AN AUTOMATIC CALIBRATION SYSTEM

Abstract

This invention relates to a system (1) that enables the automatic calibration of cameras (3) used in precision measurement and assembly systems involved in robotic processes.

Description

1 TARIFF AN AUTOMATIC CALIBRATION SYSTEM Technical Area 5 This invention is used in precision measurement and assembly systems involved in robotic processes. with a system that enables the automatic calibration of the cameras used It is related. Previous Technique Robotic processes are frequently used in the automotive industry for the production of vehicles. It is used. Vehicle windows are removed by robots and then mounted on the vehicle. Precise measurement and assembly are performed, especially in robotic glass assembly processes. 15 The camera calibrations of the systems are performed manually by a specialist robot programmer. This needs to be done. This situation will prolong the process and the calibration operation. This creates a risk of damaging the equipment. Therefore... Nowadays, camera calibration is performed automatically. Solutions that will provide this are needed. 20 Chinese patent CN111421528A, which is included in the prior art. The document describes how to automatically calibrate the industrial robot and camera. The system in question is structured in such a way. The invention is industrial. Automatic control of robots belongs to the technical field, and an industrial robot has 25 It describes the automatic control system. Automatic control of an industrial robot. The system includes a camera module, an automatic program loading module, and a central control unit. module, angle adjustment module, height adjustment module, calibration module, capture and positioning module, fault self-check module, emergency Stop module, detection module, data collection module, compression module, 30 data storage module, driver module, power supply module, current control 2 It includes an automation module and a display module. The industrial robot is automatic. According to the control system, the robot vehicle coordinate system is controlled via the calibration module. and the cumbersome calibration of the user coordinate system is eliminated. In addition, an operational visual robot can be used by field personnel to check the checkers. Laborious processes such as touching the board are also being abandoned. Catching 5 and the positioning module does not require mechanical positioning, The industrial robot moves according to the positioning of each target object. and performs the capture operation. Thus, different target objects positioning, system stability and positioning accuracy is being increased. 10 Brief Description of the Invention The purpose of this invention is to enable cameras to be used in precision measurement and assembly systems. The calibrations are started automatically with a single button press, and the cameras 15 The system automatically moves sequentially to the calibration plate position. The goal is to create a system that enables calibration. Another purpose of the invention is to enable the automated sequential camera calibration process during operation. a system that reduces the time and eliminates the risk of hitting the robot 20 to accomplish. Detailed Description of the Invention To achieve the purpose of this invention, an "Automatic Calibration 25" was carried out. The "System" is shown in the attached figure; Figure 1. Schematic view of a system that is the subject of the invention. The parts shown in the figure are individually numbered, and these numbers correspond to 30. The equivalents are given below: 3 1. System 2. Robot 3rd Camera 4. Processor Used in precision measurement and assembly systems involved in robotic processes. an invention that enables automatic calibration of cameras (1), - Performing the assembly of parts onto the vehicle in precision measurement and assembly systems. at least one robot (2) configured to do so, 10 - at least one camera located on the robot and configured to capture images. (3) and -to communicate with the robot (2) and camera (3), and to obtain data through the established communication. to carry out the shopping, calibration of the cameras (3) In order to be able to perform the robots (2), each of the 15 on a calibration plate Moving it to the calibration position sequentially, automatically in each position. as calibration plate images, the acquired images beforehand to check according to the specified calibration tolerances and the check results It includes at least one processor (4) configured to be shared with the user. The robot (2) in the system (1) which is the subject of the invention performs precise measurement and assembly. used in systems and controlled via processor (4) so that assembly operations can be carried out based on measurements to have a camera (3) that enables the taking of images It is being structured. 25 To communicate with the camera (3) processor (4) in the system (1) which is the subject of the invention, to exchange data through the established communication and in the calibration process the movement of the robot to each calibration point on the (2) calibration plate It is configured to share the related images with the processor. This allows 30 4 The processor (4) automatically captures images of the robot (2) going to the calibration points. It ensures that calibration results are checked and shared with the user. In the system that is the subject of the invention, the processor (4) located in (1) communicates with the robot (2) and the camera (3). to establish, to exchange data through the established communication, calibration 5 For the operation, the robot (2) is placed on the calibration points on a calibration plate. to move automatically in sequence, through the camera (2) at each point to take images and perform automatic calibration of cameras (3) It is structured accordingly. The processor (4) sets the calibration tolerances for each point. keeping a record, 10 for each movement performed by the robot (2) to check the images using tolerance values ​​and all cameras (3) It is configured to obtain calibration results. The processor (4) obtains to share the calibration results it has obtained with the user via a screen It is being structured. In the system that is the subject of the invention, (1) the processor automatically triggers (4) the user. cameras (3) automatically move to all calibration positions on the calibration plate It brings the images taken with cameras (3) and automatically adjusts them to tolerance. It performs the calibration process by analyzing the values. The system (1) that is the subject of the invention is especially used in production processes for mounting glass to vehicles. In its processes, the camera calibrations of the assembly system are performed by a specialized robot. it should be done automatically without needing a programmer and all cameras (3) automatically in a sequential manner to the calibration plate position It is gradually being enabled to perform automatic calibration. Also, automatic 25 The sequential camera (3) calibration process reduces the operation time and the robot (2) the risk of harm is eliminated. Based on these fundamental concepts, the invention is titled "An Automatic Calibration System". It is possible to develop a wide variety of applications related to (1)”, and the invention herein is 30 It cannot be limited to the examples given; it is essentially as stated in the claims.

Claims

REQUESTS 1. In precision measurement and assembly systems used in robotic processes. It enables the automatic calibration of the cameras being used. - Performing the assembly of parts onto the vehicle in precision measurement and assembly systems 5 at least one robot configured to (2), - at least one camera located on the robot and configured to capture images. (3) and -to communicate with the robot (2) and camera (3), and to obtain data through the established communication. to carry out the shopping, calibration of the cameras (3) 10 In order to be able to perform the robots (2) each on a calibration plate Moving it to the calibration position sequentially, automatically in each position. as calibration plate images, the acquired images beforehand to check according to the specified calibration tolerances and the check results 15 characterized by at least one processor (4) configured to be shared with the user a system (1).

2. It is used in precision measurement and assembly systems and the processor (4) to be checked via and assembly operations based on measurement a camera that enables the taking of images so that it can be done (3) 20 Claim 1, characterized by the robot (2) configured to keep it in place. such a system (1).

3. Communicating with the processor (4), exchanging data through the established communication. to perform and calibrate the robot's (2) calibration plate 25 The images relating to the movement to each calibration point are processed by the processor (4) Claim 1 is characterized by a camera (3) configured for sharing or A system like the one in 2 (1).

4. To communicate with the robot (2) and the camera (3), and to communicate via the established communication 30 to perform data exchange, to calibrate the robot (2) for calibration 6 The plate automatically moves sequentially to the calibration points on its surface. to take images at each point via camera (2) and the cameras (3) processor configured to perform automatic calibration (4) a system like any of the above characterized demands (1).

5. Keeping a record of the calibration tolerances for each point ensures the robot's safety. (2) the tolerance values ​​of the images for each movement it has made using and obtaining all camera (3) calibration results from the above requests characterized by the processor (4) configured to be a system like any of them (1). 10 6. Displaying the calibration results to the user via a screen. The above is characterized by the processor (4) configured to share. a system like any of the requests (1).

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