GB/T 45501-2025 工业机器人 三维视觉引导系统 通用技术要求

ICS25.040.30

CCSJ28

中华人民共和国国家标准

GB/T45501—2025

工业机器人三维视觉引导系统

通用技术要求

Industrialrobots—Three⁃dimensionalvision⁃guidedsystem—

Generaltechnicalrequirements

2025⁃03⁃28发布2025⁃10⁃01实施

国家市场监督管理总局

国家标准化管理委员会发布

GB/T45501—2025

目次

前言··························································································································Ⅲ

1范围·······················································································································1

2规范性引用文件········································································································1

3术语和定义··············································································································1

4缩略语····················································································································2

5架构·······················································································································2

5.1系统组成···········································································································2

5.2设备层··············································································································3

5.3控制层··············································································································3

6基本要求·················································································································4

7功能要求·················································································································4

7.1配置和控制········································································································4

7.2手眼标定···········································································································5

7.3仿真功能···········································································································5

7.4运行界面···········································································································5

7.5数据存储和回溯··································································································5

7.6系统漂移自校正··································································································5

7.7系统集成···········································································································5

7.8系统维护···········································································································6

8性能要求·················································································································6

8.1采集帧率···········································································································6

8.2采集点数···········································································································6

8.3测量精度···········································································································6

8.4视觉运算速度·····································································································6

8.5识别重复性········································································································6

8.6识别成功率········································································································6

8.7引导定位精度·····································································································6

9其他要求·················································································································6

9.1安全性··············································································································6

9.2可靠性··············································································································7

9.3安装·················································································································7

9.4维护保养···········································································································7

10测试方法···············································································································7

Ⅰ

GB/T45501—2025

10.1采集帧率··········································································································7

10.2采集点数··········································································································7

10.3测量精度··········································································································8

10.4视觉运算速度····································································································9

10.5识别重复性·······································································································9

10.6识别成功率·····································································································10

10.7引导定位精度··································································································11

参考文献····················································································································12

Ⅱ

GB/T45501—2025

前言

本文件按照GB/T1.1—2020《标准化工作导则第1部分：标准化文件的结构和起草规则》的规

定起草。

请注意本文件的某些内容可能涉及专利。本文件的发布机构不承担识别专利的责任。

本文件由中国机械工业联合会提出。

本文件由全国机器人标准化技术委员会（SAC/TC591）归口。

本文件起草单位：梅卡曼德（北京）机器人科技有限公司、北京机械工业自动化研究所有限公司、

杭州海康机器人股份有限公司、清华大学、遨博（北京）智能科技股份有限公司、武汉华工赛百数据系统

有限公司、深圳国创具身智能机器人有限公司、武汉奋进智能机器有限公司、郑州越达科技装备有限公司、

中原动力智能机器人有限公司、沈阳新松机器人自动化股份有限公司、重庆凯瑞认证服务有限公司、

深圳锐视智芯科技有限公司、深圳市深视智能科技有限公司、山东鸿泽自动化技术有限公司、河北鹰眼

智能科技有限公司、常州微亿智造科技有限公司、南京景曜智能科技有限公司、山东中科先进技术有限

公司、湖北楚大智能装备股份有限公司、西安知象光电科技有限公司、中科开创（广州）智能科技发展有

限公司、江西省通讯终端产业技术研究院有限公司、骨圣元化机器人（深圳）有限公司、合肥焕智科技有

限公司、国器智眸（重庆）科技有限公司、宁夏小牛自动化设备股份有限公司、北京伟景智能科技有限公司、

杭州升恒科技有限公司。

本文件主要起草人：丁有爽、王师、张文聪、邵天兰、付翱、高歌、杨萍、徐静、万里红、张浩宇、于括、

陈睿、王春茂、贾乐、张驰、宋仲康、朱志昆、岳晓峰、姜静、戴恒、张超、吴璇、孙逊、丁宁、张建国、张锋、

孙添飞、陈斌、袁鵾、王春梅、吴成中、谌黎明、叶彩红、项睿、周翔、李卫民、姚平、吴永刚、张鹏、赵亚兰、

陶慧、金少峰、黄麟、董霄剑、杜辉。

Ⅲ

GB/T45501—2025

工业机器人三维视觉引导系统

通用技术要求

1范围

本文件规定了用于工业机器人领域的三维视觉引导系统的架构、基本要求、功能要求、性能要求、

其他要求，描述了性能指标的测试方法。

本文件适用于指导企业、高校、科研院所等相关机构开展工业机器人三维视觉引导系统的研发与

应用。

2规范性引用文件

下列文件中的内容通过文中的规范性引用而构成本文件必不可少的条款。其中，注日期的引用文

件，仅该日期对应的版本适用于本文件；不注日期的引用文件，其最新版本（包括所有的修改单）适用于

本文件。

GB/T12642—2013工业机器人性能规范及其试验方法

GB/T12643机器人词汇

GB/T33863.8OPC统一架构第8部分：数据访问

GB/T39005工业机器人视觉集成系统通用技术要求

3术语和定义

GB/T12643和GB/T39005界定的以及下列术语和定义适用于本文件。

3.1

三维视觉传感器three⁃dimensionalvisionsensor

结合光学、算法和电子技术，利用各种原理（如立体视觉、结构光、飞行时间等）计算场景或物体深

度信息的装置。

注：通常应用于工业自动化、机器人导航、质量检测、医疗影像、虚拟现实和增强现实等领域。

3.2

三维视觉引导系统three⁃dimensionalvision⁃guidedsystem

利用三维视觉感知技术获取目标物体或环境的空间信息（如形状、位置、姿态、深度等），并通过算

法处理和分析这些信息，最终生成控制指令以引导机械装置（如机器人、自动化设备等）完成精准操作

的技术系统。

3.3

手眼标定hand⁃eyecalibration

通过数学建模和优化方法，确定视觉系统相对于机器人的准确位置和姿态，以实现精确地感知与

操作的过程。

注：常用于机器人视觉系统中，确保图像数据与实际空间运动一致。

3.4

系统漂移自校正systemdriftself⁃calibration

能够在系统因长期运行、外部环境变化或内部元件老化等因素导致性能漂移时，通过内部算法或

1