Camera calibration device and camera calibration method
To provide a camera calibration device and a camera calibration method which can easily calibrate a relationship between a machine coordinate system of a machine tool and a camera coordinate system of a camera. A camera calibration device calibrates an imaging means of a machine tool, the machine tool includes: a touch probe which acquires one point whose machine coordinates are known; a camera which images the one point and a pattern including a feature used for calibration; and a drive mechanism which moves a table or a spindle in two orthogonal directions and an image obtained by imaging the one point and the pattern and images obtained by imaging the pattern or/and the one point when the table or a machining machine is moved in the two directions are used to calculate an external parameter by calculating a positional posture relationship between the machine coordinate system and the pattern.
1. A camera calibration device which calibrates an imaging means included in a machine tool,
wherein the machine tool includes:
an acquisition means which acquires one point whose machine coordinates are known;
the imaging means which images the one point whose machine coordinates are known and a pattern including a feature used for calibration; and
a drive mechanism which linearly moves a table or a spindle in two orthogonal directions in a machine coordinate system,
the pattern including the feature used for the calibration is arranged in an arbitrary positional posture with respect to the machine coordinate system at a position which is movable relative to and recognizable to the imaging means upon a movement of the drive mechanism, and
an image obtained by imaging the one point whose machine coordinates are known and the pattern including the feature used for the calibration and
images obtained by imaging the pattern including the feature used for the calibration or/and the one point whose machine coordinates are known when the drive mechanism linearly moves the table or the spindle in the two orthogonal directions in the machine coordinate system
are used
to calculate a positional posture relationship between the machine coordinate system and the pattern including the feature used for the calibration
such that an external parameter indicating a positional posture relationship between the machine coordinate system and a camera coordinate system is calculated.
2. The camera calibration device according to claim 1 , wherein as the pattern including the feature used for the calibration, calibration instruments of a checkerboard and a dot pattern are included.
3. The camera calibration device according to claim 1 , wherein as the pattern including the feature used for the calibration, a scratch, a corner point and a pattern on the table are included.
4. The camera calibration device according to claim 1 , wherein when a plane formed with a pattern including a plurality of features used for the calibration is parallel to a plane of the machine coordinate system, the external parameter of the imaging means is calculated by an operation of the drive mechanism in one direction.
5. The camera calibration device according to claim 1 , wherein the imaging means is a 3D camera.
6. The camera calibration device according to claim 1 , wherein the pattern including the feature used for the calibration is arranged on a side surface of the spindle or in a position to which a tool for the spindle is attached.
7. A camera calibration method which is realized by a computer and which calibrates an imaging means included in a machine tool,
wherein the machine tool includes:
an acquisition means which acquires one point whose machine coordinates are known;
the imaging means which images the one point whose machine coordinates are known and a pattern including a feature used for calibration; and
a drive mechanism which linearly moves a table or a spindle in two orthogonal directions in a machine coordinate system,
the pattern including the feature used for the calibration is arranged in an arbitrary positional posture with respect to the machine coordinate system at a position which is movable relative to and recognizable to the imaging means upon a movement of the drive mechanism, and
an image obtained by imaging the one point whose machine coordinates are known and the pattern including the feature used for the calibration and
images obtained by imaging the pattern including the feature used for the calibration or/and the one point whose machine coordinates are known when the drive mechanism linearly moves the table or the spindle in the two orthogonal directions in the machine coordinate system
are used
to calculate a positional posture relationship between the machine coordinate system and the pattern including the feature used for the calibration
such that an external parameter indicating a positional posture relationship between the machine coordinate system and a camera coordinate system is calculated.