by an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of another structure of a coordinate system calibration device provided by an embodiment of the present invention.
  • the term “including” and its variants means open terms, meaning “including but not limited to.”
  • the term “based on” means “based at least in part on.”
  • the terms “one embodiment” and “an embodiment” mean “at least one embodiment.”
  • the term “another embodiment” means “at least one other embodiment.”
  • the terms “first”, “second”, etc. may refer to different or the same objects. Other definitions can be included below, either explicit or implicit. Unless clearly indicated in the context, the definition of a term is consistent throughout the specification.
  • a camera 10 is installed on the actuator 20 of the mechanical arm 21.
  • the user 30 controls the movement of the robot arm 21 through the teach pendant 50, and drives the actuator 20 to operate on the workbench 40.
  • a target object 60 is placed on the workbench 40, and the target object 60 is within the shooting range of the camera 10.
  • scale factor K used to express the proportional relationship between the lengths in the two coordinate systems
  • offset dx used to express the proportional relationship between the lengths in the two coordinate systems
  • offset dy referring to the origin of the two coordinate systems in the two-dimensional coordinate system.
  • the distance between the two coordinate systems), the rotation angle ⁇ between the two coordinate systems refers to the angle between the y axis and the y'axis, or between the x axis and the x'axis in a two-dimensional coordinate system).
  • the clockwise rotation of the camera coordinate system 62 to the actuator coordinate system 61 is taken as an example for description. In specific implementation, counterclockwise rotation can also be considered, and the principle is the same, so it will not be repeated here.
  • the robot arm 21 is controlled to move, and then the actuator 20 connected to the robot arm 21 is driven to move, so that the actuator 20 moves to different positions, and the camera 10 is controlled to take photos at each position. It is ensured that the target object 60 is within the field of view of the camera 10 at each position.
  • first position 71 as the original position of the actuator 20, and control the camera 10 to take pictures at the first position 71.
  • the camera 10 is at position 81
  • the target object 60 is at position 82
  • the tool center of the actuator 20 A point (Tool Center Point, TCP) is located at a position 83
  • the field of view of the camera 10 is a range 84, as shown in FIG. 5.
  • the robot arm 21 is controlled so that the actuator 20 rotates to the second position 72 and the third position 73 with the z-axis of the actuator 20 as an axis, and the target object 60 remains stationary during the rotation.
  • the camera 10 is controlled to take pictures.
  • the camera 10 is located at position 81', and the field of view of the camera 10 becomes a range 84'; when the actuator 20 moves to the third position 73 At the time, the camera 10 is controlled to take pictures.
  • the camera 10 is located at a position 81", and the field of view of the camera 10 becomes a range of 84", as shown in FIG.
  • the positions of the target object 60 in the merged photo are position 82, position 82' and position 82", respectively. Because the actuator 20 is around The z-axis of the actuator coordinate system 61 rotates, and the TCP83 of the actuator 20 is located on the z-axis.
  • the actuator 20 actually rotates with the TCP83 as the center and the z-axis as the axis, and the camera 10 is fixed on the actuator 20 , Also rotates around the z-axis of the actuator 20, so the position 82, the position 82' and the position 82" are on the same circle 85 (as shown in Figure 7), and the center of the circle 85 is the TCP83, which can then be calculated
  • the robot arm 21 is controlled to move so that the actuator 20 moves from the first position 71 along the x-axis of the actuator coordinate system 61 by a distance d to the fourth position 74 and controls the camera 10 to take pictures, as shown in FIG. 8. Then merge the position 82 of the target object 60 in the photo taken by the actuator 20 at the fourth position 74 into the photo taken by the actuator 20 at the first position 71, as shown in the position 82"' in Fig. 9.
  • the coordinates of position 82 and position 82"' are (Cx1, Cy1) and (Cx2, Cy2) respectively, then the angle ⁇ can be calculated by the following formula (1), where Abs represents an absolute value.
  • the distance dc between the positions 82 and 82"' of the target object 60 in the two photos taken by the actuator 20 at the first position 71 and the fourth position 72 can be calculated by the following formula (2):
  • the scale factor K can be calculated by the following formula (3):
  • the parameters K, dx, dy and ⁇ can be easily obtained. Since it only needs to simply move the mechanical arm 21 and take pictures at a limited number of positions, there is no need to precisely control the distance and angle of each movement, which simplifies the hand-eye calibration process, and the calculation result is accurate.
  • an embodiment of the present invention provides a coordinate system calibration method, which can be used to obtain the conversion relationship between the actuator coordinate system and the camera coordinate system of an "eye on hand" robot.
  • the premise of this method is that the z axis of the actuator coordinate system and the z'axis of the camera coordinate system are both perpendicular to the worktable operated by the robotic arm.
  • the method may include the following steps:
  • S1002 Control the movement of the mechanical arm so that the actuator rotates around the z-axis of the actuator to the second position and the third position.
  • S1003 Control the camera to take pictures of the target object when the actuator is in the second position and the third position.
  • S1004 Combine the position of the target object in the photo taken at the second position and the position of the target object in the photo taken at the third position into the photo taken at the first position.
  • S1005 Determine the center of the circle where the three positions of the target object in the photo after the combined positions are located as the TCP position of the actuator in the camera coordinate system.
  • S1006 Determine the offset between the coordinate origin of the camera coordinate system and the actuator coordinate system according to the determined TCP position of the actuator in the camera coordinate system.
  • S1008 Combine the position of the target object in the photo taken at the fourth position into the photo taken at the first position.
  • S1009 Determine the rotation angle between the actuator coordinate system and the camera coordinate system according to the coordinates of the two positions of the target object in the camera coordinate system in the photo after the combined positions.
  • S1010 Determine the proportional relationship between the length of the actuator coordinate system and the camera coordinate system according to the coordinates of the two positions of the target object in the photo of the combined position in the camera coordinate system.
  • FIGS. 3 to 9 For other optional implementation manners of this method, reference may be made to FIGS. 3 to 9 and the corresponding description, which will not be repeated here.
  • the embodiment of the present invention also provides a coordinate system calibration device 110, including:
  • a control module 1101 is configured to control a camera fixedly connected to the actuator to take a picture of a target object placed on a workbench operated by the robotic arm when the actuator fixedly connected to the robotic arm is in the first position, wherein The z axis of the actuator coordinate system of the actuator and the z'axis of the camera coordinate system of the camera are both perpendicular to the worktable; control the movement of the mechanical arm so that the actuator rotates around the z axis of the actuator to the second position and the third position; Take pictures of the target object at the second position and the third position respectively;
  • a photo processing module 1102 configured to merge the position of the target object in the photo taken at the second position and the position of the target object in the photo taken at the third position into the photo taken at the first position;
  • a calculation module 1103 is configured to determine the center of the circle where the three positions of the target object in the photo after the combined positions are located as the TCP position of the actuator in the camera coordinate system; and according to the determined TCP position of the actuator in the camera coordinate system The position determines the offset between the coordinate origin of the camera coordinate system and the actuator coordinate system.
  • control module 1101 is also configured to control the movement of the mechanical arm, so that the actuator moves from the first position along the x-axis of the actuator coordinate system to the fourth position, and controls the camera to take pictures;
  • the calculation module 1103 is also configured to set the position of the target object in the camera according to the two positions of the target object in the photo after the combined position
  • the coordinates in the coordinate system determine the rotation angle between the actuator coordinate system and the camera coordinate system.
  • the calculation module 1103 is further configured to determine the proportional relationship between the length of the actuator coordinate system and the camera coordinate system according to the coordinates of the two positions of the target object in the photo of the combined position in the camera coordinate system.
  • control module 1101 is used to move the robotic arm and control the camera to take pictures
  • photo processing module 1102 is used to process pictures taken by the camera.
  • the calculation module 1103 is used to calculate the parameters required for coordinate conversion.
  • FIG. 12 is a schematic diagram of another structure of a coordinate system calibration device 110 provided by an embodiment of the present invention.
  • the coordinate system calibration device 110 may include at least one memory 1104 for storing computer-readable codes; at least one processor 1105 configured to execute at least one computer-readable stored in the memory 1104 Code, execute the aforementioned coordinate system calibration method.
  • the modules shown in FIG. 11 can be regarded as program modules written by computer readable codes stored in the memory 1104. When these program modules are called by the processor 1105, the aforementioned coordinate system calibration method can be executed.
  • the above-mentioned modules can also be regarded as various functional modules realized by a combination of hardware and software, and various functions involved in the coordinate system calibration device 110 when executing the coordinate system calibration method.
  • the above-mentioned modules can also be regarded as various functional modules implemented by hardware, which are used to implement various functions involved in the coordinate system calibration method performed by the coordinate system calibration device 110, such as the control logic of each process involved in the method in advance. Burned into a Field-Programmable Gate Array (FPGA) chip or a Complex Programmable Logic Device (CPLD), and these chips or devices perform the functions of the above-mentioned modules, and the specific implementation The method may depend on engineering practice.
  • FPGA Field-Programmable Gate Array
  • CPLD Complex Programmable Logic Device
  • the coordinate system calibration device 110 can be implemented as a part of the function of the teach pendant 50. Based on the functions implemented by the teaching pendant 50, the movement of the robot arm 21 and the camera 10 taking pictures are controlled. Operations such as parameter calculation can also be completed by using the existing processing capabilities of the teach pendant 50.
  • an embodiment of the present invention also provides a computer-readable medium having computer-readable instructions stored thereon, and the computer-readable instructions, when executed by a processor, cause the processor to execute the aforementioned coordinate system calibration method.
  • Examples of computer-readable media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tape, Volatile memory card and ROM.
  • the computer-readable instructions can be downloaded from a server computer or a cloud via a communication network.
  • the embodiments of the present invention provide a coordinate system calibration method, device, and computer readable medium for hand-eye calibration.
  • the embodiment of the present invention has the advantages of simple, easy and efficient operation.
  • the existing method usually needs to move nine or more times (for example, for the hand-eye calibration implemented by the real-time operating system ROS, the robot arm usually needs to be moved 16 times.
  • the movement of the robot arm does not need to be quantified, which means that the operation is easier (no need to accurately move a specific distance and angle), no need to set a large number of parameters, and lower requirements for the operator.
  • system structure described in the foregoing embodiments may be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or may be implemented by multiple physical entities. Some components in independent devices are implemented together.

Landscapes

  • 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)

Abstract

La présente invention se rapporte au domaine technique de la robotique industrielle, et concerne en particulier un procédé d'étalonnage d'un système de coordonnées, un appareil et un support lisible par ordinateur. Le procédé d'étalonnage d'un système de coordonnées selon certains modes de réalisation de la présente invention comporte les étapes consistant: lorsqu'un actionneur d'un manipulateur robotisé se trouve dans une première position, à commander une caméra pour photographier un objet cible; à commander le manipulateur robotisé pour se déplacer, amenant l'actionneur à pivoter autour d'un axe z de l'actionneur jusqu'à une deuxième position et une troisième position, et photographier dans chacune de celles-ci; à fusionner une position de l'objet cible sur l'image photographiée dans la deuxième position et une position de l'objet cible sur l'image photographiée dans la troisième position pour donner l'image photographiée dans la première position; à déterminer un centre d'un cercle dans lequel se trouvent les trois positions de l'objet cible sur l'image après la fusion des positions comme étant la position de TCP de l'actionneur dans un système de coordonnées de la caméra; et à déterminer, d'après la position de TCP, un décalage entre les origines de coordonnées du système de coordonnées de la caméra et du système de coordonnées de l'actionneur. L'invention présente l'avantage d'un fonctionnement simple.
PCT/CN2019/091574 2019-06-17 2019-06-17 Procédé d'étalonnage d'un système de coordonnées, appareil et support lisible par ordinateur Ceased WO2020252631A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980096166.9A CN113795358B (zh) 2019-06-17 2019-06-17 一种坐标系校准方法、装置和计算机可读介质
PCT/CN2019/091574 WO2020252631A1 (fr) 2019-06-17 2019-06-17 Procédé d'étalonnage d'un système de coordonnées, appareil et support lisible par ordinateur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/091574 WO2020252631A1 (fr) 2019-06-17 2019-06-17 Procédé d'étalonnage d'un système de coordonnées, appareil et support lisible par ordinateur

Publications (1)

Publication Number Publication Date
WO2020252631A1 true WO2020252631A1 (fr) 2020-12-24

Family

ID=74036885

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/091574 Ceased WO2020252631A1 (fr) 2019-06-17 2019-06-17 Procédé d'étalonnage d'un système de coordonnées, appareil et support lisible par ordinateur

Country Status (2)

Country Link
CN (1) CN113795358B (fr)
WO (1) WO2020252631A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113478487A (zh) * 2021-07-13 2021-10-08 苏州市汇邦自动化系统有限公司 一种机械手自动纠偏方法、装置、系统及存储介质
CN113997292A (zh) * 2021-11-30 2022-02-01 国网四川省电力公司南充供电公司 一种基于机器视觉的机械臂的作业方法、介质、电子设备

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104354167A (zh) * 2014-08-29 2015-02-18 广东正业科技股份有限公司 一种机器人手眼标定方法及装置
CN106426172A (zh) * 2016-10-27 2017-02-22 深圳元启智能技术有限公司 一种工业机器人工具坐标系的标定方法与系统
CN107738254A (zh) * 2017-08-25 2018-02-27 中国科学院光电研究院 一种机械臂坐标系的转换标定方法与系统
CN108748159A (zh) * 2018-06-20 2018-11-06 无锡信捷电气股份有限公司 一种机械臂工具坐标系自标定方法
CN109781164A (zh) * 2018-12-28 2019-05-21 长沙长泰机器人有限公司 一种线激光传感器的静态标定方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5297238A (en) * 1991-08-30 1994-03-22 Cimetrix Incorporated Robot end-effector terminal control frame (TCF) calibration method and device
JP3511551B2 (ja) * 1996-06-27 2004-03-29 株式会社リコー ロボットアームの状態検出方法および検出システム
CN106335061A (zh) * 2016-11-11 2017-01-18 福州大学 一种基于四自由度机器人的手眼关系标定方法
JP6922204B2 (ja) * 2016-12-09 2021-08-18 セイコーエプソン株式会社 制御装置、ロボットおよびロボットシステム
CN107363823A (zh) * 2017-06-21 2017-11-21 深圳市恒科通机器人有限公司 机械臂的坐标标定方法
CN107808401B (zh) * 2017-10-30 2020-09-22 大族激光科技产业集团股份有限公司 机械臂末端的单相机的手眼标定方法
CN109829953B (zh) * 2019-02-27 2021-09-03 广东拓斯达科技股份有限公司 图像采集装置标定方法、装置、计算机设备和存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104354167A (zh) * 2014-08-29 2015-02-18 广东正业科技股份有限公司 一种机器人手眼标定方法及装置
CN106426172A (zh) * 2016-10-27 2017-02-22 深圳元启智能技术有限公司 一种工业机器人工具坐标系的标定方法与系统
CN107738254A (zh) * 2017-08-25 2018-02-27 中国科学院光电研究院 一种机械臂坐标系的转换标定方法与系统
CN108748159A (zh) * 2018-06-20 2018-11-06 无锡信捷电气股份有限公司 一种机械臂工具坐标系自标定方法
CN109781164A (zh) * 2018-12-28 2019-05-21 长沙长泰机器人有限公司 一种线激光传感器的静态标定方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113478487A (zh) * 2021-07-13 2021-10-08 苏州市汇邦自动化系统有限公司 一种机械手自动纠偏方法、装置、系统及存储介质
CN113478487B (zh) * 2021-07-13 2023-12-29 苏州市汇邦自动化系统有限公司 一种机械手自动纠偏方法、装置、系统及存储介质
CN113997292A (zh) * 2021-11-30 2022-02-01 国网四川省电力公司南充供电公司 一种基于机器视觉的机械臂的作业方法、介质、电子设备

Also Published As

Publication number Publication date
CN113795358A (zh) 2021-12-14
CN113795358B (zh) 2024-07-09

Similar Documents

Publication Publication Date Title
CN113613850B (zh) 一种坐标系校准方法、装置和计算机可读介质
CN104102226B (zh) 控制系统及控制方法
JP5949242B2 (ja) ロボットシステム、ロボット、ロボット制御装置、ロボット制御方法、およびロボット制御プログラム
TWI672206B (zh) 機械手臂非接觸式工具中心點校正裝置及其方法以及具有校正功能的機械手臂系統
US10525597B2 (en) Robot and robot system
JP2020116734A (ja) ロボットモーション用のビジョンシステムの自動ハンドアイ校正のためのシステム及び方法
WO2021012124A1 (fr) Procédé et appareil d'étalonnage main-œil de robot, dispositif informatique, support et produit
WO2020024178A1 (fr) Procédé et système d'étalonnage œil-main, et support de stockage informatique
CN107428009A (zh) 用于工业机器人调试的方法、使用该方法的工业机器人系统和控制系统
CN114080590B (zh) 使用先进扫描技术的机器人料箱拾取系统和方法
CN108326850A (zh) 一种机器人准确移动机械臂到达指定位置的方法及系统
CN112902961A (zh) 基于机器视觉定位的标定方法、介质、标定设备及系统
CN115588054A (zh) 无角度约束的相机标定方法、装置、电子设备及存储介质
WO2019176450A1 (fr) Dispositif de traitement d'informations, procédé de traitement d'informations et programme
WO2020252631A1 (fr) Procédé d'étalonnage d'un système de coordonnées, appareil et support lisible par ordinateur
CN106335061A (zh) 一种基于四自由度机器人的手眼关系标定方法
CN115439633A (zh) 标定方法、装置和电子设备
CN110582733B (zh) 用于估计工业机器人的调试工具的系统误差的方法和装置
CN113858214B (zh) 一种用于机器人作业的定位方法与控制系统
JPWO2018096669A1 (ja) レーザ加工装置、レーザ加工方法、及びレーザ加工プログラム
CN116079715B (zh) 一种手眼标定方法及装置
CN116423495A (zh) 一种基于pnp的3d定位跟踪方法和系统
CN111275662A (zh) 基于二维码的工件定位方法、装置、设备和存储介质
CN115723135A (zh) 标定方法、装置、电子设备及计算机存储介质
CN116136388A (zh) 机器人工具坐标系的标定方法、装置、设备以及存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19934074

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19934074

Country of ref document: EP

Kind code of ref document: A1