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公开(公告)号：US09984437B2
公开(公告)日：2018-05-29
申请号：US14342403
申请日：2012-09-05
CPC分类号： G06T3/0068 , G06T7/73 , G06T2207/10136 , G06T2207/30048 , G06T2207/30204 , Y10S901/46 , Y10S901/47
摘要： A registration system and method includes a configurable device (104) having one or more moveable features (122) such that movement of the moveable features can be determined relative to a reference to define a specific configuration of the configurable device. An imaging system (110) has a display on which the configurable device is viewable. A processing device (112) is configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device.
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公开(公告)号：US20120307027A1
公开(公告)日：2012-12-06
申请号：US13519383
申请日：2010-11-17
IPC分类号： H04N7/18
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/30 , A61B90/361 , G06T7/246 , G06T2207/10068 , Y10S901/15 , Y10S901/47
摘要： A robotic control method for a camera (30) having an optical view and a robot (40) having an end-effector (42) and one or more joints (41) for maneuvering end-effector (42). The robotic control method involves an acquisition of a digital video frame (32) illustrating an image as optically viewed by the camera (30), and an execution of a visual servoing for controlling a pose of end-effector (42) relative to an image feature within the digital video frame (32). The visual servoing involves an identification of a tracking vector (vtrk) within an image coordinate system (80) of the digital video frame (32) extending from a tracking point (TR) to a target point (TG) associated with the image feature, a mapping of the tracking vector within a configuration space (100) constructed from a robotic coordinate system (90) associated with the end-effector (42), and a derivation of a pose of the end-effector (42) within the robotic coordinate system (90) from the mapping of the tracking vector (vtrk) within the configuration space (100).
摘要翻译： 一种用于具有光学视图的照相机（30）和具有端部执行器（42）的机器人（40）和用于操纵端部执行器（42）的一个或多个关节（41）的机器人控制方法。 机器人控制方法涉及一种数字视频帧（32）的采集，该数字视频帧（32）示出由照相机（30）光学观看的图像，以及执行用于控制相对于图像的末端执行器（42）的姿势的视觉伺服 特征在数字视频帧（32）内。 视觉伺服涉及从跟踪点（TR）延伸到与图像特征相关联的目标点（TG）的数字视频帧（32）的图像坐标系（80）内的跟踪矢量（vtrk）的识别， 在由与所述末端执行器（42）相关联的机器人坐标系（90）构造的配置空间（100）内的所述跟踪矢量的映射以及所述机器人坐标系中所述末端执行器（42）的姿态的推导 系统（90）从配置空间（100）内的跟踪矢量（vtrk）的映射。
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公开(公告)号：US08934003B2
公开(公告)日：2015-01-13
申请号：US13519383
申请日：2010-11-17
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/30 , A61B90/361 , G06T7/246 , G06T2207/10068 , Y10S901/15 , Y10S901/47
摘要： A robotic control method for a camera (30) having an optical view and a robot (40) having an end-effector (42) and one or more joints (41) for maneuvering end-effector (42). The robotic control method involves an acquisition of a digital video frame (32) illustrating an image as optically viewed by the camera (30), and an execution of a visual servoing for controlling a pose of end-effector (42) relative to an image feature within the digital video frame (32). The visual servoing involves an identification of a tracking vector (vtrk) within an image coordinate system (80) of the digital video frame (32) extending from a tracking point (TR) to a target point (TG) associated with the image feature, a mapping of the tracking vector within a configuration space (100) constructed from a robotic coordinate system (90) associated with the end-effector (42), and a derivation of a pose of the end-effector (42) within the robotic coordinate system (90) from the mapping of the tracking vector (vtrk) within the configuration space (100).
摘要翻译： 一种用于具有光学视图的照相机（30）和具有端部执行器（42）的机器人（40）和用于操纵端部执行器（42）的一个或多个关节（41）的机器人控制方法。 机器人控制方法涉及一种数字视频帧（32）的采集，该数字视频帧（32）示出由照相机（30）光学观看的图像，以及执行用于控制相对于图像的末端执行器（42）的姿势的视觉伺服 特征在数字视频帧（32）内。 视觉伺服涉及从跟踪点（TR）延伸到与图像特征相关联的目标点（TG）的数字视频帧（32）的图像坐标系（80）内的跟踪矢量（vtrk）的识别， 在由与所述末端执行器（42）相关联的机器人坐标系（90）构造的配置空间（100）内的所述跟踪矢量的映射以及所述机器人坐标系中所述末端执行器（42）的姿态的推导 系统（90）从配置空间（100）内的跟踪矢量（vtrk）的映射。
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公开(公告)号：US20140212025A1
公开(公告)日：2014-07-31
申请号：US14342403
申请日：2012-09-05
IPC分类号： G06T3/00
CPC分类号： G06T3/0068 , G06T7/73 , G06T2207/10136 , G06T2207/30048 , G06T2207/30204 , Y10S901/46 , Y10S901/47
摘要： A registration system and method includes a configurable device (104) having one or more moveable features (122) such that movement of the moveable features can be determined relative to a reference to define a specific configuration of the configurable device. An imaging system (110) has a display on which the configurable device is viewable. A processing device (112) is configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device.
摘要翻译： 注册系统和方法包括具有一个或多个可移动特征（122）的可配置设备（104），使得可以相对于参考来确定可移动特征的移动以定义可配置设备的特定配置。 成像系统（110）具有可配置设备可见的显示器。 处理设备（112）被配置为基于可配置设备的具体配置向可配置设备注册成像系统的坐标系。
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