Patent ID: 11919177
Assignee: GUANGDONG UNIVERSITY OF TECHNOLOGY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 5:
6. A tracking measurement apparatus for a pose of a tail end of a manipulator, comprising:
a first acquisition unit, including a monocular measurement camera mounted on a pitch axis of a pan-tilt and a first calibration board mounted at the tail end of the manipulator, the first acquisition unit configured for shooting the first calibration board by the monocular measurement camera, to acquire multiple sets of first transformation matrices;
a second acquisition unit, including a global camera and a second calibration board mounted on the monocular measurement camera, the second acquisition unit configured for shooting the second calibration board by the global camera, to acquire multiple sets of second transformation matrices; and
one or more processors, configured for performing units comprising:
a pose calculation unit configured for, when a calibration center of the first calibration board is in a center of a field of view of the monocular measurement camera, calculating a measured pose of the tail end of the manipulator based on the first transformation matrix and the second transformation matrix; and
a tracking positioning unit configured for, when the calibration center of the first calibration board deviates from the center of the field of view of the monocular measurement camera, calculating a direction deviation angle based on the calibration center and the center of the field of view, and adjusting the pitch axis and a horizontal axis of the pan-tilt based on the direction deviation angle.