Automatic between robot and image online is registrated

Automatic between robot and image online is registrated

  • CN 103,797,512 B
  • Filed: 09/05/2012
  • Issued: 10/16/2018
  • Est. Priority Date: 09/13/2011
  • Status: Active Grant
First Claim
Patent Images

1. a kind of registration arrangement, including:

  • Equipment (104) can be configured, there are one or more energy moving characteristics (122), enabling determines that the energy is mobile specialLevy movement relative to reference, with determine it is described can configure in the coordinate system of equipment described can configure the specific of equipment and matchIt sets;

    Imaging system (110) is configured as acquiring the image that can configure equipment, and the imaging system has display,Can watch on the display described can configure equipment;

    Processing equipment (112) is configured as based on the identified seat that can configure equipment in collected described imageMark the concrete configuration that can configure equipment in system and from the image calculating that can configure equipment in the imagingThe configuration that can configure equipment in the coordinate system of system, to calculate in the coordinate system that can configure equipment and the imagingRegistration between the coordinate system of system;

    AndSwitch, being configured as deactivating based on the registration error measured described can configure equipment, wherein the registration measuredError e by measuring as follows:

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