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

Claim 4:
5. The tracking measurement method for the pose of the tail end of the manipulator according to claim 1, wherein the step of when the calibration center of the first calibration board deviates from the center of the field of view of the monocular measurement camera, calculating the direction deviation angle based on the calibration center and the center of the field of view, and adjusting the pitch axis and the horizontal axis of the pan-tilt based on the direction deviation angle, comprises the following steps of:
when the calibration center of the first calibration board deviates from the center of the field of view of the monocular measurement camera, calculating difference values in an X direction and a Y direction respectively according to the calibration center and the center of the field of view; and
calculating direction deviation angles of rotation of the horizontal axis of the pan-tilt and the pitch axis of the pan-tilt respectively based on the difference values, and adjusting the pitch axis and the horizontal axis of the pan-tilt based on the direction deviation angles.