Tracking measurement method, apparatus and device for pose of tail end of manipulator
US11919177B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 8, 2023 |
| Grant date | Mar 5, 2024 |
| Priority date | — |
| Expiry date | Oct 8, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39008
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A tracking measurement method, apparatus and device for a pose of a tail end of a manipulator. The method comprises: shooting a first calibration board mounted at the tail end of the manipulator by a monocular measurement camera, acquiring multiple sets of first transformation matrices, and mounting the monocular measurement camera on a pitch axis of a pan-tilt; shooting a second calibration board by a global camera, and acquiring multiple sets of second transformation matrices; when a calibration center of the first calibration board is in a center of a field of view of the monocular measurement camera, calculating a measured pose of the tail end of the manipulator; and when the calibration center of the first calibration board deviates from the center of the field of view of the monocular measurement camera, calculating a direction deviation angle, and adjusting the pitch axis and a horizontal axis of the pan-tilt.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.