Title:
METHOD OF CORRECTING POSITIONAL DEVIATION OF CAMERA AND ROBOT DEVICE
Document Type and Number:
WIPO Patent Application WO/2022/254613
Kind Code:
A1
Abstract:
In a method of correcting a positional deviation of a camera according to the present invention, positional deviation of a camera with respect to an arm of a robot device is corrected. In this method, the arm and the camera are controlled so that the camera captures an image of a single mark member, the position of the mark member in a base coordinate system is determined on the basis of the captured image, and the position is stored in advance as a reference position. When correction of positional deviation is requested, control is performed so that the camera captures an image of the mark member at a first position which is above the mark member and which is an image capturing position, the position of the mark member in the base coordinate system is determined on the basis of the captured image, and the positional relation of the camera in the horizontal direction is corrected so that the determined position matches the reference position. Furthermore, control is performed so that the camera captures an image of the mark member at a second position which is offset horizontally in a given direction from the first position and which is an image capturing position, the position of the mark member in the base coordinate system is determined on the basis of the captured image, and the positional relation of the camera in the rotation direction is corrected so that the determined position matches the reference position.
Inventors:
KAWASAKI TOMOKI (JP)
Application Number:
PCT/JP2021/021013
Publication Date:
December 08, 2022
Filing Date:
June 02, 2021
Export Citation:
Assignee:
FUJI CORP (JP)
International Classes:
B25J13/08
Foreign References:
| JP2005334998A | 2005-12-08 | |||
| JP2018094653A | 2018-06-21 | |||
| JP2005019963A | 2005-01-20 | |||
| JP2018058142A | 2018-04-12 | |||
| JPH10154881A | 1998-06-09 | |||
| JP2017071001A | 2017-04-13 | |||
| JP2017124468A | 2017-07-20 | |||
| US20150142171A1 | 2015-05-21 |
Attorney, Agent or Firm:
ITEC INTERNATIONAL PATENT FIRM (JP)
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