The present application relates to the field of error detection technology. An error detection method and a robot system are provided. The error detection method includes: obtaining a target pose of an end of an operating arm; acquiring a positioning image; recognizing, in the positioning image, a plurality of pose identifications located on the end of the operating arm; recognizing, based on the plurality of pose identifications, an angle identification located on the end of the operating arm, the angle identification having a position association relationship with a first pose identification of the plurality of pose identifications; determining, based on the angle identification and the plurality of pose identifications, an actual pose of the end of the operating arm; and generating, in response to the target pose and the actual pose meeting an error detection condition, a control signal related to a fault.

The present application relates to the field of error detection technology. An error detection method is provided. The error detection method includes: obtaining a target pose of an end of an operating arm; acquiring a positioning image; recognizing, in the positioning image, a plurality of pose identifications located on the end of the operating arm, the plurality of pose identifications including different pose identification patterns; determining an actual pose of the end of the operating arm based on the plurality of pose identifications; and generating a control signal related to a fault in response to the target pose and the actual pose meeting an error detection condition.

A method for setting more precisely a position and/or an orientation of a device head in a measuring environment by a distance measuring device which has a number of M, M≥1, distance measuring sensors and which is connected to the device head. A control device is communicatively connected to the distance measuring device and an on-board sensor device. The position and/or the orientation of the device head is determined by the on-board sensor device and the position and/or the orientation of the device head determined by the on-board sensor device is set more precisely by the control device.

A method for setting more precisely a position and/or an orientation of a device head in a measuring environment by a distance measuring device which has a number of M, M≥1, distance measuring sensors and which is connected to the device head. A control device is communicatively connected to the distance measuring device and an on-board sensor device. The position and/or the orientation of the device head is determined by the on-board sensor device and the position and/or the orientation of the device head determined by the on-board sensor device is set more precisely by the control device.

A method of tracking a pose of an object includes determining an initial pose of the object at a first position, receiving position data and velocity data corresponding to movement of the object to a second position by a moving device, determining an expected pose of the object at the second position based on the position and velocity data and the initial pose, receiving second image data corresponding to the object at the second position from a camera, and determining a refined pose of the object at the second position based on the second image data and the expected pose.

A smart drilling system that includes a controller, a drilling machine with an optical marker, and a tracker station at a fixed spot of a construction site. The drilling machine includes an optical marker. The tracker station acquires the location of the drilling machine and its drill through tracking the optical marker. The drilling machine is moved into positions of multiple different work regions. The tracker station sequentially acquires the location of the multiple different work regions and transmits the acquired location information to the controller, such that, by using the transmitted locations, the controller converts drilling machine coordinates into desired perforation coordinates and recognizes an orientation of the drilling machine. The controller also recognizes a perforable point at a current position of the drilling machine through the location information of the drilling machine.

A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.

A method of operating a mobile construction robot includes placing an optical tracker on an architectural construction site and parking a driving platform of the robot on the site. An end effector of the robot is moved in first and second positions and the first and second positions of the end effector relative to the driving platform are measured. An optical marker mounted to the end effector is tracked in the first and second positions of the end effector with the optical tracker and the first and second positions of the optical marker relative to the optical tracker is measured with the optical tracker. A position and an orientation of the driving platform is determined based on the measured first and second position of the end effector relative to the driving platform and the measured first and second position of the optical marker relative to the optical tracker.

A method of operating a mobile construction robot includes placing an optical tracker on an architectural construction site and parking a driving platform of the robot on the site. An end effector of the robot is moved in first and second positions and the first and second positions of the end effector relative to the driving platform are measured. An optical marker mounted to the end effector is tracked in the first and second positions of the end effector with the optical tracker and the first and second positions of the optical marker relative to the optical tracker is measured with the optical tracker. A position and an orientation of the driving platform is determined based on the measured first and second position of the end effector relative to the driving platform and the measured first and second position of the optical marker relative to the optical tracker.

A method of tracking a pose of an object includes determining an initial pose of the object at a first position, receiving position data and velocity data corresponding to movement of the object to a second position by a moving device, determining an expected pose of the object at the second position based on the position and velocity data and the initial pose, receiving second image data corresponding to the object at the second position from a camera, and determining a refined pose of the object at the second position based on the second image data and the expected pose.