WO2007036457A3 - Verfahren und system zur kalibrierung einer kamera in produktionsmaschinen - Google Patents

Verfahren und system zur kalibrierung einer kamera in produktionsmaschinen Download PDF

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Publication number
WO2007036457A3
WO2007036457A3 PCT/EP2006/066493 EP2006066493W WO2007036457A3 WO 2007036457 A3 WO2007036457 A3 WO 2007036457A3 EP 2006066493 W EP2006066493 W EP 2006066493W WO 2007036457 A3 WO2007036457 A3 WO 2007036457A3
Authority
WO
WIPO (PCT)
Prior art keywords
camera
machine
parameters
determined
calibrating
Prior art date
Application number
PCT/EP2006/066493
Other languages
English (en)
French (fr)
Other versions
WO2007036457A2 (de
Inventor
Dirk Jahn
Original Assignee
Siemens Ag
Dirk Jahn
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 Siemens Ag, Dirk Jahn filed Critical Siemens Ag
Priority to JP2008531685A priority Critical patent/JP2009509778A/ja
Priority to US12/088,029 priority patent/US20080218592A1/en
Publication of WO2007036457A2 publication Critical patent/WO2007036457A2/de
Publication of WO2007036457A3 publication Critical patent/WO2007036457A3/de

Links

Classifications

    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37009—Calibration of vision system, camera, adapt light level

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)
  • General Factory Administration (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

Die Erfindung betrifft ein Verfahren und ein System zur Ka- librierung einer Kamera (12) im Arbeitsraum (10) einer Pro- duktionsmaschine. Dabei wird ein Kalibrierungsobjekt (24) in- nerhalb des Arbeitsraums (10) der Maschine in verschiedene Positionen gebracht und von der Kamera (12) aufgenommen, wo- bei die Positionsparameter des Kalibrierungsobjektes (24) den entsprechenden Aufnahmen der Kamera (12) zugeordnet werden. Über die ermittelten Daten lassen sich Parameter der Kamera (12) bestimmen. Um besonders genaue Parameter der Kamera (12) zu erhalten, werden erfindungsgemäß die verschiedenen Positi- onen des Kalibrierungsobjektes (24) innerhalb des Arbeits- raums (10) unter Zuhilfenahme eines Messsystems der Maschine bestimmt, wobei die Ermittlung der Parameter der Kamera (12) unter Berücksichtigung der Daten des Messsystems der Maschine durchgeführt wird.
PCT/EP2006/066493 2005-09-26 2006-09-19 Verfahren und system zur kalibrierung einer kamera in produktionsmaschinen WO2007036457A2 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2008531685A JP2009509778A (ja) 2005-09-26 2006-09-19 生産機械におけるカメラの校正方法及びシステム
US12/088,029 US20080218592A1 (en) 2005-09-26 2006-09-19 Method and System for Calibrating a Camera in Production Machines

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005045854A DE102005045854B3 (de) 2005-09-26 2005-09-26 Verfahren und System zur Kalibrierung einer Kamera in Produktionsmaschinen
DE102005045854.8 2005-09-26

Publications (2)

Publication Number Publication Date
WO2007036457A2 WO2007036457A2 (de) 2007-04-05
WO2007036457A3 true WO2007036457A3 (de) 2007-06-28

Family

ID=37887269

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/066493 WO2007036457A2 (de) 2005-09-26 2006-09-19 Verfahren und system zur kalibrierung einer kamera in produktionsmaschinen

Country Status (5)

Country Link
US (1) US20080218592A1 (de)
JP (1) JP2009509778A (de)
CN (1) CN101273384A (de)
DE (1) DE102005045854B3 (de)
WO (1) WO2007036457A2 (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7502068B2 (en) * 2004-06-22 2009-03-10 International Business Machines Corporation Sensor for imaging inside equipment
US8310539B2 (en) * 2009-05-29 2012-11-13 Mori Seiki Co., Ltd Calibration method and calibration device
US8406922B2 (en) * 2009-07-31 2013-03-26 Fanuc Robotics America, Inc. System and method for setting the tool center point of a robotic tool
US20120057024A1 (en) * 2010-09-07 2012-03-08 General Electric Company System and method for monitoring component wear
US9505130B2 (en) * 2012-07-13 2016-11-29 General Electric Company System and method for performing remote welding operations on an apparatus
DE102014213518A1 (de) * 2014-07-11 2016-01-14 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren, Bearbeitungsmaschine und Computerprogrammprodukt zum bildbasierten Platzieren von Werkstückbearbeitungsvorgängen
US20160191901A1 (en) 2014-12-24 2016-06-30 3M Innovative Properties Company 3d image capture apparatus with cover window fiducials for calibration
US10828716B2 (en) 2017-06-19 2020-11-10 Lincoln Global, Inc. Systems and methods for real time, long distance, remote welding
DE102018101162B4 (de) 2018-01-19 2023-09-21 Hochschule Reutlingen Messsystem und Verfahren zur extrinsischen Kalibrierung
DE102022110111A1 (de) * 2022-04-27 2023-11-02 TRUMPF Werkzeugmaschinen SE + Co. KG Verfahren zum Überprüfen der Kalibrierung eines Bildverarbeitungssystems einer Blechbearbeitungsmaschine
DE102022129462B3 (de) 2022-11-08 2023-11-09 Göpel electronic GmbH Anordnung zur Kalibrierung eines Kamerasystems, Kalibrierkörper und Verfahren zur Durchführung der Kalibrierung

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0489919A1 (de) * 1990-05-30 1992-06-17 Fanuc Ltd. Eichsystem für einen optischen sensor
EP0493612A1 (de) * 1990-07-19 1992-07-08 Fanuc Ltd. Verfahren zum kalibrieren eines optischen sensors
US20050131582A1 (en) * 2003-10-01 2005-06-16 Arif Kazi Process and device for determining the position and the orientation of an image reception means
EP1584426A1 (de) * 2004-04-07 2005-10-12 Fanuc Ltd Vorrichtung zur Kalibrierung des Werkzeugbezugspunktes

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3394322B2 (ja) * 1994-05-19 2003-04-07 ファナック株式会社 視覚センサを用いた座標系設定方法
US7362969B2 (en) * 2001-05-29 2008-04-22 Lucent Technologies Inc. Camera model and calibration procedure for omnidirectional paraboloidal catadioptric cameras
US6516248B2 (en) * 2001-06-07 2003-02-04 Fanuc Robotics North America Robot calibration system and method of determining a position of a robot relative to an electrically-charged calibration object
WO2003064116A2 (en) * 2002-01-31 2003-08-07 Braintech Canada, Inc. Method and apparatus for single camera 3d vision guided robotics
DE102004007829B4 (de) * 2004-02-18 2007-04-05 Isra Vision Systems Ag Verfahren zur Bestimmung von zu inspizierenden Bereichen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0489919A1 (de) * 1990-05-30 1992-06-17 Fanuc Ltd. Eichsystem für einen optischen sensor
EP0493612A1 (de) * 1990-07-19 1992-07-08 Fanuc Ltd. Verfahren zum kalibrieren eines optischen sensors
US20050131582A1 (en) * 2003-10-01 2005-06-16 Arif Kazi Process and device for determining the position and the orientation of an image reception means
EP1584426A1 (de) * 2004-04-07 2005-10-12 Fanuc Ltd Vorrichtung zur Kalibrierung des Werkzeugbezugspunktes

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
MULLIGAN J ED - INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS: "FAST CALIBRATED STEREO VISION FOR MANIPULATION", PROCEEDINGS OF THE 1996 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. MINNEAPOLIS, APR. 22 - 28, 1996, PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, NEW YORK, IEEE, US, vol. VOL. 3 CONF. 13, 22 April 1996 (1996-04-22), pages 2326 - 2331, XP000772555, ISBN: 0-7803-2989-9 *

Also Published As

Publication number Publication date
CN101273384A (zh) 2008-09-24
US20080218592A1 (en) 2008-09-11
JP2009509778A (ja) 2009-03-12
WO2007036457A2 (de) 2007-04-05
DE102005045854B3 (de) 2007-04-12

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