公开(公告)号：US20220379499A1

公开(公告)日：2022-12-01

申请号：US17753630

申请日：2019-09-27

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Jiafan Zhang ,  Yang Shu

IPC: B25J19/02 ,  B25J9/16

Abstract: Embodiments of present disclosure relates to an apparatus and a method for calibrating a laser displacement sensor for use with a robot. The apparatus comprises an auxiliary object arranged in a work space of the robot or held by the robot and comprising a planar surface adapted to be detected by the laser displacement sensor; and a controller configured to: determine a characteristic point on the planar surface of the auxiliary object based on a detection result from the laser displacement sensor; cause the laser displacement sensor to point at the characteristic point for plural times with the same angle and different distances to obtain an orientation of the laser displacement sensor; and cause the laser displacement sensor to point at the characteristic point for plural times with different angles and the same distance to obtain a relative position relationship between the laser displacement sensor and the robot.

公开(公告)号：US11820006B2

公开(公告)日：2023-11-21

申请号：US17753630

申请日：2019-09-27

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Jiafan Zhang ,  Yang Shu

IPC: B25J19/02 ,  B25J9/16

CPC classification number: B25J19/022 ,  B25J9/1692

Abstract: Embodiments of present disclosure relates to an apparatus and a method for calibrating a laser displacement sensor for use with a robot. The apparatus comprises an auxiliary object arranged in a work space of the robot or held by the robot and comprising a planar surface adapted to be detected by the laser displacement sensor; and a controller configured to: determine a characteristic point on the planar surface of the auxiliary object based on a detection result from the laser displacement sensor; cause the laser displacement sensor to point at the characteristic point for plural times with the same angle and different distances to obtain an orientation of the laser displacement sensor; and cause the laser displacement sensor to point at the characteristic point for plural times with different angles and the same distance to obtain a relative position relationship between the laser displacement sensor and the robot.