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
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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 a manipulator 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 based on the three-dimensional image detected;
- c) making available reference statuses of the manipulator, and
- d) identifying the manipulator based on the actual status determined and the reference statuses made available.
A portable terminal device, comprising a 3D camera and a device control, wherein the device control is configured to determine an actual status of axis angles of a manipulator from a detected image of the manipulator and wherein the device control is configured 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;
- determine an actual status of the manipulator based on the three-dimensional image detected;
- making available reference statuses of the manipulator, and identify the manipulator based on the actual status determined and the reference statuses made available.
A robotic system, comprising a manipulator and a portable terminal device, which comprises a 3D camera, wherein the robotic system further has a control system which is configured 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;
- determine an actual status of the manipulator based on the three-dimensional image detected;
- making available reference statuses of the manipulator, and
- identify the manipulator based on the actual status determined and the reference statuses made available.
Dependencies are inferred from the claim text.