OBJECT HANDLING DEVICE AND CALIBRATION METHOD THEREOF

• US 20200130192A1
• Filed: 12/30/2019
• Published: 04/30/2020
• Est. Priority Date: 03/22/2017
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: OGAWA, Akihito, SUGAHARA, Atsushi, TANAKA, Junya, KOMODA, Kazuma, ETO, Haruna
• Granted Patent: US 11,318,619 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/39048 Closed loop kinematic self calibration, grip part of robot with hand

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.

Claims

1-11. -11. (canceled)

12. :

An object handling device comprising;

a base;

a manipulator that is arranged on the base, and includes a movable part and a motor that drives to rotate the movable part;

a first camera arranged on the manipulator; and

a processor configured to execute calibration processing of a position of the movable part based on a photographic result of a predetermined position of the base by the first camera and a load generated on the manipulator in response to a variation of a rotation angle of the movable part and the motor when the manipulator is in contact with the base.

13. :

The object handling device according to claim 12, further comprising;

a second camera arranged on the base, wherein

the processor is configured to execute the calibration processing by acquiring 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.

14. :

The object handling device according to claim 12, further comprising;

a first mark arranged on the base, wherein

the processor is configured to execute the calibration processing based on an image of the first mark photographed by the first camera.

15. :

The object handling device according to claim 14, further comprising;

a working place on which the object is placed, wherein

the first mark is arranged on the working place or arranged to be adjacent to the working place.

16. :

The object handling device according to claim 12, wherein

the processor is configured to execute the calibration processing based on an image of a predetermined position outside the object handling device photographed by the first camera.

17. :

The object handling device according to claim 16, wherein

the manipulator further includes an effector that grasps to convey an object, and

the processor is configured to execute the calibration processing based on an image of a second mark arranged on a target object to be accessed by the effector outside the object handling device photographed by the first camera.

18. :

The object handling device according to claim 12, wherein

the manipulator further includes an effector that grasps to convey an object, and

the processor is configured to control the manipulator to change a conveyance speed in response to a grasping state of the object when the object is conveyed while being grasped by the effector.

19. :

The object handling device according to claim 12, wherein

the manipulator further includes an effector that grasps to convey an object, and

the processor is configured to control, when a motion trajectory of the effector to a target object to be grasped cannot be calculated, the manipulator to vary a positional relationship between the target object and the object handling device.

20. :

The object handling device according to claim 12, wherein

the manipulator further includes an effector that grasps to convey an object, and

the processor is configured to;

determine, upon grasping a target object to be grasped by the effector, whether a predetermined database related to the object and grasp of the object includes sufficient data related to the target object and grasp of the target object;

control the manipulator to grasp and convey the target object in different modes in response to whether the predetermined database include the sufficient data;

update the predetermined database based on a result of grasping and conveying of the target object.

21. :

A control device for executing calibration processing of an object handling device that comprises a base, a manipulator arranged on the base and including a movable part and a motor driving to rotate the movable part, and a first camera arranged on the manipulator, the control device comprising;

a processor configured to;

acquire a photographic result of a predetermined position of the base by the first camera;

acquire a load generated on the manipulator in response to a variation of a rotation angle of the movable part and the motor when the manipulator is in contact with the base; and

execute calibration processing calibration processing of a position of the movable part based on the photographic result by the first camera and the load.

22. :

A calibration method performed by an object handling device that comprises a base, a manipulator arranged on the base and including a movable part, a first camera arranged on the manipulator, and a processor configured to execute calibration processing of a position of the movable part, the calibration method comprising;

photographing a predetermined position of the base by the first camera; and

executing calibration processing by the processor based on a photographic result by the first camera and a load generated on the manipulator in response to a variation of a rotation angle of the movable part and the motor when the manipulator is in contact with the base.