Robot Equipped with a Gyro and Gyro Calibration Apparatus, Program, and Method
1 Assignment
0 Petitions
Accused Products
Abstract
While calibrating the position of a robot having a gyro, the robot emits a beam of light to a target wall surface, and the position of a laser point on the target wall surface illuminated by the beam of light is measured. The measured position is obtained as an initial value (S10, S12), and a start of calibration is indicated (S14, S16). Then, a calibration period is reset (S18) and the timekeeping process of the calibration period starts. The values detected by the gyro are consecutively obtained by sampling for a predetermined calibration period (S20). If a disturbance occurs while the values are obtained, an alarm is output and calibration restarts. Once the calibration period elapses without any disturbance, a calibrated value is set or determined based on the detected values obtained during the calibration period (S26, S28).
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Citations
54 Claims
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1-19. -19. (canceled)
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20-38. -38. (canceled)
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39. A gyro calibration apparatus that calibrates a gyro for detecting position information mounted on a mobile object, the gyro calibration apparatus comprising:
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a beam emitter that emits a beam of light; a beam position detector that detects a position illuminated by the emitted beam of light; a calculator that calculates at least one of a position and an orientation of the mobile object in accordance with the illuminated position detected by the beam position detector; and a calibrator that calibrates the gyro in accordance with the at least one of the position and the orientation of the mobile object calculated by the calculator. - View Dependent Claims (40, 41, 42, 43, 44)
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45. A gyro calibration apparatus that calibrates a gyro for detecting at least one of an angle or an angular speed mounted on a mobile object, the gyro calibration apparatus comprising:
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a beam emitter that emits a beam of light that illuminates an immobile object, wherein the beam emitter is provided on the mobile object; a beam position detector that detects a first position illuminated on the immobile object by the emitted beam of light when the mobile object is at a reference position, and for detecting a second position on the immobile object illuminated by the emitted beam of light after the mobile object is rotated from the reference position to an initial position; a calculator that calculates a rotation angle of the mobile object in accordance with the first position and the second position detected by the beam position detector; and a calibrator that calibrates the gyro in accordance with the rotation angle of the mobile object calculated by the calculator. - View Dependent Claims (46, 47, 48, 49)
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50. A program that is performed by a calibrator that calibrates a gyro for detecting position information mounted on a robot, the program comprising the steps of:
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calculating a rotation angle of the mobile object in accordance with a first position that is detected on an immobile object illuminated by an emitted beam of light when the mobile object is at a reference position, and a second position that is detected on the immobile object illuminated by the emitted beam of light after the mobile object is rotated from the reference position to an initial position; and calibrating the gyro in accordance with the rotation angle of the mobile object; the calibration including; obtaining a rotation angle as an initial position value; obtaining a plurality of values detected by the gyro for a predetermined period while the robot remains in the initial position; providing an instruction to restart the obtaining of the plurality of values when a disturbance is detected; determining a calibrated position value based on the obtained plurality of values; and setting the calibrated position value to a calibrated value for the initial position value.
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51. A method for calibrating a gyro for detecting position information mounted on a mobile object, the method comprising:
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emitting a beam of light; detecting a position illuminated by the emitted beam of light; calculating at least one of a position and an orientation of the mobile object in accordance with the detected illuminated position; and calibrating the gyro in accordance with the calculated at least one of the position and the orientation of the mobile object.
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52. A method for calibrating a gyro for detecting at least one of an angle and an angular speed mounted on a mobile object, comprising:
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emitting from the mobile object a beam of light that illuminates an immobile object; detecting a first position on the immobile object illuminated by the emitted beam of light when the mobile object is at a reference position, and detecting a second position on the immobile object illuminated by the emitted beam of light after the mobile object is rotated from the reference position to an initial position; calculating a rotation angle of the mobile object in accordance with the detected first position and the detected second position; and calibrating the gyro in accordance with the rotation angle of the mobile object. - View Dependent Claims (53)
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54. A robot, comprising:
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a gyro that detects a position of the robot; and a gyro calibration apparatus that calibrates the gyro, the gyro calibration apparatus comprising; a beam emitter that emits a beam of light that illuminates an immobile object, the beam emitter being provided on the mobile object; a beam position detector that detects a first position on the immobile object illuminated by the emitted beam of light when the mobile object is at a reference position, and that detects a second position on the immobile object illuminated by the emitted beam of light after the mobile object is rotated from the reference position to an initial position; a calculator that calculates a rotation angle of the mobile object in accordance with the first position and the second position detected by the beam position detector; and a calibrator that calibrates the gyro in accordance with the rotation angle of the mobile object calculated by the calculator;
whereinthe calibrator comprises an initial-value obtaining section that obtains the rotation angle as an initial position value; a detected-value obtaining section that obtains a plurality of values detected by the gyro for a predetermined period while the robot remains in the initial position; an instruction section that instructs the detected-value obtaining section to restart obtaining a plurality of values if a disturbance is detected; and a calibrated-value setting section that generates a calibrated position value based on the plurality of values obtained by the detected-value obtaining section, and sets the calibrated position value to a calibrated value for the initial position value.
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Specification