Determining the robot axis angle and selection of a robot with the aid of a camera
AssigneeKUKA Roboter GmbH
InventorGerhard Hietmann
Life of this patent
Estimating the term…
Abstract
A method for identifying a manipulator by means of a portable terminal device, wherein the portable terminal device comprises a 3D camera. The method operates to detect a three-dimensional image of at least one part of the manipulator to be identified by means of the 3D camera of the portable terminal device. An actual status of the manipulator is determined based on the three-dimensional image detected. The 3D camera is a plenoptic camera, and the detected three-dimensional image comprises a four-dimensional light field of at least one part of the manipulator to be identified.
Claims16
A method for identifying one of a plurality of manipulators by means of a portable terminal device, wherein the portable terminal device comprises a 3D camera, the method having the following steps:
- a) detecting a three-dimensional image of at least one part of the manipulator to be identified by means of the 3D camera of the portable terminal device;
- b) determining an actual status of the manipulator to be identified based on the three-dimensional image detected;
- c) making available reference statuses for each, of the plurality of manipulators, wherein each of the plurality of manipulators is distinguishable by its own reference status, and
- d) identifying the manipulator to be identified from the plurality of manipulators based on a comparison of the actual status determined to each of the reference statuses made available.
A portable terminal device, comprising:
- a 3D camera;
- and
- a device control,
- wherein the 3D camera is configured to prepare a 3D image of one of a plurality of manipulators to be identified, and
- wherein the device control is configured to:
- determine an actual status of the manipulator to be identified on the three-dimensional image detected;
- make available reference statuses for each of the plurality of manipulators, wherein each of the plurality of manipulators is distinguishable by its own reference status, and
- identify the manipulator to be identified based on a comparison of the actual status determined for each of the reference statuses made available.
A robotic system, comprising:
- a plurality of manipulators;
- and
- a portable terminal device which comprises a 3D camera and a control system,
- wherein the control system is configured to:
- detect a three-dimensional image of at least one part of one of the manipulators to be identified by means of the 3D camera of the portable terminal device;
- determine an actual status of the manipulator to be identified based on the three-dimensional image detected;
- make available reference statuses for each of the manipulators, wherein each of the manipulators is distinguishable by its own reference status, and
- identify the manipulator to be identified based on a comparison of the actual status determined to each of the reference statuses made available.
Dependencies are inferred from the claim text.