US 5,471,312 AGranted

Automatic calibration method

AssigneeFanuc Corporation

InventorsAtsushi Watanabe, Fumikazu Terawaki, Fumikazu Warashina

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Abstract

A method for automatically effecting calibration between an image processing apparatus and a control device of an automatic machine. Jig data for calibration and the position of a robot, fitted with a jig which can be photographed by a camera at the time of calibration, are previously given as instructions. In response to a calibration command, the robot, fitted with the jig, moves to a point of instruction, the image processing apparatus photographs the jig and fetches an image after the movement. A calibration process is executed in accordance with data of the photographed image, set jig data, and robot position. When the jig data and the instruction point are first set and given once as instructions, the calibration thereafter can be automatically effected only by mounting the jig on the robot and inputting the calibration command.

Claims9

Dependent claims

A method of automatically calibrating a camera of an image processing apparatus which processes an image of an object of operation by combining a work coordinate system set in a control device of an automatic machine with a camera coordinate system set in the image processing apparatus, said method comprising the steps of:

(a) giving the automatic machine an instruction point for a position of the automatic machine wherein a whole body of a jig mounted on the automatic machine comes within the range of the camera of the image processing apparatus, and storing first data of the instruction point in first storage means in the automatic machine;
(b) setting, in the image processing apparatus, second data relating to an object of recognition attached to said jig, and storing said second data relating to the object of recognition in second storage means in the image processing apparatus;
(c) mounting said jig on the automatic machine;
(d) issuing a calibration start command to actuate the image processing apparatus and the automatic machine;
(e) moving the automatic machine to said instruction point based on said first data stored in said first storage means;
(f) photographing said jig with the camera, to produce image data;
and
(g) combining the camera coordinate system and the work coordinate system in accordance with the image data obtained by said photographing in said step (f), said second data relating to the object of recognition stored in said second storage means, and said position data of the automatic machine at said instruction point, while maintaining communication between the image processing apparatus and the automatic machine;
said steps (e), (f) and (g) being automatically repeated in response to said calibration start command issued in said step (d).

6 more elements

A method of automatically calibrating a camera of an image processing apparatus for processing an image of an object of operation by combining a work coordinate system set in a control device of an automatic machine with a camera coordinate system set in the image processing apparatus, said method comprising the steps of:

(a) giving the automatic machine an instruction point for a position of the automatic machine wherein a whole body of a jig mounted on the automatic machine comes within the range of the camera of the image processing apparatus, and storing first data of the instruction point in first storage means in the automatic machine;
(b) setting, in the image processing apparatus, second data relating to an object of recognition attached to said jig based upon one of a plurality of types of calibration, and storing said second data relating to the object of recognition in second storage means in the image processing apparatus;
(c) mounting said jig based upon the one of the plurality of calibration types to be used on the automatic machine and inputting the one of the plurality of calibration types;
(d) issuing a calibration start command to actuate the image processing apparatus and the automatic machine;
(e) moving the automatic machine to said instruction point based upon said first data stored in said first storage means;
(f) photographing said jig with the camera to produce image data;
and
(g) combining the camera coordinate system and the work coordinate system in accordance with the image data obtained by said photographing in said step (f), said second data relating to the object of recognition stored in said second storage means, and said position data of the automatic machine at the instruction point, while maintaining communication between the image processing apparatus and the automatic machine,
said steps (e), (f) and (g) being automatically repeated in response to said calibration start command issued in said step (d).

6 more elements

Dependencies are inferred from the claim text.