KR970062838A - Three-dimensional robot calibration device and method using CCD camera and laser - Google Patents
Three-dimensional robot calibration device and method using CCD camera and laser Download PDFInfo
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- KR970062838A KR970062838A KR1019960004846A KR19960004846A KR970062838A KR 970062838 A KR970062838 A KR 970062838A KR 1019960004846 A KR1019960004846 A KR 1019960004846A KR 19960004846 A KR19960004846 A KR 19960004846A KR 970062838 A KR970062838 A KR 970062838A
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- vision sensor
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Abstract
본 발명은 레이저 비젼 센서를 가진 로보트 시스템에 적당하도록 한 CCD 카메라와 레이져를 이용한 3차원 로보트 캘리브레이션 장치 및 방법에 관한 것이다.The present invention relates to a three-dimensional robot calibration apparatus and method using a CCD camera and a laser suitable for a robot system having a laser vision sensor.
본 발명은 종래 캘리브레이션시 로보트를 4번 좌표 이동시켜 캘리브레이션함에 따라 로보트 좌표값에 오차가 발생하여 캘리브레이션 이후의 로보트 동작에도 오차가 발생하는 문제점이 있었던 점을 감안하여 캘리브레이션 도구를 모니터상에 4개 이상의 점이 보여질 수 있도록 구성하고, 레이져 비젼 센서에서 나오는 띠 형태의 레이져 광원의 캘리브레이션 도구의 일측끝점과 타측끝점을 사선으로 지나도록 캘리브레이션 도구와 레이져 비젼 센서를 위치시키는 제1단계와, 상기 레이져 비젼 센서에서 나오는 띠 형태의 레이져 광원에 의해 캘리브레이션 도구에서 반사된 빛을 영상처리하여 로보트의 이동없이 모니터 영상 상의 4개점의 영상 좌표값을 구하는 제2단계와, 상기 캘리브레이션 도구의 일측끝점을 로보트 자표계의 원점으로 정하여 이 원점과 캘리브레이션 도구의 기하학적 구조를 이용해 상기 4개점의 로보트 좌표값을 구하는 제3단계와 상기 제2 및 제3단계에서 얻어진 영상 및 로보트 좌표값을 이용하여 캘리브레이션하는 제4단계를 수행하여 캘리브레이션 함으로써 로보트으 좌표이동으로 인한 캘리브레이션 오차를 없애 레이져 비젼 센서를 가진 로보트 시스템의 정밀도와 신회성을 향상시킨 것이다.The present invention has a problem in that an error occurs in the robot coordinate values due to the calibration of the robot by moving the robot four times during the conventional calibration so that an error occurs also in the robot operation after the calibration, A first step of positioning the calibration tool and the laser vision sensor so that one end point and the other end point of the calibration tool of the laser beam source in the form of a strip emitted from the laser vision sensor are obliquely passed; A second step of image-processing the light reflected by the calibration tool by a laser light source in the form of a band to obtain image coordinate values of four points on the monitor image without moving the robot; The origin And a fourth step of calibrating using the image and the robot coordinate values obtained in the second and third steps, and performing calibration by performing a calibration on the robot coordinate system using the geometric structure of the robot and the calibration tool, By eliminating the calibration error due to the movement of the coordinates, the robot system with the laser vision sensor has improved precision and innovation.
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is a trivial issue, I did not include the contents of the text.
제6도는 본 발명에 따른 캘리브레이션 방법을 설명하기 위한 도면.FIG. 6 is a view for explaining a calibration method according to the present invention; FIG.
제7도는 (a)~(d)는 본 발명에 따른 캘리브레이션 도구의 도구의 외관도.FIG. 7 is a perspective view of a tool of a calibration tool according to the present invention. FIG.
제8도는 본 발명에 따른 캘리브레이션 방법을 수행하기 위한 플로우 챠트.FIG. 8 is a flow chart for performing a calibration method according to the present invention; FIG.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960004846A KR970062838A (en) | 1996-02-27 | 1996-02-27 | Three-dimensional robot calibration device and method using CCD camera and laser |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960004846A KR970062838A (en) | 1996-02-27 | 1996-02-27 | Three-dimensional robot calibration device and method using CCD camera and laser |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| KR970062838A true KR970062838A (en) | 1997-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1019960004846A KR970062838A (en) | 1996-02-27 | 1996-02-27 | Three-dimensional robot calibration device and method using CCD camera and laser |
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| KR (1) | KR970062838A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100640743B1 (en) * | 2004-12-30 | 2006-10-31 | 삼성중공업 주식회사 | A calibration equipment of laser vision system for 6-axis robot |
| KR100886655B1 (en) * | 2007-04-10 | 2009-03-04 | 삼성중공업 주식회사 | The automatic calibration method in robot based multi-laser vision system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5066902A (en) * | 1988-07-01 | 1991-11-19 | Fanuc Ltd | Automatic nominal data setting method in a visual sensor system |
| US5083073A (en) * | 1990-09-20 | 1992-01-21 | Mazada Motor Manufacturing U.S.A. Corp. | Method and apparatus for calibrating a vision guided robot |
| EP0547926A1 (en) * | 1991-11-18 | 1993-06-23 | Automobiles Peugeot | Method for calibrating a robot with respect to a production line and device therefor |
| KR950025421A (en) * | 1994-02-22 | 1995-09-15 | 김광호 | Method for extracting correction value of optical device and its device |
| JPH0830319A (en) * | 1994-07-13 | 1996-02-02 | Fanuc Ltd | Detected angle control method for laser sensor |
-
1996
- 1996-02-27 KR KR1019960004846A patent/KR970062838A/en not_active Application Discontinuation
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5066902A (en) * | 1988-07-01 | 1991-11-19 | Fanuc Ltd | Automatic nominal data setting method in a visual sensor system |
| US5083073A (en) * | 1990-09-20 | 1992-01-21 | Mazada Motor Manufacturing U.S.A. Corp. | Method and apparatus for calibrating a vision guided robot |
| EP0547926A1 (en) * | 1991-11-18 | 1993-06-23 | Automobiles Peugeot | Method for calibrating a robot with respect to a production line and device therefor |
| KR950025421A (en) * | 1994-02-22 | 1995-09-15 | 김광호 | Method for extracting correction value of optical device and its device |
| JPH0830319A (en) * | 1994-07-13 | 1996-02-02 | Fanuc Ltd | Detected angle control method for laser sensor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100640743B1 (en) * | 2004-12-30 | 2006-10-31 | 삼성중공업 주식회사 | A calibration equipment of laser vision system for 6-axis robot |
| KR100886655B1 (en) * | 2007-04-10 | 2009-03-04 | 삼성중공업 주식회사 | The automatic calibration method in robot based multi-laser vision system |
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