Method for calibrating an optical arrangement

• US 9,297,640 B2
• Filed: 06/13/2014
• Issued: 03/29/2016
• Est. Priority Date: 06/13/2013
• Status: Active Grant

• Current Assignee: inos Automationssoftware GmbH
• Original Assignee: inos Automationssoftware GmbH
• Inventors: Tassakos, Charalambos, Theiakos, Constantinos, Lesch, Thomas Gerhard, Demopoulos, Andreas
• Primary Examiner(s): STAFIRA, MICHAEL PATRICK
• Application Number:
  US14/303,915
• Publication Number:
  US 20140368838A1
• Time in Patent Office: 655 Days
• US Class Current: 1/1
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 21/042 Calibration or calibration artifacts G01B3/30, G01B9/02072 take precedence
• CPC Class Codes: G05B 2219/37571 Camera detecting reflected light from laser
• CPC Class Codes: G05B 2219/39057 Hand eye calibration, eye, camera on hand, end effector
• CPC Class Codes: G05B 2219/40613 Camera, laser scanner on end effector, hand eye manipulator, local

Abstract

A method for calibrating an optical arrangement in respect to a global coordinate system is provided. The optical arrangement includes a rigid carrier, an optical acquiring unit and a light emitting unit both releasably connected to the carrier. The optical acquiring unit or the light emitting unit is calibrated in respect to a reference coordinate system offline and independently from the optical arrangement. Values of a conversion matrix are determined for converting the calibration data into corresponding calibration data in respect to the global coordinate system. A calibration of the entire optical arrangement is performed once in respect to the global coordinate system. During the intended use of the optical arrangement, the calibration data acquired for the unit and/or the respective values of the conversion matrix are considered when generating control signals for the unit and/or when processing sensor signals received from the unit.

Claims

1. A method for calibrating an optical arrangement in respect to a global coordinate system, the optical arrangement including a carrier unit made of a rigid material, an optical acquiring unit and a light emitting unit both releasably connected to the carrier unit, said method comprising the steps of:

defining a reference coordinate system different from the global coordinate system;

calibrating an optical acquiring unit or a light emitting unit in respect to the reference coordinate system prior to its intended use and separately from the rest of the optical arrangement by acquiring appropriate calibration data;

connecting the calibrated optical acquiring unit or light emitting unit to the carrier unit with a two-part tapered dovetail connection;

performing only once for a given global coordinate system and a given reference coordinate system a conventional calibration of the entire optical arrangement and thereby determining values of a conversion matrix for converting the calibration data acquired in respect to the reference coordinate system into corresponding calibration data in respect to the global coordinate system; and

thereafter, for all further calibrated optical acquiring units and/or light emitting units connected to the carrier unit, making use of the optical acquiring units and/or light emitting units as part of the optical arrangement by considering the calibration data acquired for the optical arrangement or the respective values of the conversion matrix when generating control signals for the units and/or when processing sensor signals received from the units during the intended use of the optical arrangement.

2. The method as set forth in claim 1, wherein the optical acquiring unit or the light emitting unit is connected to the carrier unit with a stress and clearance free and repeatable connection.

3. The method as set forth in claim 1, wherein the reference coordinate system is defined in respect to a calibration arrangement separate from the optical arrangement.

4. The method as set forth in claim 1, wherein calibration of the optical acquiring unit or the light emitting unit in respect to the reference coordinate system is performed offline from and parallel to the intended use of the optical arrangement.

5. The method as set forth in claim 1, wherein the optical acquiring unit or the light emitting unit to be calibrated has a unique serial number, and wherein the acquired calibration data and/or the values of the conversion matrix or corresponding values indicative of the calibration data and/or the values of the conversion matrix are stored in a database together with the serial number of the calibrated optical acquiring unit or light emitting unit.

6. The method as set forth in claim 5, wherein a control and processing unit of the optical arrangement has access to the database and the data and/or values stored therein, in order to perform online calibration of the optical acquiring unit and/or the light emitting unit connected to the carrier unit and forming part of the optical arrangement during the intended use of the optical arrangement.

7. The method as set forth in claim 1, further including the steps of:

calibrating the optical acquiring unit or the light emitting unit each at a plurality of different ambient temperatures, generating corresponding temperature dependent sets of calibration data and storing the data in a database, and during the intended use of the optical arrangement determining the current ambient temperature, accessing the database and based on the current ambient temperature selecting at least one set of calibration data to be used for the online calibration of the optical acquiring unit or the light emitting unit, which was acquired at an ambient temperature, which comes closest to the current ambient temperature.

8. The method as set forth in claim 7, wherein the set of calibration data is selected, which was acquired at an ambient temperature, which comes closest to the current ambient temperature.

9. The method as set forth in claim 7, wherein those two sets of calibration data are selected, which were acquired at ambient temperatures, which come closest to the current ambient temperature, and that the calibration data to be used for the online calibration of the optical acquiring unit or the light emitting unit during the intended use of the optical arrangement is determined with interpolation among the selected two sets of calibration data.