Calibration equipment and calibration method of a mechanical system

• US 10,547,796 B2
• Filed: 12/22/2015
• Issued: 01/28/2020
• Est. Priority Date: 07/14/2015
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Chang, Yung-Jung, Wang, Jyun-Ji, Hu, Jwu-Sheng
• Primary Examiner(s): Kwan, Matthew K
• Application Number:
  US14/979,270
• Publication Number:
  US 20170019611A1
• Time in Patent Office: 1,498 Days
• Field of Search: 348 86
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/39033 Laser tracking of end effector, measure orientation of rotatable mirror
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: H04N 23/90 Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A calibration equipment of a mechanical system includes a light emitter emitting a light beam, a light sensing module, and an operating module. The light sensing module includes a carrier plate, and a plurality of light sensing units located on the carrier plate. The plurality of light sensing units receive the light beam and generate a plurality of image data. The operating module receives the plurality of image data and generates a calibrated kinematic parameter.

Claims

1. A calibration equipment of a mechanical system, the calibration equipment comprising:

a light emitter, configured to emit a light beam;

a light sensing module, further comprising a carrier plate and a plurality of light sensing units located on the carrier plate, wherein the plurality of light sensing units receive the light beam and generate a plurality of image data;

an operating processor, configured to receive and process the plurality of image data and generate a plurality of calibrated kinematic parameters; and

a controller, configured to modify a plurality of motion commands according to the calibrated kinematic parameters transmitted via the operating processor, so as to simultaneously minimizing a plurality of deviations between the image data and the corresponding motion commands;

wherein the calibrated kinematic parameters include;

a calibrated emitter parameter, denoting a three-dimensional position and a direction of the light emitter;

a calibrated robot parameter, denoting a six-dimensional space conversion parameter of a robot arm; and

a calibrated sensor-robot parameter, denoting a six-dimensional space conversion parameter between the robot arm and the light sensing module.

2. The calibration equipment of claim 1, wherein the plurality of light sensing units are arranged as an array.

3. The calibration equipment of claim 1, wherein the plurality of light sensing unit are adjacent to a plurality of edges of the carrier plate respectively.

4. The calibration equipment of claim 1, wherein the plurality of light sensing unit are at a plurality of corners of the carrier plate respectively.

5. The calibration equipment of claim 1, wherein at least one of the plurality of light sensing units has at least one height of at least one sensing surface, and the at least one height is lower than a height of the carrier plate.

6. The calibration equipment of claim 1, wherein at least one of the plurality of light sensing units has at least one height of at least one sensing surface, and the at least one height is higher than a height of the carrier plate.

7. The calibration equipment of claim 1, wherein at least one of the plurality of light sensing unit has at least one sensing surface, and the at least one sensing surface is at least one inclined surface different from the carrier plate.

8. The calibration equipment of claim 1, wherein the carrier plate further comprises at least one inclined plane different from a horizontal plane.

9. The calibration equipment of claim 1, wherein each of the plurality of light sensing unit is a two-dimensional image sensor.

10. The calibration equipment of claim 1, wherein the light emitter is a laser unit or a light emitting diode.

11. The calibration equipment of claim 1, further comprising:

an optical mask disposed on an emit end of the light emitter.

12. The calibration equipment of claim 11, wherein the optical mask is an optical component generating a geometric-pattern projection.

13. The calibration equipment of claim 11, wherein the optical mask is an optical component generating a cross-pattern projection.

14. The calibration equipment of claim 11, wherein the optical mask is an optical component generating an ellipse-pattern projection.

15. The calibration equipment of claim 11, wherein the optical mask is an optical component generating a two-opposing-triangle-pattern projection.

16. The calibration equipment of claim 1, wherein the operating processor receives the plurality of motion commands.

17. The calibration equipment of claim 16, wherein the operating processor calculates the plurality of deviations between the plurality of image data and the plurality of motion commands.