Granted Patent B2

US 12,722,303 · App. 18/315,315 · Granted Sep 1, 2026

Inventors: Ke-Jung Huang (Taipei City, TW); Chao-Chien Lee (Taipei City, TW); Jen-Hui Wang (Taipei City, TW); Chun-Hsi Wu (Taipei City, TW)

Assignee: PEGATRON CORPORATION

B25J9/1692B25J9/1697B25J13/02G06T7/70

Abstract

Claims (46)

1 . A hand-eye calibration method, adapted to a robot arm, comprising:

obtaining a first mapping relationship between a base of the robot arm and a terminal of the robot arm and a second mapping relationship between a camera and a target object, wherein the camera is installed at a fixed position to capture a fixed monitored region, and the target object is placed in the fixed monitored region;

sequentially updating a third mapping relationship between the terminal of the robot arm and a tool set mounted on the terminal and a fourth mapping relationship between the camera and the base in each dimension based on a scale, to minimize an error between a position of the target object in an image captured by the camera and a position of the tool set; and

in response to the error being convergent and the scale less than or equal to a scale threshold, outputting the third mapping relationship and the fourth mapping relationship calibrated by the scale.

2 . The hand-eye calibration method according to claim 1 , further comprising:

in response to the error being convergent and the scale greater than the scale threshold, reducing the scale to update the third mapping relationship and the fourth mapping relationship.

3 . The hand-eye calibration method according to claim 1 , wherein the step of sequentially updating the third mapping relationship and the fourth mapping relationship in each dimension based on the scale comprises:

obtaining a coordinate value corresponding to the third mapping relationship, and generating a plurality of offset coordinate values according to the scale and the coordinate value;

selecting a selected offset coordinate value corresponding to the error having a minimum value from the plurality of offset coordinate values according to the first mapping relationship and the second mapping relationship; and

updating the third mapping relationship according to the selected offset coordinate value.

4 . The hand-eye calibration method according to claim 1 , wherein in response to the error being convergent and the scale less than or equal to the scale threshold, the step of outputting the third mapping relationship and the fourth mapping relationship calibrated by the scale comprises:

increasing the scale, and determining whether the error is increased by updating the third mapping relationship and the fourth mapping relationship according to the increased scale;

when yes, outputting the third mapping relationship and the fourth mapping relationship calibrated by the scale; and

when not, updating the third mapping relationship and the fourth mapping relationship according to the increased scaled, to minimize the error.

5 . The hand-eye calibration method according to claim 1 , further comprising:

updating the third mapping relationship based on the scale to generate a first transformation matrix and updating the fourth mapping relationship based on the scale to generate a second transformation matrix;

calculating a first error between the third and fourth mapping relationships and the first and second transformation matrices;

updating the first transformation matrix based on the scale to generate a third transformation matrix and updating the second transformation matrix based on the scale to generate a fourth transformation matrix;

calculating a second error between the first and second transformation matrices and the third and fourth transformation matrices; and

in response to an absolute difference which is between the first error and the second error and less than or equal to a difference threshold, determining the error as being convergent.

6 . The hand-eye calibration method according to claim 1 , wherein each dimension comprises an x-axis, a y-axis, a z-axis, an angle of torsion along the x-axis, an angle of torsion along the y-axis, and an angle of torsion along the z-axis.

7 . The hand-eye calibration method according to claim 1 , wherein the first mapping relationship comprises a coordinate transformation relationship between the base and the terminal, the second mapping relationship comprises a coordinate transformation relationship between the camera and the target object, the third mapping relationship comprises a coordinate transformation relationship between the terminal and the tool set, and the fourth mapping relationship comprises a coordinate transformation relationship between the camera and the base.

8 . A hand-eye calibration device, adapted to a robot arm and comprising:

a transceiver; and

a processor, coupled to the transceiver and configured to:

obtain a first mapping relationship between a base of the robot arm and a terminal of the robot arm and a second mapping relationship between a camera and a target object through the transceiver, wherein the camera is installed at a fixed position to capture a fixed monitored region, and the target object is placed in the fixed monitored region;

sequentially update a third mapping relationship between the terminal of the robot arm and a tool set mounted on the terminal and a fourth mapping relationship between the camera and the base in each dimension based on a scale, to minimize an error between a position of the target object in an image captured by the camera and a position of the tool set; and

in response to the error being convergent and the scale less than or equal to a scale threshold, output the third mapping relationship and the fourth mapping relationship calibrated by the scale through the transceiver.

9 . The hand-eye calibration device according to claim 8 , wherein the processor is further configured to:

in response to the error being convergent and the scale greater than the scale threshold, reduce the scale to update the third mapping relationship and the fourth mapping relationship.

10 . The hand-eye calibration device according to claim 8 , wherein the processor is further configured to:

obtain a coordinate value corresponding to the third mapping relationship, and generating a plurality of offset coordinate values according to the scale and the coordinate value;

select a selected offset coordinate value corresponding to the error having a minimum value from the plurality of offset coordinate values according to the first mapping relationship and the second mapping relationship; and

update the third mapping relationship according to the selected offset coordinate value.

11 . The hand-eye calibration device according to claim 8 , wherein the processor is further configured to:

increase the scale, and determining whether the error is increased by updating the third mapping relationship and the fourth mapping relationship according to the increased scale;

when yes, output the third mapping relationship and the fourth mapping relationship calibrated by the scale; and

when not, update the third mapping relationship and the fourth mapping relationship according to the increased scaled, so as to minimize the error.

12 . The hand-eye calibration device according to claim 8 , wherein the processor is further configured to:

update the third mapping relationship based on the scale to generate a first transformation matrix and update the fourth mapping relationship based on the scale to generate a second transformation matrix;

calculate a first error between the third and fourth mapping relationships and the first and second transformation matrices;

update the first transformation matrix based on the scale to generate a third transformation matrix and update the second transformation matrix based on the scale to generate a fourth transformation matrix;

calculate a second error between the first and second transformation matrices and the third and fourth transformation matrices; and

in response to an absolute difference which is between the first error and the second error and less than or equal to a difference threshold, determine the error as being convergent.

13 . The hand-eye calibration device according to claim 8 , wherein each dimension comprises an x-axis, a y-axis, a z-axis, an angle of torsion along the x-axis, an angle of torsion along the y-axis, and an angle of torsion along the z-axis.

14 . The hand-eye calibration device according to claim 8 , wherein the first mapping relationship comprises a coordinate transformation relationship between the base and the terminal, the second mapping relationship comprises a coordinate transformation relationship between the camera and the target object, the third mapping relationship comprises a coordinate transformation relationship between the terminal and the tool set, and the fourth mapping relationship comprises a coordinate transformation relationship between the camera and the base.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (10)