Patent ID: 11969904
Assignee: QINGDAO UNIVERSITY OF TECHNOLOGY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 9:
10. The registration method for robot-oriented augmented reality teaching system according to claim 9, wherein the step of the conversion calculation unit reading the pixel coordinates of the registration marker in the image and the three-dimensional coordinates of the registration marker in the physical robot base coordinate system, and calculating the conversion relation between the camera coordinate system and the physical robot base coordinate system comprises:
the conversion calculation unit calculating the conversion relation between the camera coordinate system and the physical robot base coordinate system by constructing a least squares problem according to the pixel coordinates of the registration marker in a pixel coordinate system and the three-dimensional coordinates of the registration marker in the physical robot base coordinate system by using an imaging model of the camera and an internal reference matrix of the camera.