DE69105476T2 - Verfahren zum kalibrieren eines optischen sensors. - Google Patents

Verfahren zum kalibrieren eines optischen sensors.

Info

Publication number
DE69105476T2
DE69105476T2 DE69105476T DE69105476T DE69105476T2 DE 69105476 T2 DE69105476 T2 DE 69105476T2 DE 69105476 T DE69105476 T DE 69105476T DE 69105476 T DE69105476 T DE 69105476T DE 69105476 T2 DE69105476 T2 DE 69105476T2
Authority
DE
Germany
Prior art keywords
calibrating
optical sensor
optical
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69105476T
Other languages
English (en)
Other versions
DE69105476D1 (de
Inventor
Atsushi Watanabe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of DE69105476D1 publication Critical patent/DE69105476D1/de
Application granted granted Critical
Publication of DE69105476T2 publication Critical patent/DE69105476T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40605—Two cameras, each on a different end effector to measure relative position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49769—Using optical instrument [excludes mere human eyeballing]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
DE69105476T 1990-07-19 1991-07-18 Verfahren zum kalibrieren eines optischen sensors. Expired - Fee Related DE69105476T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2190958A JP2686351B2 (ja) 1990-07-19 1990-07-19 視覚センサのキャリブレーション方法
PCT/JP1991/000960 WO1992001539A1 (fr) 1990-07-19 1991-07-18 Procede d'etalonnage d'un capteur visuel

Publications (2)

Publication Number Publication Date
DE69105476D1 DE69105476D1 (de) 1995-01-12
DE69105476T2 true DE69105476T2 (de) 1995-04-13

Family

ID=16266507

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69105476T Expired - Fee Related DE69105476T2 (de) 1990-07-19 1991-07-18 Verfahren zum kalibrieren eines optischen sensors.

Country Status (5)

Country Link
US (1) US6114824A (de)
EP (1) EP0493612B1 (de)
JP (1) JP2686351B2 (de)
DE (1) DE69105476T2 (de)
WO (1) WO1992001539A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018108728B4 (de) 2017-04-19 2019-09-19 Shinya Hirano Kalibriersystem

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JP2014180720A (ja) * 2013-03-19 2014-09-29 Yaskawa Electric Corp ロボットシステム及びキャリブレーション方法
CN103878774A (zh) * 2014-02-25 2014-06-25 西安航天精密机电研究所 一种基于机器人的视觉标定方法
PL3012695T3 (pl) 2014-10-23 2018-03-30 Comau S.P.A. Układ do monitorowania i sterowania zakładem przemysłowym
WO2016119829A1 (en) * 2015-01-28 2016-08-04 Abb Schweiz Ag Multiple arm robot system and method for operating a multiple arm robot system
JP6122065B2 (ja) * 2015-05-29 2017-04-26 ファナック株式会社 搬送物を吊り下げて搬送するロボットシステム
CN110495163B (zh) * 2017-03-31 2021-12-10 松下知识产权经营株式会社 摄像系统以及校正方法
CN110463182B (zh) 2017-03-31 2021-07-13 松下知识产权经营株式会社 摄像系统以及校正方法
US10471478B2 (en) 2017-04-28 2019-11-12 United Parcel Service Of America, Inc. Conveyor belt assembly for identifying an asset sort location and methods of utilizing the same
JP7003462B2 (ja) * 2017-07-11 2022-01-20 セイコーエプソン株式会社 ロボットの制御装置、ロボットシステム、並びに、カメラの校正方法
IT201800005091A1 (it) 2018-05-04 2019-11-04 "Procedimento per monitorare lo stato di funzionamento di una stazione di lavorazione, relativo sistema di monitoraggio e prodotto informatico"
JP6740288B2 (ja) * 2018-07-13 2020-08-12 ファナック株式会社 物体検査装置、物体検査システム、及び検査位置を調整する方法
JP2020066066A (ja) * 2018-10-22 2020-04-30 セイコーエプソン株式会社 ロボットシステム、ロボットの校正治具、ロボットの校正方法
CN109411268A (zh) * 2018-12-11 2019-03-01 四川艾德瑞电气有限公司 一种铁路牵引变电所控制柜按钮视觉定位方法
JP2020154208A (ja) * 2019-03-22 2020-09-24 本田技研工業株式会社 カメラ焦点調整治具、及びカメラ焦点調整方法
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018108728B4 (de) 2017-04-19 2019-09-19 Shinya Hirano Kalibriersystem
US10906183B2 (en) 2017-04-19 2021-02-02 Toyota Jidosha Kabushiki Kaisha Calibration system

Also Published As

Publication number Publication date
JP2686351B2 (ja) 1997-12-08
US6114824A (en) 2000-09-05
EP0493612B1 (de) 1994-11-30
WO1992001539A1 (fr) 1992-02-06
JPH0475887A (ja) 1992-03-10
DE69105476D1 (de) 1995-01-12
EP0493612A4 (en) 1993-03-17
EP0493612A1 (de) 1992-07-08

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee