External parameter calibration method for robot sensors and apparatus and robot with the same
US11590655B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 26, 2018 |
| Grant date | Feb 28, 2023 |
| Priority date | — |
| Expiry date | May 16, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39024
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The present disclosure provides an external parameter calibration method for robot sensors as well as an apparatus, robot and storage medium with the same. The method includes: obtaining first sensor data and second sensor data obtained through a first sensor and a second sensor of the robot by collecting position information of a calibration reference object and converting to a same coordinate system to obtain corresponding first converted sensor data and second converted sensor data, thereby determining a first coordinate and a second coordinate of a reference point of the calibration reference object; using the first coordinate and the second coordinate are as a set of coordinate data; repeating the above-mentioned steps to obtain N sets of the coordinate data to calculate the external parameter between the first sensor and the second sensor in response to a relative positional relationship between the robot and the calibration reference object being changed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.