公开(公告)号：US09807292B2

公开(公告)日：2017-10-31

申请号：US14755476

申请日：2015-06-30

Applicant: ABB Technology Ltd.

Inventor： Remus Boca ,  Jianjun Wang ,  Thomas Fuhlbrigge ,  Biao Zhang

IPC: H04N5/232 ,  H04N17/00 ,  H04N7/18 ,  B25J9/16 ,  G06T7/60 ,  G06K9/52 ,  G06T7/20 ,  G06T7/00 ,  G06T7/70

CPC classification number: H04N5/23203 ,  B25J9/161 ,  B25J9/1692 ,  B25J9/1697 ,  G05B2219/40617 ,  G06K9/52 ,  G06T7/20 ,  G06T7/60 ,  G06T7/70 ,  H04N5/232 ,  H04N7/18 ,  H04N17/002 ,  Y10S901/09

Abstract: Technologies for calibrating a pan tilt unit with a robot include a robot controller to move a camera of the pan tilt unit about a first rotational axis of the pan tilt unit to at least three different first axis positions. The robot controller records a first set of positions of a monitored component of the robot in a frame of reference of the robot and a position of the camera in a frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different first axis positions. Further, the robot controller moves the camera about a second rotational axis of the pan tilt unit to at least three different second axis positions and records a second set of positions of the monitored component in the frame of reference of the robot and a position of the camera in the frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different second axis positions. Further, the robot controller determines a transformation from the frame of reference of the robot to the frame of reference of the pan tilt unit based on the first set of recorded positions and the second set of recorded positions.

公开(公告)号：US20170006209A1

公开(公告)日：2017-01-05

申请号：US14755476

申请日：2015-06-30

Applicant: ABB Technology Ltd.

Inventor： Remus Boca ,  Jianjun Wang ,  Thomas Fuhlbrigge ,  Biao Zhang

IPC: H04N5/232 ,  H04N17/00 ,  B25J9/16 ,  G06T7/60 ,  G06K9/52 ,  G06T7/20 ,  H04N7/18 ,  G06T7/00

CPC classification number: H04N5/23203 ,  B25J9/161 ,  B25J9/1692 ,  B25J9/1697 ,  G05B2219/40617 ,  G06K9/52 ,  G06T7/20 ,  G06T7/60 ,  G06T7/70 ,  H04N5/232 ,  H04N7/18 ,  H04N17/002 ,  Y10S901/09

Abstract: Technologies for calibrating a pan tilt unit with a robot include a robot controller to move a camera of the pan tilt unit about a first rotational axis of the pan tilt unit to at least three different first axis positions. The robot controller records a first set of positions of a monitored component of the robot in a frame of reference of the robot and a position of the camera in a frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different first axis positions. Further, the robot controller moves the camera about a second rotational axis of the pan tilt unit to at least three different second axis positions and records a second set of positions of the monitored component in the frame of reference of the robot and a position of the camera in the frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different second axis positions. Further, the robot controller determines a transformation from the frame of reference of the robot to the frame of reference of the pan tilt unit based on the first set of recorded positions and the second set of recorded positions.

Abstract translation: 用于用机器人校准摇摄倾斜单元的技术包括机器人控制器，用于将摇摄倾斜单元的摄像机围绕摇摄倾斜单元的第一旋转轴线移动到至少三个不同的第一轴位置。 机器人控制器将机器人的监视部件的第一组位置记录在机器人的参考系中，并且在所监视的部件在其中的时间段期间相机在基准俯仰单元的参考系中的位置记录 对于至少三个不同的第一轴位置中的每一个的相机的视场。 此外，机器人控制器将相机围绕摇摄倾斜单元的第二旋转轴线移动到至少三个不同的第二轴位置，并且将所监视的组件的第二组位置记录在机器人的参考系中，并且将位置 在所监视的部件在所述至少三个不同的第二轴位置中的每一个的所述摄像机的视野内的期间中，所述摇摄倾斜单元的所述参考系的摄像机。 此外，机器人控制器基于第一组记录位置和第二组记录位置确定从机器人的参照系到摇摄倾斜单元的参考系的变换。