JP-7854732-B2 - Robot posture estimation method and system

Inventors

• イ ジョンウォン
• ユ ドンヨン
• ユン ドンヒ

Assignees

• アジュ ユニバーシティー インダストリー－アカデミック コーオペレイション ファウンデーション

Dates

Publication Date

20260507

Application Date

20240821

Priority Date

20231228

Claims (6)

1. In a robot pose estimation method performed by one or more processors of a computer device, A step of generating a first marker and at least one second marker and attaching them to the robot; A step of collecting video including the first marker and at least one of the plurality of second markers; A step of estimating the position and rotation information of the first marker and the second marker, respectively; A method for estimating the posture of a robot, comprising: a step of deriving position and rotation information of the first marker based on a relative positional relationship between the first marker and the second marker , including a rotation matrix and a transformation vector , if the first marker is not estimated; and a step of estimating the posture of the robot based on the position and rotation information of the first marker.
2. The robot posture estimation method according to claim 1, characterized in that the first marker is attached to the robot's end effector.
3. The step of setting the positional relationship between the first marker and the second marker attached to the robot; further includes, The method for estimating the posture of a robot according to claim 1, characterized in that the positional relationship is derived by analyzing an image generated by simultaneously photographing the first marker and the second marker.
4. The state information of the first marker is derived in multiple units based on its positional relationship with each of the multiple second markers. The step of selecting one of the first marker state information derived from the aforementioned multiple values; The robot posture estimation method according to claim 1, further comprising the following:
5. The robot posture estimation method according to claim 1, characterized in that the robot's posture is estimated by a machine learning module that has been pre-trained on the relationship between the state information of the first marker and the robot's posture.
6. A first marker and at least one second marker attached to the robot; A robot posture estimation system comprising: a sensing unit that collects images including the first marker and at least one of the plurality of second markers; and a main control unit that estimates the position and rotation information of the first marker and the second marker, and if the first marker is not estimated , derives the position and rotation information of the first marker based on a pre-set relative positional relationship between the first marker and the second marker, including a rotation matrix and a transformation vector , and estimates the posture of the robot based on the position and rotation information of the first marker.

Description

Application of Article 30, Paragraph 2 of the Patent Act: (1) Date of publication on the website: August 22, 2023, (2) Website address: https://dcoll.ajou.ac.kr/dcollection/srch/srchDetail/000000033087 https://dcoll.ajou.ac.kr/dcollection/common/orgView/000000033087, (3) Distributor: Yoon Dong-hee, (4) Content of the disclosed invention: "Vision-based collaborative robot posture tracking and multi-joint defect diagnosis method" This invention relates to a method and system for estimating the posture of a robot. Collaborative robots can improve factory productivity by working with other equipment and workers, but because they work alongside humans, it requires technology to proactively identify defects and maintain and repair them. While diagnosing defects using internal data produced for the driving and control of collaborative robots can be done without installing additional hardware, the data that can be collected varies depending on the type of robot, and internal motion correction for accurate driving may prevent the internal data from accurately reflecting defect characteristics. Furthermore, even within the same type of robot, defect detection criteria can change depending on the program and environment in which it is running. One way to solve these problems is to use external vision sensors to detect abnormalities in the robot. When using external vision sensors that attach markers to the robot, it's possible to build a defect detection system that is independent of the robot's movements. This technology can be used to estimate the robot's movement path through continuous marker imaging, allowing for the detection of anomalies and defects by comparing them to normal operation. However, the robot's position cannot be estimated when the marker is obstructed, and conventional methods only estimate the marker's position, failing to accurately estimate the robot's joints and links. Furthermore, when using multiple cameras to recognize marker positions, camera placement may be limited depending on the work environment. This shows a robot posture estimation system according to one embodiment of the present invention.This document illustrates a method for estimating the posture of a robot according to one embodiment of the present invention.This diagram shows in detail some of the configurations of a robot posture estimation method according to one embodiment of the present invention.This diagram shows in detail some of the configurations of a robot posture estimation method according to one embodiment of the present invention.This diagram shows in detail some of the configurations of a robot posture estimation method according to one embodiment of the present invention.This diagram shows in detail some of the configurations of a robot posture estimation method according to one embodiment of the present invention.This shows the state of marker attachment to the robot.This shows the positional relationship between the first marker, the second marker, and the sensing unit.This graph compares data before and after preprocessing.These are graphs and tables showing the positional relationships between markers.This graph shows the status information of the markers. While this invention can be modified in various ways and has a variety of embodiments, specific embodiments will be illustrated and described in detail in the drawings. However, this is not intended to limit the invention to specific embodiments, but rather should be understood to include all modifications, equivalents, or substitutes that fall within the spirit and technical scope of this invention. In describing this invention, if a detailed explanation of related prior art is deemed likely to obscure the gist of the invention, such detailed explanation will be omitted. The embodiments of the present invention will be described in detail below with reference to the attached drawings. Figure 1 shows a robot posture estimation system according to one embodiment of the present invention. Referring to Figure 1, the robot posture estimation system according to one embodiment of the present invention may include a main control unit 110, a sensor control unit 120, a sensing unit 130, a robot control unit 140, a first marker 210, and a second marker 220. The main control unit 110 is connected to and controls the sensor control unit 120 and the robot control unit 140. The main control unit 110 can connect to the administrator terminal 300 via a wired/wireless network to send and receive information. The main control unit 110 may be a control device including a processor, memory, input interface, etc. For example, it may consist of a desktop computer, a laptop computer, or a similar device performing the same functions. The sensor control unit 120 can control the sensing unit 130 under the control of the main control unit 110. Although the sensor control unit 120 is shown as being physically separated from the main control unit 110, it may also be composed of a