TECHNOLOGIES FOR PAN TILT UNIT CALIBRATION

摘要

Technologies for calibrating a pan tilt unit with a robot include a robot controller to move a camera of the pan tilt unit about a first rotational axis of the pan tilt unit to at least three different first axis positions. The robot controller records a first set of positions of a monitored component of the robot in a frame of reference of the robot and a position of the camera in a frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different first axis positions. Further, the robot controller moves the camera about a second rotational axis of the pan tilt unit to at least three different second axis positions and records a second set of positions of the monitored component in the frame of reference of the robot and a position of the camera in the frame of reference of the pan tilt unit during a period in which the monitored component is within a field of view of the camera for each of the at least three different second axis positions. Further, the robot controller determines a transformation from the frame of reference of the robot to the frame of reference of the pan tilt unit based on the first set of recorded positions and the second set of recorded positions.

主权项

1. A robot system for calibrating a pan tilt unit, the robot system comprising:
a robot; an arm control circuitry configured to operate an articulating arm and a robot tool of the robot; a pan tilt unit control circuitry to (i) move a camera of the pan tilt unit about a first rotational axis of the pan tilt unit to at least three different first axis positions and (ii) move the camera about a second rotational axis of the pan tilt unit to at least three different second axis positions; a position recording circuitry to (i) record a first set of positions of the robot tool in a frame of reference of the robot and a position of the camera in a frame of reference of the pan tilt unit during a period in which the robot tool is within a field of view of the camera for each of the at least three different first axis positions and (ii) record a second set of positions of the robot tool in the frame of reference of the robot and a position of the camera in the frame of reference of the pan tilt unit during a period in which the robot tool is within a field of view of the camera for each of the at least three different second axis positions; and a transformation circuitry to determine a transformation from the frame of reference of the robot to the frame of reference of the pan tilt unit based on the first set of recorded positions and the second set of recorded positions.