用于校准机器人的方法和装置、用于确定测量对象的3D坐标的方法、用于确定测量对象的位置和取向的方法、机器人以及计算机程序

By recording data under different poses and deriving calibration parameters, the problem of insufficient accuracy of robot kinematics systems when measuring objects is solved, and higher precision measurement and alignment effects are achieved.

CN122422110APending Publication Date: 2026-07-17CARL ZEISS GOM METROLOGY GMBH
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Patent Information

Application Number
CN202480079678.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Priority Date
2023-12-22
Filing Date
2024-12-18
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Existing robot kinematics systems suffer from insufficient accuracy when measuring objects, especially in optical metrology, where it is difficult to accurately determine the position and orientation of the measurement system relative to the object being measured, leading to inaccurate measurement results.

Method used

By using a 3D digitizer and/or camera to record identifiable feature data with a reference object in different poses, calibration data is generated and calibration parameters of the robot's kinematics system are derived. Combined with optimization methods to minimize errors, high-accuracy calibration of the robot's kinematics system is achieved.

Benefits of technology

It improves the positioning accuracy of the robot's kinematic system, enabling more accurate determination of the position and orientation of the measurement system, and achieving high-precision alignment and measurement of the object being measured.

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Abstract

本发明涉及一种用于校准机器人运动学系统的方法，其中，在第一步骤中，通过至少一个机器人运动学系统使3D数字化仪和 / 或相机相对于参考对象彼此处于不同的相对位姿，并且由3D数字化仪和 / 或相机在这些位姿下记录参考对象的可识别特征的数据，并且其中，在第二步骤中，至少从所记录的数据的一部分生成校准数据，并且至少从所记录的数据的一部分推导该至少一个机器人运动学系统的校准参数，该校准数据将该至少一个参考对象的所记录特征在坐标系中进行关联。本发明还涉及一种机器人运动学系统和一种用于利用坐标测量机或作为坐标测量机的一部分来校准机器人运动学系统的装置、以及一种用于确定测量对象的3D坐标的方法、以及一种用于确定测量对象的位置和取向的方法。本发明还涉及一种包含指令的计算机程序，当该程序由至少一个处理器执行时，这些指令使该至少一个处理器和 / 或另外的处理器执行根据本发明的方法。
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Citation Information

Patent Citations

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