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專利授權區

專利授權區
專利名稱(中)	機器人及機器人手眼校正方法
專利名稱(英)	ROBOT AND ROBOT HAND-EYE CALLIBRATING METHOD
專利家族	中華民國：I799310 美國：US-2024-0001557-A1(公開號)
專利權人	國立清華大學 100.00%
發明人	張禎元,李俊則
技術領域	資訊工程,光電光學

專利摘要(中)
一種機器人，適於與一目標物互動，且包含機械手臂、校正圖像、相機以及處理器。機械手臂對應於機械手臂座標。校正圖像設置於機械手臂上。相機對應於相機座標，相機用以拍攝目標物並產生影像畫面。處理器配置以移動機械手臂，使校正圖像朝目標物移動並進入影像畫面，且處理器記錄校正圖像朝目標物移動路徑的機械手臂座標資料以及相機座標資料，使用機械手臂座標資料以及相機座標資料執行手眼校正演算法，以取得經校正之相機座標與機械手臂座標間的對應關係。藉此提升手眼校正的即時性。

專利摘要(中)

一種機器人，適於與一目標物互動，且包含機械手臂、校正圖像、相機以及處理器。機械手臂對應於機械手臂座標。校正圖像設置於機械手臂上。相機對應於相機座標，相機用以拍攝目標物並產生影像畫面。處理器配置以移動機械手臂，使校正圖像朝目標物移動並進入影像畫面，且處理器記錄校正圖像朝目標物移動路徑的機械手臂座標資料以及相機座標資料，使用機械手臂座標資料以及相機座標資料執行手眼校正演算法，以取得經校正之相機座標與機械手臂座標間的對應關係。藉此提升手眼校正的即時性。

專利摘要(英)
A robot for interacting with a target object includes a robotic hand, a calibrating image, a camera and a processor. The robotic hand corresponds to a robotic hand coordinate. The calibrating image is disposed on the robotic hand. The camera corresponds to a camera coordinate. The camera is for shooting the target object and generates a picture. The processor is configured to move the robotic hand such that the calibrating image moves towards the target object and enters the picture. The processor records robotic hand coordinate datasets and camera coordinate datasets of the calibrating image as the calibrating image moving towards the target object, and uses the robotic hand coordinate datasets and camera coordinate datasets to execute a hand-eye calibrating algorithm to obtain a calibrated mapping between the robotic hand coordinate and the camera coordinate. Therefore, the immediacy of the hand-eye calibrating can be increased.

專利摘要(英)

A robot for interacting with a target object includes a robotic hand, a calibrating image, a camera and a processor. The robotic hand corresponds to a robotic hand coordinate. The calibrating image is disposed on the robotic hand. The camera corresponds to a camera coordinate. The camera is for shooting the target object and generates a picture. The processor is configured to move the robotic hand such that the calibrating image moves towards the target object and enters the picture. The processor records robotic hand coordinate datasets and camera coordinate datasets of the calibrating image as the calibrating image moving towards the target object, and uses the robotic hand coordinate datasets and camera coordinate datasets to execute a hand-eye calibrating algorithm to obtain a calibrated mapping between the robotic hand coordinate and the camera coordinate. Therefore, the immediacy of the hand-eye calibrating can be increased.

聯絡資訊
承辦人姓名	劉千綺
承辦人電話	03-571-5131 #31181
承辦人Email	chienchi@mx.nthu.edu.tw