CALIBRATION METHOD AND AUTOMATION APPARATUS USING THE SAME

• US 20160187863A1
• Filed: 04/24/2015
• Published: 06/30/2016
• Est. Priority Date: 12/26/2014
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: TAI, Chung-Li, HUANG, Jay, WANG, Ko-Shyang, CHIU, Chih-Kai, TSAI, Yao-Yang
• Granted Patent: US 10,209,698 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G05B 19/401 characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/37015 Adaptive online camera, vision calibration
• CPC Class Codes: G05B 2219/37563 Ccd, tv camera
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30164 Workpiece; Machine component
• CPC Class Codes: G06T 7/85 Stereo camera calibration

Abstract

A calibration method applicable for an automation apparatus includes building a first stereoscopic characteristic model corresponding to an object, obtaining a stereoscopic image of the object, building a second stereoscopic characteristic model corresponding to the object based on the stereoscopic image, obtaining at least one error parameter corresponding to the second stereoscopic characteristic model by comparing the second stereoscopic characteristic model with the first stereoscopic characteristic model, and calibrating a processing parameter of the automation apparatus based on the at least one error parameter.

Claims

1. A calibration method applicable for an automation apparatus, the method comprising:

building a first stereoscopic characteristic model corresponding to an object;

obtaining a stereoscopic image of the object;

building a second stereoscopic characteristic model corresponding to the object based on the stereoscopic image;

obtaining at least one error parameter corresponding to the second stereoscopic characteristic model by comparing the second stereoscopic characteristic model with the first stereoscopic characteristic model; and

calibrating a processing parameter of the automation apparatus based on the at least one error parameter.

2. The method of claim 1, wherein the first stereoscopic characteristic model comprises a plurality of pieces of first information corresponding to a plurality of first characteristic nodes, each piece of first information comprising a first spatial position of the corresponding first characteristic node, and the second stereoscopic characteristic model comprises a plurality of pieces of second information corresponding to a plurality of second characteristic nodes, each piece of second information comprising a second spatial position of the corresponding second characteristic node, and the plurality of first characteristic nodes are bijectively corresponding to the plurality of second characteristic nodes.

3. The method of claim 2, wherein the step of calibrating the processing parameter comprises:

obtaining a coordinate conversion matrix based the plurality of first spatial positions and the plurality of second spatial positions; and

calibrating the processing parameter with the coordinate conversion matrix.

4. The method of claim 3, wherein the coordinate conversion matrix is used for converting the plurality of first spatial positions into the plurality of second spatial positions.

5. The method of claim 4, wherein the processing parameter comprises a plurality of spatial working positions corresponding to the object, and the step of calibrating the working parameter with the coordinate conversion matrix comprises converting the plurality of spatial working positions by the coordinate conversion matrix to obtain a plurality of converted spatial working positions.

6. The method of claim 3, wherein the coordinate conversion matrix is used for converting the plurality of second spatial positions into the plurality of first spatial positions.

7. The method of claim 4, wherein the step of calibrating the processing parameter with the coordinate conversion matrix comprises adjusting a position for obtaining the stereoscopic image of the object.

8. The method of claim 1, further comprising:

obtaining a working image of the object, the working image corresponding to the first stereoscopic characteristic model; and

obtaining a two-dimension image of the object, the two-dimension image corresponding to the second stereoscopic characteristic model;

wherein the working parameter is calibrated further based on the working image and the two-dimension image.

9. An automation apparatus, comprising:

an image capturing device for obtaining a stereoscopic image of an object;

a storage device for storing a first stereoscopic characteristic model corresponding to the object;

a controlling device, comprising;

a modeling module electrically coupled to the image capturing device for building a second stereoscopic characteristic model of the object based on the stereoscopic image; and

a calibrating module electrically coupled to both of the modeling module and the storage device for obtaining an error parameter by comparing the first stereoscopic characteristic model with the second stereoscopic characteristic model, and for calibrating an processing parameter of the automation apparatus based on the error parameter; and

a working device electrically coupled to the calibrating module in the controlling device for processing the object based on the processing parameter.

10. The apparatus of claim 9, wherein the first stereoscopic characteristic model comprises a plurality of pieces of first information corresponding to a plurality of first characteristic nodes, each piece of first information comprising a first spatial position of the corresponding first characteristic node, and the second stereoscopic characteristic model comprises a plurality of pieces of second information corresponding to a plurality of second characteristic nodes, each piece of second information comprising a second spatial position of the corresponding second characteristic node, and the plurality of first characteristic nodes are bijectively corresponding to the plurality of second characteristic nodes.

11. The apparatus of claim 10, wherein the calibrating module obtains a coordinate conversion matrix based on the plurality of first spatial positions and the plurality of second spatial positions, and calibrates the processing parameter with the coordinate conversion matrix.

12. The apparatus of claim 10, wherein the coordinate conversion matrix is used for converting the plurality of first spatial positions into the plurality of second spatial positions, and the processing parameter comprises a plurality of spatial working positions, and the calibrating module converts the plurality of spatial working positions with the coordinate conversion matrix to obtain a plurality of converted spatial working positions.

13. The apparatus of claim 10, wherein the coordinate conversion matrix is used for converting the plurality of second spatial positions into the plurality of first spatial positions, and the processing parameter comprises a spatial relationship between the working device and the object, and the calibrating module adjusts a position of the working device based on the coordinate conversion matrix so as to calibrate the processing parameter.

14. The apparatus of claim 9, wherein the image capturing device is selected from the group consisting of a binocular 3D scanner and a texture projecting 3D scanner.