Object handling device and calibration method thereof
First Claim
1. A calibration method performed by an object handling device that comprises a base, a manipulator that is arranged on the base and includes a movable part, a first camera arranged on the manipulator, a sensor arranged on the manipulator, a second camera arranged on the base, and a processor configured to function as a calibration processing unit configured to execute calibration processing of a position of the movable part, the calibration method comprising:
- first photographing a predetermined position of the base by the first camera;
detecting a physical quantity by the sensor; and
executing first calibration processing by the calibration processing unit based on the predetermined position photographed by the first camera and the physical quantity detected by the sensor;
second photographing the movable part by the second camera; and
executing, by the calibration processing unit, second calibration processing of a position obtained from an image of the second camera based on a plurality of images of the movable part photographed by the second camera.
1 Assignment
0 Petitions
Accused Products
Abstract
According to an embodiment, an object handling device includes a base, a manipulator, a first camera, a sensor, a manipulator control unit and a calibration unit. The manipulator is arranged on the base, and includes a movable part and an effector that is arranged on the movable part and acts on an object. The first camera and the sensor are arranged on the manipulator. The manipulator control unit controls the manipulator so that the movable part is moved to a position corresponding to a directed value. The calibration processing unit acquires a first error in a first direction based on an image photographed by the first camera, acquire a second error in a second direction intersecting with the first direction based on a detection result obtained by the sensor, and acquire a directed calibration value with respect to the directed value based on the first error and the second error.
-
Citations
10 Claims
-
1. A calibration method performed by an object handling device that comprises a base, a manipulator that is arranged on the base and includes a movable part, a first camera arranged on the manipulator, a sensor arranged on the manipulator, a second camera arranged on the base, and a processor configured to function as a calibration processing unit configured to execute calibration processing of a position of the movable part, the calibration method comprising:
-
first photographing a predetermined position of the base by the first camera; detecting a physical quantity by the sensor; and executing first calibration processing by the calibration processing unit based on the predetermined position photographed by the first camera and the physical quantity detected by the sensor; second photographing the movable part by the second camera; and executing, by the calibration processing unit, second calibration processing of a position obtained from an image of the second camera based on a plurality of images of the movable part photographed by the second camera. - View Dependent Claims (9, 10)
-
-
2. An object handling device comprising:
-
a base; a manipulator that is arranged on the base and includes a movable part; a first camera arranged on the manipulator; a sensor arranged on the manipulator; a second camera arranged on the base; and a processor configured to function as a calibration processing unit configured to execute first calibration processing of a position of the movable part based on a photographic result of a predetermined position of the base obtained by the first camera and a detection result obtained by the sensor, wherein the calibration processing unit executes second calibration processing of a position obtained from an image of the second camera based on a plurality of images of the movable part photographed by the second camera.
-
-
3. An object handling device comprising:
-
a base; a manipulator that is arranged on the base, and includes a movable part and an effector that is arranged on the movable part and acts on an object; a first camera arranged on the manipulator; a sensor arranged on the manipulator; a second camera arranged on the base; and a processor configured to function as; a manipulator control unit configured to control the manipulator so that the movable part is moved to a position corresponding to a directed value; and a calibration processing unit configured to acquire a first error in a first direction based on an image photographed by the first camera, acquire a second error in a second direction intersecting with the first direction based on a detection result obtained by the sensor, and acquire a directed calibration value with respect to the directed value based on the first error and the second error, wherein the calibration processing unit acquires an image calibration value with respect to a position obtained from an image of the second camera based on a plurality of images of the movable part photographed by the second camera. - View Dependent Claims (4, 5, 6, 7, 8)
-
Specification