Method and electronic device, system and computer readable medium for time calibration
AssigneeABB Schweiz AG
InventorYichao Mao
Life of this patent
Estimating the term…
Abstract
Devices, systems, and methods for time calibration. The method comprises determining a first reference position of a robot in a robot coordinate system based on first feedback information received from the robot; determining an association between the first reference position and first sensing information receive from a sensor; receiving, from the robot, second feedback information associated with a second motion of the robot and, from the sensor, second sensing information associated with the second motion; and determining a time delay between a sensing time point when a sensing position of the robot in the second motion is sensed by the sensor and a recording time point when the sensing position is recorded by the robot in the second motion.
Claims20
A method for time synchronization comprising:
- determining a first reference position of a robot in a robot coordinate system based on first feedback information received from the robot, the robot obtaining the first feedback information by recording a first motion of the robot;
- determining an association between the first reference position and a first sensing information received from a sensor, the sensor obtaining the first sensing information by sensing the first motion;
- triggering the robot to perform a second motion;
- receiving, from the robot, a second feedback information obtained by recording the second motion of the robot and, from the sensor, a second sensing information obtained by sensing the second motion;
- and
- determining a time delay between a sensing time point when a sensing position of the robot in the second motion is sensed by the sensor and a recording time point when the sensing position is recorded by the robot in the second motion based on the determined association, the second feedback information, and the second sensing information.
An electronic device, comprising:
- a processing unit;
- and
- a memory coupled to the processing unit and having instructions stored thereon, the instructions, when executed by the processing unit, causing the electronic device to execute acts, the acts comprising:
- determining a first reference position of a robot in a robot coordinate system based on a first feedback information received from the robot, the robot obtaining the first feedback information by recording a first motion of the robot;
- determining an association between the first reference position and a first sensing information received from a sensor, the sensor obtaining the first sensing information by sensing the first motion;
- triggering the robot to perform a second motion;
- receiving, from the robot, a second feedback information associated with the second motion of the robot and, from the sensor, a second sensing information associated with the second motion;
- and
- determining a time delay between a sensing time point when a sensing position of the robot in the second motion is sensed by the sensor and a recording time point when the sensing position is recorded by the robot in the second motion based on the determined association, the second feedback information, and the second sensing information.
Dependencies are inferred from the claim text.