CALIBRATION EQUIPMENT AND CALIBRATION METHOD OF A MECHANICAL SYSTEM

• US 20170019611A1
• Filed: 12/22/2015
• Published: 01/19/2017
• Est. Priority Date: 07/14/2015
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: WANG, Jyun-Ji, HU, Jwu-Sheng, CHANG, Yung-Jung
• Granted Patent: US 10,547,796 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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; and

an operating module, configured to receive the plurality of image data and generating a calibrated kinematic parameter.

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 unit 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 unit 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 module receives a plurality of motion commands.

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

18. A calibrating method of a mechanical system, the calibrating method comprising:

emitting a light beam;

receiving the light beam and transforming the light beam into a plurality of image data; and

analyzing a plurality of deviations between the plurality of image data and a plurality of corresponding motion commands and generating a calibrated kinematic parameter.

19. The calibrating method of claim 18, further comprising:

calculating the calibrated kinematic parameter by a numerical method, wherein the calibrated kinematic parameter reduces the plurality of deviations.

20. The calibrating method of claim 18, further comprising:

setting a predetermined threshold of a precision; and

monitoring whether or not the plurality of deviations exceed the predetermined threshold of the precision