Title:
ROBOT HAND-EYE CALIBRATION METHOD AND APPARATUS, COMPUTING DEVICE, MEDIUM AND PRODUCT
Document Type and Number:
WIPO Patent Application WO/2021/012124
Kind Code:
A1
Abstract:
A robot hand-eye calibration method and apparatus, a computing device, a storage medium and a computer program product. The robot hand-eye calibration method comprises: a coordinate recording step: controlling the tail end of a robot arm (102) to sequentially move to at least three predetermined positions above a calibration plate (108); at each predetermined position: controlling a laser (104) provided on the robot arm (102) to project on the calibration plate, recording coordinates, in a robot coordinate system, of an end point of the tail end of the robot arm (102) during projection, and controlling a camera (106) on the tail end of the robot arm (102) to photograph the projection on the calibration plate (108), and recording the coordinates of the projection in the camera coordinate system; and a transformation matrix calculation step: calculating a calibration transformation matrix according to the recorded coordinates of at least three projections on the calibration plate (108) in the camera coordinate system and the coordinates of the end point of the tail end of the robot arm (102) in the robot coordinate system during each projection.
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| WO/2019/020945 | METHOD FOR CALIBRATING A MAGNETOMETER |
| WO/2002/070993 | MODULAR ALTIMETER |
| WO/2015/058986 | METHOD FOR INDOOR AND OUTDOOR POSITIONING AND PORTABLE DEVICE IMPLEMENTING SUCH A METHOD |
Inventors:
HE YINZENG (CN)
CHEN QIXIAO (CN)
CHEN QIXIAO (CN)
Application Number:
PCT/CN2019/096908
Publication Date:
January 28, 2021
Filing Date:
July 19, 2019
Export Citation:
Assignee:
SIEMENS LTD CHINA (CN)
International Classes:
G01C25/00; B25J9/16; G06T7/80
Domestic Patent References:
| WO2017003949A1 | 2017-01-05 |
Foreign References:
| CN105157725A | 2015-12-16 | |||
| CN107253190A | 2017-10-17 | |||
| CN109671122A | 2019-04-23 | |||
| CN109900251A | 2019-06-18 | |||
| CN109278044A | 2019-01-29 |
Other References:
See also references of EP 3974779A4
Attorney, Agent or Firm:
KANGXIN PARTNERS, P.C. (CN)
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