校正方法、校正装置、３次元測定機、３次元視覚測定装置、ロボットのエンドエフェクタ、プログラム、記録媒体

Japanese Patent JP7102115

B2

To provide a calibration method for reducing a scale error included in the measurement result of a three-dimensional visual measuring device and improving measurement accuracy.SOLUTION: The shape of a functional component or the shape of a jig coupled with the functional component is three-dimensionally measured by a measuring probe 102 of a three-dimensional measuring instrument 101, and a second coordinate system having origin in a reference portion of a functional component equipped with a stereo camera 104 is defined. The coordinate values, of a specific portion of the measuring probe 102 positioned at three or more measurement points in a range imageable by the stereo camera 104, in a first coordinate system in which are expressed the three-dimensional measured values of the stereo camera 104, are visually measured in three-dimensions. Meanwhile, calibration data for performing coordinate conversion between the first coordinate system and the second coordinate system and a correction matrix with which the three-dimensional measured coordinate values of the stereo camera 104 are correctable are acquired on the basis of the measured coordinate values, in the first and second coordinate systems, of the measurement points in the specific portion of the measuring probe 102.SELECTED DRAWING: Figure 1

Keita Dan
Suzuki Hideaki
High Shiiku Hayashi
Naoki Tsukabe

JP2017178376A

July 19, 2022

September 15, 2017

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Canon Inc

G01B11/00; B25J19/04; G06T7/80

Chikajima International Patent Office

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