Process and device for determining the position and the orientation of an image reception means

• US 20050131582A1
• Filed: 09/28/2004
• Published: 06/16/2005
• Est. Priority Date: 10/01/2003
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Inventors: Kazi, Arif, Bischoff, Rainer
• Granted Patent: US 7,818,091 B2
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/36167 Use camera of handheld device, pda, pendant, head mounted display
• CPC Class Codes: G05B 2219/39045 Camera on end effector detects reference pattern
• CPC Class Codes: G05B 2219/39046 Compare image of plate on robot with reference, move till coincidence, camera
• CPC Class Codes: G05B 2219/39057 Hand eye calibration, eye, camera on hand, end effector
• CPC Class Codes: G05B 2219/39114 Hand eye cooperation, active camera on first arm follows movement of second arm
• CPC Class Codes: G05B 2219/39449 Pendant, pda displaying camera images overlayed with graphics, augmented reality
• CPC Class Codes: G05B 2219/39451 Augmented reality for robot programming
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A process and a device are provided for determining the pose as the entirety of the position and the orientation of an image reception device. The process is characterized in that the pose of the image reception device is determined with the use of at least one measuring device that is part of a robot. The device is characterized by a robot with an integrated measuring device that is part of the robot for determining the pose of the image reception device.

Claims

1. A process for determining the pose as the entirety of the position and the orientation of an image reception means, the process comprising:

providing a measuring means that is an automatic handling device; and

determining the pose of the image reception means with the use of the measuring means that is an automatic handling device.

2. A process in accordance with claim 1, wherein the pose of the image reception means is determined by means of angle sensors of the axle drives of a robot provided as said automatic handling device.

3. A process in accordance with claim 1, wherein the pose data that determine the pose of an image reception means and are obtained by at least one measuring means that is part of an automatic handling device are assigned to the images recorded in the particular pose by the image reception means.

4. A process in accordance with claim 1, wherein specific virtual information, especially of said automatic handling device, is inserted into images recorded by the image reception means at the correct time and in the correct position.

5. A process in accordance with claim 1, wherein an optical display is used as the image reception means.

6. A process in accordance with claim 1, wherein a camera is used as the image reception means.

7. A process in accordance with claim 6, wherein a camera is used at said automatic handling device, which is programmed especially to perform tasks.

8. A process in accordance with claim 6, wherein a camera is used on another automatic handling device located adjacent to said automatic handling device programmed to perform tasks.

9. A process in accordance with claim 1, wherein the pose of an image reception means is determined by means of a said measuring means connected with said automatic handling device.

10. A process in accordance with claim 1, wherein the pose of said automatic handling device in the space is determined by means of at least one mark arranged in the space as well as at least one said measuring means arranged at a robot, such as a camera or a sensor.

11. A process in accordance with claim 1, wherein the pose of said automatic handling device in the space is determined by means of at least one mark arranged at said automatic handling device as well as at least one said measuring means arranged independently from said automatic handling device, such as a camera or at least one sensor.

12. A process in accordance with claim 1, wherein the pose of said automatic handling device relative to another automatic handling device is determined by means of a mark arranged on said automatic handling device and said measuring means, such as a camera or a sensor, which is arranged at said another automatic handling device.

13. A device for determining the pose as the entirety of the position and the orientation of an image reception means, the device comprising:

an automatic handling device with a measuring means integrated with said automatic handling device for determining the pose of the image reception means.

14. A device in accordance with claim 13, wherein an assigning means is provided for assigning pose data, which determine the pose of an image reception means and are obtained by said measuring means that is part of said automatic handling device, with the particular images recorded in the particular pose by the image reception means.

15. A device in accordance with claim 13, wherein a means for inserting specific virtual information, especially of said automatic handling device, into images recorded by the image reception means (at the correct time and/or in the correct position).

16. A device in accordance with claim 13, wherein said measuring means that is part of said automatic handling device has angle sensors integrated in robot axles.

17. A device in accordance with claim 13, wherein said image reception means is an optical display.

18. A device in accordance with claim 13, wherein said image reception means is a camera.

19. A device in accordance with claim 17, wherein the camera is arranged on said automatic handling device, which is programmed especially to perform a task.

20. A device in accordance with claim 18, wherein the camera is arranged on an automatic handling device located adjacent to an automatic handling device programmed to perform a task.

21. A device in accordance with claim 13, wherein a measuring means for determining the site and the position of a said image reception means arranged separately from said automatic handling device is arranged on said automatic handling device.

23. A device in accordance with claim 13, wherein at least one said mark is arranged on said automatic handling device as well as at least one said measuring means, which is arranged independently from said automatic handling device, such as a camera or at least one sensor, for receiving the pose of the said automatic handling device in the space.

24. A device in accordance with claim 13, wherein a mark is arranged on said automatic handling device as well as said measuring means, which is arranged on another said automatic handling device, such as a camera or a sensor, for determining the relative positions of the said two automatic handling devices.

22. A device in accordance with, said fixed marks in the space as well as said measuring means arranged on said automatic handling device, such as a camera or a sensor, for determining the pose of said automatic handling device relative to said marks.