Calibration device and carrier robot with the same

Abstract

To provide a calibration device capable of speedily calibrating a plurality of respective objects to be driven which are associated with each other, and a carrier robot with the same.SOLUTION: A calibration device comprises a setting part that sets a reference position of a housing of a first object to be driven according to a detection state of a first object to be detected by a first sensor, and also sets a reference position of a housing of a second object to be driven according to a detection state of a second object to be detected by a second sensor, and the setting part determines the setting order of the respective reference positions of the first object to be driven and the second object to be driven based upon respective operation states of the first object to be driven and the second object to be drive.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present disclosure relates to a calibration device and a transport robot including the same.

Background Art

[0002] Generally, in order to achieve highly accurate operation by a driven object driven by a motor or the like, it is required to accurately perform calibration of the driven object. In other words, it is required to accurately set the reference position of the driven object. For example, Patent Document 1 discloses a device that detects by electrical or optical means that a diaphragm body movable within a predetermined range along one direction is disposed at a reference position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, Patent Document 1 does not disclose how to detect the reference positions of a plurality of driven objects related to each other. Therefore, in the device disclosed in Patent Document 1, when trying to detect the reference position of any one of the driven objects, another driven object may interfere, and there is a possibility that the reference position of any one of the driven objects cannot be detected. That is, the device disclosed in Patent Document 1 has a problem that it is impossible to quickly perform calibration of each of a plurality of driven objects related to each other.

[0005] The present disclosure has been made in view of the above background, and an object thereof is to provide a calibration device capable of quickly performing calibration of each of a plurality of driven objects related to each other and a transport robot including the same.

Means for Solving the Problem

[0006] The calibration device according to the present disclosure includes a first detection object installed on one of a first driven object configured to be slidable or rotatable with respect to a first reference axis, and a housing to which the first driven object is attached, and a first sensor installed on the other of the first driven object and the housing and capable of detecting the first detection object, a second driven object configured to be slidable or rotatable with respect to a second reference axis, and a second detection object installed on one of the second driven object and the housing to which the second driven object is attached together with the first driven object, and a second sensor installed on the other of the second detection object and the housing and capable of detecting the second detection object, and a setting unit that sets a reference position of the first driven object in the housing according to a detection state of the first detection object by the first sensor and sets a reference position of the second driven object in the housing according to a detection state of the second detection object by the second sensor. The setting unit determines a setting order of the reference positions of the first driven object and the second driven object based on the operation states of the first driven object and the second driven object respectively. This calibration device can quickly set the reference positions of a plurality of driven objects related to each other. That is, this calibration device can quickly perform the calibration of a plurality of driven objects related to each other.

Effect of the Invention

[0007] According to the present disclosure, it is possible to provide a calibration device capable of quickly performing the calibration of a plurality of driven objects related to each other and a transfer robot including the same.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

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Figure 8

BEST MODE FOR CARRYING OUT THE INVENTION

[0009] Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Also, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems. For clarity of explanation, the following description and drawings have been appropriately omitted and simplified. In each drawing, the same elements are denoted by the same reference numerals, and duplicate explanations are omitted as necessary.

[0010] <Embodiment 1> FIG. 1 is a schematic perspective view showing the appearance of a transport robot to which the calibration apparatus according to Embodiment 1 is applied. FIGS. 2 and 3 are schematic perspective views showing a part of the transport robot according to Embodiment 1. The transport robot according to the present embodiment can automatically perform the steps of placing a tray arranged on a shelf or the like installed at a starting point on a top plate and transporting it to a destination, and then moving it to a shelf or the like installed at the destination. It is an autonomous mobile robot.

[0011] The transport robot 100 according to the present embodiment includes at least a housing 101, wheels 102, a top plate 103, a storage unit 104, and a calibration apparatus 120. Further, the transport robot 100 includes, for each drive object, a motor (actuator) that drives the drive object and an encoder that measures angle information of the motor.

[0012] The housing 101 supports the top plate 103 and the storage unit 104, and stores a battery, a motor that rotates the wheels 102, a control device that controls the operation of the transport robot 100, and the like.

[0013] The top plate 103 is supported by the housing 101 via a lifting shaft 107 whose axial direction is the vertical direction (z-axis direction). Here, the top plate 103 is configured to be slidable in the vertical direction by the lifting shaft 107 extending and contracting along the vertical direction. That is, the top plate 103 is configured to be liftable. The transport robot 100 is provided with a first motor and a first encoder for the vertical expansion and contraction process of the lifting shaft 107. The first motor drives the lifting shaft 107 to expand and contract in the vertical direction. The first encoder measures angle information and the like of the first motor. The calibration apparatus 120 performs vertical calibration of the lifting shaft 107, which is a drive object of the first motor. In other words, the calibration apparatus 120 sets a reference position (initial position) in the vertical direction of the lifting shaft 107. A method for vertically calibrating the lifting shaft 107 by the calibration apparatus 120 will be described later.

[0014] In addition, the top plate 103 is configured to be rotatable along the horizontal plane (xy plane) with the lifting shaft 107 as the rotation axis. The transfer robot 100 is provided with a second motor and a second encoder for the rotation process of the lifting shaft 107. The second motor drives and rotates the lifting shaft 107. The second encoder measures the angle information and the like of the second motor. The calibration device 120 calibrates the rotation angle of the lifting shaft 107 which is the driving object of the second motor. In other words, the calibration device 120 sets the reference position of the rotation angle of the lifting shaft 107. The calibration method of the rotation angle of the lifting shaft 107 by the calibration device 120 will be described later.

[0015] Furthermore, the top plate 103 is configured to be slidable along the horizontal direction by the linear movement of the linear movement shaft 110 for the top plate 103 slide along the horizontal direction. The transfer robot 100 is provided with a third motor and a third encoder for the horizontal movement process of the linear movement shaft 110. The third motor drives and moves the linear movement shaft 110 in the horizontal direction. The third encoder measures the angle information and the like of the third motor. The calibration device 120 calibrates the horizontal direction of the linear movement shaft 110 for the top plate 103 slide which is the driving object of the third motor. The calibration method of the horizontal direction of the linear movement shaft 110 by the calibration device 120 will be described later.

[0016] The top plate 103 has a rectangular planar shape and is formed to be able to place conveyed objects such as trays. An entrance / exit of the hook 108 is provided on one of the four side surfaces of the top plate 103. The hook 108 is configured to be able to protrude in a direction perpendicular to the side surface with the entrance / exit from this entrance / exit. The transfer robot 100 hooks the conveyed object on the hook 108 and moves the linear motion shaft 109 with the hook 108 attached to its tip in the horizontal direction, thereby moving the conveyed object hooked on the hook 108 from the top plate 103 to the storage section 104 or an external shelf, or moving it from the storage section 104 or an external shelf to the top plate 103. Also, the transfer robot 100 can hook the hook 108 on the conveyed object or remove the hook 108 from the conveyed object by rotating the hook 108 with the linear motion shaft 109 as the rotation axis. Hereinafter, among the four sides of the top plate 103, the side with the entrance / exit of the hook 108 provided on the side surface is referred to as the receiving and delivering port of the conveyed object on the top plate 103.

[0017] The transfer robot 100 is provided with a fourth motor and a fourth encoder for the horizontal movement process of the linear motion shaft 109. The fourth motor drives the linear motion shaft 109 to move it horizontally. The fourth encoder measures angle information and the like of the fourth motor. The calibration device 120 performs horizontal calibration of the linear motion shaft 109, which is the driving object of the fourth motor. In other words, the calibration device 120 sets the reference position in the horizontal direction of the linear motion shaft 109. The method of horizontal calibration of the linear motion shaft 109 by the calibration device 120 will be described later.

[0018] In addition, the transfer robot 100 is provided with a fifth motor and a fifth encoder for the rotation processing of the linear motion axis 109. The fifth motor drives and rotates the linear motion axis 109. The fifth encoder measures the angle information and the like of the fifth motor. The calibration device 120 calibrates the rotation angle of the linear motion axis 109 which is the driving object of the fifth motor. In other words, the calibration device 120 sets the reference position of the rotation angle of the linear motion axis 109. The calibration method of the rotation angle of the linear motion axis 109 by the calibration device 120 is the same as the calibration method of the rotation angle of the lifting axis 107 by the calibration device 120.

[0019] For example, when transferring a conveyed object between the top plate 103 and an external shelf, first, the top plate 103 moves up and down according to the height of the external shelf. Then, by rotating the top plate 103, the receiving port of the top plate 103 is directed towards the external shelf. Then, by sliding the top plate 103 towards the external shelf side, the top plate 103 and the external shelf are connected. Then, using the hook 108, the conveyed object is transferred between the top plate 103 and the external shelf. After the conveyed object is transferred between the top plate 103 and the external shelf, for example, the top plate 103 returns to its original position by executing the processing in the reverse order of the processing until the conveyed object is transferred between the top plate 103 and the external shelf.

[0020] In addition, when transferring a conveyed object between the top plate 103 and the storage unit 104, first, the top plate 103 moves up and down according to the height of the storage unit 104. Then, by rotating the top plate 103, the receiving port of the top plate 103 is directed towards the storage unit 104. Then, by sliding the top plate 103 towards the storage unit 104 side, the top plate 103 and the storage unit 104 are connected. Then, using the hook 108, the conveyed object is transferred between the top plate 103 and the storage unit 104. After the conveyed object is transferred between the top plate 103 and the storage unit 104, for example, the top plate 103 returns to its original position by executing the processing in the reverse order of the processing until the conveyed object is transferred between the top plate 103 and the storage unit 104.

[0021] Here, in the first to fifth encoders, when the power supply of the transfer robot 100 is shut down, the storage of the measured angle information becomes indefinite. Therefore, when the transfer robot 100 is powered on, it is necessary to perform calibration (setting of the reference position) of the drive objects driven by the first to fifth motors. Thus, when the power is turned on, the calibration device 120 performs calibration of each drive object. Note that the calibration device 120 is not limited to when the power is turned on, and may perform calibration of each drive object as necessary during operation.

[0022] Hereinafter, with reference to FIGS. 2, 4 to 6, a calibration method for each drive object by the calibration device 120 will be described. FIGS. 4 to 6 are schematic plan views for explaining an example of calibration by the calibration device 120.

[0023] First, with reference to FIG. 4, an example in which the calibration device 120 performs horizontal calibration of the linear motion shaft 109 with the hook 108 attached to the tip, which is a drive object, will be described. FIG. 4 shows a top plate 103, a hook 108, a linear motion shaft 109, and a part of the calibration device 120. Further, FIG. 4 shows a detection object 131, a sensor 132, and a setting unit 123 as parts of the calibration device 120.

[0024] The detection object 131 has, for example, a specific shape, pattern, or color, and is attached to the rear end of the linear motion shaft 109. The sensor 132 is, for example, a photo interrupter and is attached to the top plate 103 (housing side). The sensor 132 is configured to be able to detect the detection object 131 located within the detection range A1. Note that the attachment positions of the sensor 132 and the detection object 131 may be reversed.

[0025] For example, in the calibration device 120, the setting unit 123 uses a motor to slide the linear motion axis 109, which is the calibration target, at a speed v1 in the direction of storing the hook 108 into the top plate 103 (the negative direction of the y-axis). Then, the setting unit 123 sets the position of the linear motion axis 109 at the timing when the transition from non-detection to detection of the detection target 131 by the sensor 132 is detected as the reference position. Note that the setting unit 123 may slide the linear motion axis 109 in the reverse direction (the positive direction of the y-axis) and set the position of the linear motion axis 109 at the timing when the transition from detection to non-detection of the detection target 131 by the sensor 132 is detected as the reference position.

[0026] Alternatively, when the detection timing of the transition from non-detection to detection of the detection target 131 by the sensor 132 is delayed and the detection target 131 enters inside the detection range A1 of the sensor 132, the setting unit 123 slides the linear motion axis 109 in the reverse direction (the positive direction of the y-axis) at a speed v2 slower than the speed v1, and sets the position of the linear motion axis 109 at the timing when the transition from detection to non-detection of the detection target 131 by the sensor 132 is detected as the reference position. Here, since the speed v2 is slower than the speed v1, the deviation of the detection timing of the transition from detection to non-detection of the detection target 131 by the sensor 132 is small. Therefore, the calibration device 120 can accurately and promptly set the reference position in the horizontal direction of the linear motion axis 109, which is the calibration target. That is, the calibration device 120 can accurately and promptly perform the calibration in the horizontal direction of the linear motion axis 109.

[0027] Next, an example of the case where the calibration device 120 performs calibration in the horizontal direction of the linear motion axis 110 for sliding the top plate 103, which is the drive target, will be described with reference to FIG. 5. FIG. 5 shows a part of the housing 101, the top plate 103, the hook 108, the linear motion axis 109, and the calibration device 120. Also, FIG. 5 shows a detection target 141, a sensor 142, and a setting unit 123 as a part of the calibration device 120.

[0028] The detection object 141 has, for example, a specific shape, pattern, or color, and is attached to the top plate 103 that is interlocked with the linear motion shaft 110. The sensor 142 is, for example, a photo-reflector and is attached to the housing 101. The sensor 142 is configured to be able to detect the detection object 141 located within the detection range A2. Note that the attachment locations of the sensor 142 and the detection object 141 may be reversed.

[0029] For example, in the calibration device 120, the setting unit 123 uses a motor to slide the linear motion shaft 110, which is the calibration target, at a speed v1 in the direction of housing the top plate 103 toward the housing 101 (the minus direction of the y-axis). Then, the setting unit 123 sets the position of the linear motion shaft 110 at the timing when the transition from non-detection to detection of the detection object 141 by the sensor 142 is detected as the reference position. Note that the setting unit 123 may slide the linear motion shaft 110 in the reverse direction (the plus direction of the y-axis) and set the position of the linear motion shaft 110 at the timing when the transition from detection to non-detection of the detection object 141 by the sensor 142 is detected as the reference position.

[0030] Alternatively, when the detection object 141 has entered inside the detection range A2 of the sensor 142 due to a delay in the detection timing of the transition from non-detection to detection of the detection object 141 by the sensor 142, the setting unit 123 slides the linear motion shaft 110 in the reverse direction (the plus direction of the y-axis) at a speed v2 that is slower than the speed v1, and sets the position of the linear motion shaft 110 at the timing when the transition from detection to non-detection of the detection object 141 by the sensor 142 is detected as the reference position. Here, since the speed v2 is slower than the speed v1, the deviation in the detection timing of the transition from detection to non-detection of the detection object 141 by the sensor 142 is small. Therefore, the calibration device 120 can accurately and promptly set the reference position in the horizontal direction of the linear motion shaft 110 that is the calibration target. That is, the calibration device 120 can accurately and promptly perform the calibration in the horizontal direction of the linear motion shaft 110.

[0031] Next, an example of the calibration device 120 performing vertical calibration of the lifting shaft 107, which is the object to be driven and raises and lowers the top plate 103, will be described with reference to FIG. 2. FIG. 2 shows a detection object 121, a sensor 122, a setting unit 123, and a spring 124 as part of the calibration device 120.

[0032] The detection object 121 is a mechanical stopper attached to the housing 101. The sensor 122 is a pressure-sensitive sensor that detects whether it has come into contact with the mechanical stopper, and is attached to the lifting shaft 107. Further, the sensor 122 is provided with a spring 124 that absorbs the impact when the sensor 122 comes into contact with the mechanical stopper. Note that the attachment positions of the sensor 122 and the detection object 121 may be reversed.

[0033] The vertical calibration of the lifting shaft 107 by the calibration device 120 is basically the same as the horizontal calibration of the linear motion shaft 109 by the calibration device 120.

[0034] Specifically, in the calibration device 120, the setting unit 123 uses a motor to slide the lifting shaft 107, which is the object to be calibrated, in the direction of lowering the top plate 103 (the negative direction of the z-axis) at a speed v1. Then, the setting unit 123 sets the position of the lifting shaft 107 at the timing when the transition from non-detection to detection of the detection object 121 by the sensor 122 is detected as the reference position. Note that the setting unit 123 may slide the lifting shaft 107 in the reverse direction (the positive direction of the z-axis) and set the position of the lifting shaft 107 at the timing when the transition from detection to non-detection of the detection object 121 by the sensor 122 is detected as the reference position.

[0035] Alternatively, if the detection timing of the transition from non-detection to detection of the detection target 121 by the sensor 122 is delayed, and the lowering of the lifting shaft 107 proceeds due to the absorption of the spring 124 even after the sensor 122 comes into contact with the detection target 121, the setting unit 123 slides the lifting shaft 107 in the reverse direction (the positive direction of the z-axis) at a speed v2 slower than the speed v1, and sets the position of the lifting shaft 107 at the timing when the transition from detection to non-detection of the detection target 121 by the sensor 122 is detected as the reference position. Here, since the speed v2 is slower than the speed v1, the deviation in the detection timing of the transition from detection to non-detection of the detection target 121 by the sensor 122 is small. Therefore, the calibration device 120 can accurately and promptly set the vertical reference position of the lifting shaft 107 to be calibrated. That is, the calibration device 120 can accurately and promptly perform the vertical calibration of the lifting shaft 107.

[0036] Next, an example in which the calibration device 120 calibrates the rotation angle of the lifting shaft 107, which is the object to be driven, will be described with reference to FIG. 6. FIG. 6 shows a part of the housing 101, the lifting shaft 107, and the calibration device 120. In addition, FIG. 6 shows a detection target 151, a sensor 152, and a setting unit 123 as a part of the calibration device 120. The detection target 151 is attached to the lifting shaft 107. The sensor 152 is, for example, a photo interrupter and is attached to the housing 101. The sensor 152 is configured to be able to detect the detection target 151 located within the detection range A3. Note that the attachment positions of the sensor 152 and the detection target 151 may be reversed.

[0037] First, in the calibration device 120, the setting unit 123 rotates the lifting axis 107 to be calibrated counterclockwise at a speed v1 using a motor. Then, the setting unit 123 sets the position of the lifting axis 107 at the timing when the transition from non-detection to detection of the detection target 151 by the sensor 152 is detected as the reference position. Note that the setting unit 123 may rotate the lifting axis 107 reversely (clockwise) and set the position of the lifting axis 107 at the timing when the transition from detection to non-detection of the detection target 151 by the sensor 152 is detected as the reference position.

[0038] Alternatively, if the detection target 151 has entered inside the detection range A2 of the sensor 152 due to a delay in the detection timing of the transition from non-detection to detection of the detection target 151 by the sensor 152, the setting unit 123 rotates the lifting axis 107 reversely (clockwise) at a speed v2 slower than the speed v1, and sets the position of the lifting axis 107 at the timing when the transition from detection to non-detection of the detection target 151 by the sensor 152 is detected as the reference position. Here, since the speed v2 is slower than the speed v1, the deviation in the detection timing of the transition from detection to non-detection of the detection target 151 by the sensor 152 is small. Therefore, the calibration device 120 can accurately and promptly set the reference position of the rotation angle of the lifting axis 107 to be calibrated. That is, the calibration device 120 can accurately and promptly perform the calibration of the rotation angle of the lifting axis 107.

[0039] By the way, in a transport robot having a plurality of drive targets that operate in relation to each other, when attempting to calibrate any one of the drive targets, there is a possibility that another drive target may interfere and prevent the calibration of that drive target from being performed. Therefore, in the calibration device 120, the setting unit 123 determines the calibration order of each of the plurality of drive targets based on the operating conditions of the plurality of drive targets that operate in relation to each other. Note that the operating conditions of each drive target are determined from the control conditions by the sex device and the like. This will be specifically described below with reference to FIGS. 7 and 8.

[0040] FIG. 7 is a flowchart showing the operation of the calibration device 120. FIG. 8 is a schematic plan view for explaining an example of the operation of the calibration device 120. The processing proceeds in the order of (A), (B), (C), and (D) of FIG. 8. In the following, a case where the linear motion shaft 109 that slides the hook 108 in the horizontal direction, the linear motion shaft 110 that slides the top plate 103 in the horizontal direction, and the lifting and lowering shaft 107 that rotates the top plate 103 are calibration targets will be described as an example. Also, in the following, a case where the calibration device 120 starts executing calibration from a state where the transfer robot has moved the transfer object T1 from the top plate 103 to an external shelf will be described as an example. Therefore, at the time of starting calibration, the hook 108 protrudes from the top plate 103 toward the shelf side, and the top plate 103 and the external shelf are connected.

[0041] First, the calibration device 120 selects a drive target to be calibrated from among a plurality of drive targets (step S101). For example, the calibration device 120 selects the linear motion shaft 110 that slides the top plate 103 in the horizontal direction as the calibration target.

[0042] Thereafter, the calibration device 120 determines whether the calibration of the selected linear motion shaft 110 is interfered with by other drive targets related to the linear motion shaft 110 (step S102). Note that the operation status of each drive target (that is, whether a certain drive target is interfered with by another drive target) is determined from the control status by the control device and the like.

[0043] Here, referring to Fig. 8(A), since the linear motion shaft 109 that slides the hook 108 horizontally protrudes from the top plate 103, if an attempt is made to perform calibration of the linear motion shaft 110 that slides the top plate 103 horizontally, the hook 108 may swing and accidentally come into contact with the conveyed object T1. That is, the calibration of the linear motion shaft 110 is interfered with by the linear motion shaft 109 (YES in step S102). Therefore, the calibration device 120 waits for the execution of the calibration of the selected linear motion shaft 110 (step S104).

[0044] Then, while the calibration device 120 is waiting for the execution of the calibration of the linear motion shaft 110, it selects a drive object that has not been calibrated as a calibration target (NO in step S105 → step S101). For example, the calibration device 120 selects the linear motion shaft 109 that slides the hook 108 horizontally as the calibration target.

[0045] After that, the calibration device 120 determines whether the calibration of the selected linear motion shaft 109 is interfered with by other drive objects related to the linear motion shaft 109 (step S102).

[0046] Here, referring to Fig. 8(A), even if the calibration of the linear motion shaft 109 is executed, it is not interfered with by other drive objects related to the linear motion shaft 109 (NO in step S102). Therefore, the calibration device 120 executes the calibration of the selected linear motion shaft 109 (step S103). Specifically, as shown in Fig. 8(B), the calibration device 120 executes the calibration by sliding the selected linear motion shaft 109 in the direction in which the hook 108 is housed within the top plate 103.

[0047] After that, the calibration device 120 selects a drive object for which calibration has not been performed as a calibration target (NO in step S105 → step S101).

[0048] For example, the calibration device 120 selects the lifting shaft 107 that rotates the top plate 103 as a calibration target. However, in this case, as shown in FIG. 8(B), since the top plate 103 is connected to an external shelf, the calibration of the lifting shaft 107 that rotates the top plate 103 cannot be executed. That is, the calibration of the lifting shaft 107 is interfered with by the linear motion shaft 110 that slides the top plate 103 in the horizontal direction (YES in step S102). Therefore, in this case, the calibration device 120 waits for the execution of the calibration of the selected lifting shaft 107 (step S104).

[0049] Then, in a state where the calibration device 120 is waiting for the execution of the calibration of the lifting shaft 107, it selects a drive object for which calibration has not been performed as a calibration target (NO in step S105 → step S101). For example, the calibration device 120 selects the linear motion shaft 110 in a waiting state as a calibration target. Note that the calibration device 120 may select the linear motion shaft 110 in a waiting state as a calibration target without selecting the lifting shaft 107 after selecting the linear motion shaft 109.

[0050] Here, referring to FIG. 8(B), since the hook 108 is already housed within the top plate 103, even if calibration of the linear motion shaft 110 that slides the top plate 103 in the horizontal direction is performed, the hook 108 will not sway and accidentally come into contact with the conveyed object T1. That is, the calibration of the linear motion shaft 110 will not be interfered with by other objects to be driven, including the linear motion shaft 109 that slides the hook 108 in the horizontal direction (NO in step S102). Therefore, the calibration device 120 performs calibration of the selected linear motion shaft 110 (step S103). Specifically, as shown in FIG. 8(C), the calibration device 120 performs calibration on the selected linear motion shaft 110 by sliding it in the direction in which the top plate 103 is housed toward the housing 101 side.

[0051] After that, the calibration device 120 selects the lifting shaft 107, which is a driving target part for which calibration has not been performed, as the calibration target (NO in step S105 → step S101).

[0052] Here, referring to FIG. 8(C), since the top plate 103 is already housed toward the housing 101 side and the top plate 103 is not connected to an external shelf, there is no problem even if calibration of the lifting shaft 107 that rotates the top plate 103 is performed. That is, the calibration of the lifting shaft 107 will not be interfered with by other objects to be driven, including the linear motion shaft 110 that slides the top plate 103 in the horizontal direction (NO in step S102). Therefore, the calibration device 120 performs calibration of the selected lifting shaft 107 (step S103). Specifically, as shown in FIG. 8(D), the calibration device 120 performs calibration on the selected lifting shaft 107 by rotating the top plate 103, for example, in the counterclockwise rotation direction.

[0053] After that, if there are no driving objects for which calibration has not been performed (YES in step S105), the calibration device 120 ends the execution of calibration.

[0054] In addition, for example, when an object to be conveyed is placed on the top plate 103, the calibration device 120 may wait to execute the calibration of each object to be driven, and after moving the object to be conveyed from the top plate 103 to an external shelf or storage unit 104, execute the calibration of each object to be driven.

[0055] Thus, the calibration device according to the present disclosure determines the calibration order of each of the plurality of objects to be driven based on the operating states of the plurality of objects to be driven that are related to each other. Thereby, the calibration device according to the present disclosure can quickly set the reference position of each of the plurality of objects to be driven that are related to each other. That is, the calibration device according to the present disclosure can quickly execute the calibration of each of the plurality of objects to be driven that are related to each other.

[0056] The present invention is not limited to the above-described embodiments, and can be appropriately modified without departing from the gist. For example, the calibration device according to the present disclosure is not limited to being applied to a transport robot, and can be applied to any device or system that requires calibration.

[0057] Also, part or all of the control processing in the calibration device 120 can be realized by causing a CPU (Central Processing Unit) to execute a computer program.

[0058] When the above program is loaded into a computer, it includes a set of instructions (or software code) for causing the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, a computer-readable medium or a tangible storage medium includes RAM (Random-Access Memory), ROM (Read-Only Memory), flash memory, SSD (Solid-State Drive) or other memory technologies, CD-ROM, DVD (Digital Versatile Disc), Blu-ray (registered trademark) disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disc storage or other magnetic storage devices. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, a transitory computer-readable medium or a communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

Explanation of Signs

[0059] 100 Carrier robot, 101 Housing, 102 Wheels, 103 Top plate, 104 Storage section, 107 Lifting shaft, 108 Hook, 109 Linear motion shaft, 110 Linear motion shaft, 120 Calibration device, 121 Detection object, 122 Sensor (pressure sensor), 123 Setting section, 124 Spring, 131 Detection object, 132 Sensor (photointerrupter), 141 Detection object, 142 Sensor (photointerrupter), 151 Detection object, 152 Sensor (photointerrupter)

Claims

1. A first detection object installed on one of a first driven object configured to be slidable or rotatable with respect to a first reference axis and a housing to which the first driven object is attached, and A first sensor installed on the other of the first driven object and the housing and capable of detecting the first detection object, and A second detection object installed on one of a second driven object configured to be slidable or rotatable with respect to a second reference axis and the housing to which the second driven object is attached together with the first driven object, and A second sensor installed on the other of the second detection object and the housing and capable of detecting the second detection object, and A setting unit that sets a reference position of the first driven object in the housing according to a detection state of the first detection object by the first sensor, and sets a reference position of the second driven object in the housing according to a detection state of the second detection object by the second sensor, and A calibration device comprising: The setting unit determines a setting order of the reference positions of the first driven object and the second driven object based on the operation states of the first driven object and the second driven object, respectively. Calibration device.

2. When the setting unit determines that the second driven object cannot be slid or rotated by a predetermined operation of the first driven object, after the predetermined operation of the first driven object is completed, the setting unit sets the reference position of the second driven object. The calibration device according to claim 1.

3. A third detection object installed on one of a third driven object configured to be slidable or rotatable with respect to a third reference axis and the housing to which the third driven object is attached together with the first and second driven objects, and A third sensor installed on the other of the third driven object and the housing and capable of detecting the third detection object, and Further comprising: The setting unit further sets a reference position of the third driven object in the housing according to a detection state of the third detection object by the third sensor, and determines a setting order of the reference positions of the first to third driven objects based on the operation states of the first to third driven objects, respectively. The calibration device according to claim 1.

4. When the setting unit determines that the third driven object cannot be slid or rotated by a predetermined operation of at least one of the first driven object and the second driven object, after the predetermined operation of at least one of the first driven object and the second driven object is completed, the reference position of the third driven object is set. The calibration device according to claim 3.

5. The calibration device according to claim 1, the driven object, the housing, A transport robot comprising:

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