# US 12,145,279 B2 · Method and apparatus for calibrating position of robot using 3D scanner

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- Number: US 12,145,279 B2
- Document ID: US12145279B2
- Status: Granted
- Kind: B2
- Application number: 17/777,078
- Filed: 2020-11-16
- Published: 2022-12-22
- Granted: 2024-11-19
- Earliest claimed: 2019-11-15
- Assignees: CMES Inc.
- Applicants: Cmes Inc.
- Inventors: Myoung Jin Seo; Sung Ho Lee
- Web page: https://patentgrep.com/patent/US12145279B2

## CPC

- B25J 9/1692: {Calibration of manipulator}
- B25J 9/1671: {characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems}
- B25J 9/1697: {Vision controlled systems}
- B25J 19/023: {including video camera means}
- G05B 2219/40613: Camera, laser scanner on end effector, hand eye manipulator, local
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A robot position calibration apparatus is disclosed including a scan position controller configured to control the position of the robot by individually setting parameter sets related to the position of the robot for causing a scanner mounted on an end of the robot to scan an object in multiple scan positions around the robot, and a data receiver configured to receive, from the scanner, multiple scan data items generated by the scanner scanning the object in each of the multiple scan positions, and a parameter calibrator configured to calculate calibration values for the parameter sets having been individually set, by using multiple position information items corresponding to the parameter sets and the multiple scan data items.

## Claims

### Claim 1

An apparatus for calibrating a position of a robot, comprising:
a scan position controller configured to control the position of the robot by individually setting parameter sets related to the position of the robot for causing a scanner mounted on an end of the robot to scan an object in multiple scan positions around the robot;
a data receiver configured to receive, from the scanner, multiple scan data items generated by the scanner scanning the object in each of the multiple scan positions; and
a parameter calibrator configured to calculate calibration values for the parameter sets having been individually set, by using multiple position information items corresponding to the parameter sets and the multiple scan data items;
wherein the scan position controller is configured to control the position of the robot for allowing the scanner to scan a second, two-dimensional patterned object in multiple first scan positions to generate first scan data and then to control the position of the robot for allowing the scanner to scan a second, three-dimensional shaped object in multiple second scan positions to generate second scan data.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein the parameter calibrator is configured to calculate the calibration values by using relative position differences between the multiple scan positions and relative position differences between the multiple position information items.

### Claim 3 (depends on 1)

The apparatus of claim 1, wherein the parameter calibrator comprises:
a first producer configured to calculate a first positional relation that comprises positional relations between the multiple scan locations by using the multiple scan data items;
a second producer configured to calculate a second positional relation that comprises positional relations between the multiple position information items; and
a calibration value producer configured to calculate calibration values for the parameter sets based on the first positional relation and the second positional relation.

### Claim 4 (depends on 3)

The apparatus of claim 3, wherein the first positional relation and the second positional relation are respectively calculated for each of combined pairs of scan positions.

### Claim 5 (depends on 1)

The apparatus of claim 1, wherein the parameter calibrator is configured to calculate the calibration values for the parameter sets by using CAD modeling information for the object.

### Claim 6 (depends on 1)

The apparatus of claim 1, wherein the parameter calibrator is configured to calculate a first calibration value range that is a calibration value range for the parameter sets by using the first scan data and multiple position information items corresponding to the first scan data, and then to calculate the calibration values for the parameter sets within the first calibration value range by using the second scan data and multiple position information items corresponding to the second scan data.

### Claim 7 (depends on 1)

The apparatus of claim 1, wherein the parameter calibrator is configured to calculate the calibration values by setting a weight for each of a plurality of parameters in the parameter sets.

### Claim 8 (depends on 1)

The apparatus of claim 1, wherein the parameter calibrator is configured to obtain an optical origin of the scanner from the multiple scan data items, and to perceive the scan positions by calculating a transformation matrix from the end to the optical origin.

### Claim 9 (depends on 1)

The apparatus of claim 1, wherein the parameter calibrator further comprises:
an object-moving unit configured to cause a controlled movement of the object by using a moving tool mounted on the robot according to a user command, and
wherein the scan position controller is configured to control the position of the robot for causing the scanner to scan the object at a predetermined distance from the object having been moved.

### Claim 10

A method of calibrating a position of a robot, the method comprising:
controlling the position of the robot by individually setting parameter sets related to the position of the robot for causing a scanner mounted on an end of the robot to scan an object in multiple scan positions around the robot;
receiving, from the scanner, multiple scan data items generated by the scanner scanning the object in each of the multiple scan positions; and
calculating calibration values for the parameter sets having been individually set, by using multiple position information items corresponding to the parameter sets and the multiple scan data items;
wherein, controlling the position of the robot comprises:
controlling the position of the robot for allowing the scanner to scan a second, two-dimensional patterned object in multiple first scan positions to generate first scan data; and
controlling the position of the robot for allowing the scanner to scan a second, three-dimensional shaped object in multiple second scan positions to generate second scan data.