Patent ID: 8688274
Filing Date: 2014-04-01
Classification: B25J,G05B

Abstract:
1. A robot positioning method, comprising: providing a robot, having a control unit, wherein an optical sensing device is disposed on a front end of the robot, and the optical sensing device has an optical sensing device coordinate system fixed thereon, wherein the optical sensing device comprises a lens and a charge coupled device (CCD), the CCD has an optical sensing surface and has an optical sensing surface coordinate system fixed on the optical sensing surface; providing a calibration plate, wherein multiple positioning marks are disposed on a surface of the plate, and the calibration plate has a calibration plate coordinate system fixed thereon; and performing a positioning step, comprising: capturing by the optical sensing device a calibration plate image; and according to the calibration plate image, calculating by the control unit a transformation matrix between the optical sensing device coordinate system and the calibration plate coordinate system and an optical sensing device-calibration plate coordinate value; wherein the step of calculating the transformation matrix comprises: capturing by the control unit a positioning mark-calibration plate coordinate value of each positioning mark in the calibration plate coordinate system; capturing by the control unit a positioning mark-optical sensing surface coordinate value of each positioning mark in the calibration plate image in the optical sensing surface coordinate system; and substituting by the control unit the positioning mark-calibration plate coordinate values, the positioning mark-optical sensing surface coordinate values, and a focal length value of the lens into a Bundle Adjustment formula, to calculate multiple matrix elements of the transformation matrix and the optical sensing device-calibration plate coordinate value, wherein the Bundle Adjustment formula is as follows: where x