CALIBRATION DEVICE, CALIBRATION SYSTEM, MOVING SYSTEM, CALIBRATION METHOD, AND CONTROL PROGRAM

Abstract

To provide a calibration device capable of efficiently performing calibration of a sensor.SOLUTION: A calibration device includes: calculating a posture of a first marker based on a first sensor, from a result of detection of the first marker by the first sensor which is attached to a predetermined position of a mobile robot so that a posture based on an origin is at least known and is configured to detect the first marker; calculating a posture of a second marker based on a second sensor, from a result of detection of the second marker by the second sensor which is attached to a position different from the predetermined position of the mobile robot and is configured to be capable of detecting the second marker whose posture based on the first marker is at least known; and calculating at least a posture of the second sensor based on the origin, from a posture of the first sensor based on the origin, a posture of the first marker based on the first sensor, a posture of the second marker based on the first marker, and a posture of the second marker based on the second sensor.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a calibration device, a calibration system, a movement system, a calibration method, and a control program. [Background technology]

[0002] In recent years, in order to operate a mobile robot with high accuracy, it is required to accurately grasp the position and orientation from the origin of a sensor that detects an object such as a marker attached to the mobile robot. Related technology is disclosed in, for example, Patent Document 1.

[0003] Patent document 1 discloses an information processing device including a position calculation unit that calculates the position of a movable part on which a second visual sensor is positioned based on first position information obtained by a first visual sensor reading a projected marker and second position information including position information obtained by a second visual sensor moving relative to the first visual sensor reading a marker. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 146201 Summary of the Invention [Problem to be solved by the invention]

[0005] In the information processing device disclosed in Patent Document 1, if the first visual sensor and the second visual sensor are not attached in positions where they can simultaneously detect a common marker, the position of the movable part where the second visual sensor is placed cannot be calculated. In other words, the related technology has a problem that, depending on the attachment position of the sensor to be calibrated (the second visual sensor), it is not possible to calibrate the sensor to be calibrated.

[0006] The present disclosure has been made in consideration of the above background, and aims to provide a calibration device, a calibration system, a moving system, a calibration method, and a control program that are capable of efficiently calibrating a sensor attached to a moving robot. [Means for solving the problem]

[0007] A calibration device according to the present disclosure calculates an orientation of a first marker with respect to a first sensor based on a detection result of the first marker by a first sensor attached to a predetermined position of a mobile robot such that at least an orientation with respect to an origin is known and configured to detect the first marker, calculates an orientation of the second marker with respect to the second sensor based on a detection result of the second marker by a second sensor attached to a position different from the predetermined position of the mobile robot and configured to detect a second marker whose orientation with respect to the first marker is at least known, and calculates at least an orientation of the second sensor with respect to the origin based on the orientation of the first sensor with respect to the origin, the orientation of the first marker with respect to the first sensor, the orientation of the second marker with respect to the first marker, and the orientation of the second marker with respect to the second sensor. In this calibration device, the second sensor to be calibrated does not need to be disposed in a position where it can detect a common marker simultaneously with the first sensor, so that calibration of the second sensor can be performed regardless of the attachment position of the second sensor to be calibrated. In other words, this calibration device can efficiently calibrate the sensors attached to the mobile robot.

[0008] The position of the second marker with respect to the first marker is further known, and the first sensor is attached to the predetermined position of the mobile robot such that the position with respect to the origin is further known, and the calibration device calculates the position and orientation of the first marker with respect to the first sensor from a detection result of the first marker by the first sensor, calculates the position and orientation of the second marker with respect to the second sensor from a detection result of the second marker by the second sensor, and calculates the position and orientation of the second sensor with respect to the origin from the position and orientation of the first sensor with respect to the origin, the position and orientation of the first marker with respect to the first sensor, the position and orientation of the second marker with respect to the first marker, and the position and orientation of the second marker with respect to the second sensor.

[0009] The first marker may be any one of a leg, a portion of a predetermined shape, and a portion of a predetermined pattern of a marker stand to which the second marker is attached.

[0010] The first marker may be an arbitrary region of a main surface of a planar member to which the second marker is attached.

[0011] The first sensor may be a LiDAR (Light Detection And Ranging) sensor configured to be able to detect a shape of the first marker.

[0012] A calibration system according to the present disclosure includes any one of the calibration devices described above, the first sensor, the second sensor, and the first marker and the second marker. In this calibration system, the second sensor to be calibrated does not need to be placed in a position where it can detect the common marker simultaneously with the first sensor, so that the calibration of the second sensor can be performed regardless of the mounting position of the second sensor to be calibrated. In other words, this calibration system can efficiently perform calibration of the sensor mounted on the mobile robot.

[0013] A mobile system according to the present disclosure includes the mobile robot, any one of the calibration devices described above, the first sensor, the second sensor, and the first marker and the second marker. In this mobile system, the second sensor to be calibrated does not need to be placed in a position where it can detect a common marker simultaneously with the first sensor, so that the second sensor can be calibrated regardless of the mounting position of the second sensor to be calibrated. In other words, this mobile system can efficiently perform calibration of the sensor attached to the mobile robot.

[0014] A calibration method according to the present disclosure is a calibration method for a calibration device, comprising the steps of: calculating an orientation of a first marker based on a first sensor, the first sensor being attached to a predetermined position of a mobile robot such that at least an orientation thereof based on an origin is known, and configured to be able to detect the first marker, from a detection result of the first marker by the first sensor; calculating an orientation of the second marker based on the second sensor from a detection result of the second marker by a second sensor being attached to a position different from the predetermined position of the mobile robot and configured to be able to detect a second marker whose orientation based on the first marker is at least known; and calculating at least an orientation of the second sensor based on the origin from the orientation of the first sensor based on the origin, the orientation of the first marker based on the first sensor, the orientation of the second marker based on the first marker, and the orientation of the second marker based on the second sensor. In this calibration method, the second sensor to be calibrated does not need to be placed in a position where it can detect the common marker simultaneously with the first sensor, so it is possible to perform calibration of the second sensor regardless of the mounting position of the second sensor to be calibrated. In other words, this calibration method can efficiently perform calibration of the sensor attached to the mobile robot.

[0015] The position of the second marker with respect to the first marker is also known, and the first sensor is attached to the predetermined position of the mobile robot such that the position with respect to the origin is also known, and the calibration method for the calibration device may include calculating a position and orientation of the first marker with respect to the first sensor from a detection result of the first marker by the first sensor, calculating a position and orientation of the second marker with respect to the second sensor from a detection result of the second marker by the second sensor, and calculating a position and orientation of the second sensor with respect to the origin from the position and orientation of the first sensor with respect to the origin, the position and orientation of the first marker with respect to the first sensor, the position and orientation of the second marker with respect to the first marker, and the position and orientation of the second marker with respect to the second sensor.

[0016] A control program according to the present disclosure is a control program that causes a computer to execute a calibration process using a calibration device, and causes the computer to execute the following processes: a process of calculating an orientation of a first marker based on a first sensor, the first sensor being attached to a predetermined position of a mobile robot such that at least an orientation with respect to an origin is known, and configured to be able to detect the first marker, from a detection result of the first marker by the first sensor; a process of calculating an orientation of the second marker based on the second sensor, the second sensor being attached to a position different from the predetermined position of the mobile robot and configured to be able to detect a second marker whose orientation with respect to the first marker is at least known, from a detection result of the second marker by the second sensor; and a process of calculating at least an orientation of the second sensor based on the origin from the orientation of the first sensor based on the origin, the orientation of the first marker based on the first sensor, the orientation of the second marker based on the first marker, and the orientation of the second marker based on the second sensor. In this control program, the second sensor to be calibrated does not need to be placed in a position where it can detect the common marker simultaneously with the first sensor, so that the calibration of the second sensor can be performed regardless of the mounting position of the second sensor to be calibrated. In other words, this control program can efficiently perform the calibration of the sensor attached to the mobile robot.

[0017] The position of the second marker with respect to the first marker is also known, and the first sensor is attached to the predetermined position of the mobile robot such that the position with respect to the origin is also known, and the control program may cause the computer to execute the following processes: calculating a position and orientation of the first marker with respect to the first sensor from a detection result of the first marker by the first sensor; calculating a position and orientation of the second marker with respect to the second sensor from a detection result of the second marker by the second sensor; and calculating a position and orientation of the second sensor with respect to the origin from the position and orientation of the first sensor with respect to the origin, the position and orientation of the first marker with respect to the first sensor, the position and orientation of the second marker with respect to the first marker, and the position and orientation of the second marker with respect to the second sensor. Effect of the Invention

[0018] According to the present disclosure, it is possible to provide a calibration device, a calibration system, a moving system, a calibration method, and a control program that are capable of efficiently calibrating a sensor attached to a moving robot. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram illustrating a configuration example of a mobile system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing a modification of the mobile system shown in FIG. [Diagram 3] FIG. 11 is a diagram illustrating a configuration example of a mobile system according to a second embodiment. [Figure 4] FIG. 4 is a diagram showing a first modified example of the mobile system shown in FIG. [Diagram 5] FIG. 4 is a diagram showing a second modified example of the mobile system shown in FIG. [Figure 6] FIG. 4 is a diagram showing a third modified example of the mobile system shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. In addition, 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 are omitted and simplified as appropriate. In each drawing, the same elements are given the same reference numerals, and repeated explanations are omitted as necessary.

[0021] <Embodiment 1> FIG. 1 is a diagram showing a configuration example of a mobile system 1 according to a first embodiment. In the mobile system 1 according to this embodiment, the calibration device applied to the mobile robot can calibrate the second sensor regardless of the mounting position of the second sensor to be calibrated, since the second sensor does not need to be disposed in a position where the second sensor can detect a common marker simultaneously with the first sensor. In other words, this calibration device can efficiently calibrate the sensor mounted on the mobile robot. A specific description will be given below.

[0022] As shown in Fig. 1, the mobile system 1 includes a mobile robot 100, a marker (first marker) M1, and a marker (second marker) M2. The mobile robot 100 is provided with a sensor (first sensor) 11, a sensor (second sensor) 12, and a calibration device 13. The calibration device 13 includes, for example, a calculation processing device. The markers M1 and M2, the sensors 11 and 12, and the calibration device 13 configure a calibration system.

[0023] The mobile robot 100 is a robot capable of moving autonomously. The mobile robot 100 grasps its own position and orientation based on the detection results of the sensors 11 and 12.

[0024] The sensor 11 is configured to be able to detect the marker M1. For example, the sensor 11 is any of an RGB camera, a motion capture camera, a thermal camera, a shape acquisition sensor such as LiDAR or sonar, and a light receiving element that can detect the marker M1. Note that LiDAR is an abbreviation for Light Detection And Ranging.

[0025] The sensor 12 is configured to be able to detect the marker M2. For example, the sensor 11 is any one of an RGB camera, a motion capture camera, a thermal camera, a shape acquisition sensor such as LiDAR or sonar, and a light receiving element that can detect the marker M2.

[0026] Here, the sensor 11 is attached to a predetermined position of the mobile robot 100 so that the position and orientation RP1 of the sensor 11 with respect to the origin s1 of the mobile robot 100 is known. In other words, information on the position and orientation RP1 of the sensor 11 with respect to the origin s1 of the mobile robot 100 is acquired in advance by the calibration device 13. On the other hand, the sensor 12 is attached in a state in which the position and orientation RP5 of the sensor 12 with respect to the origin s1 of the mobile robot 100 is unknown. The sensor 12 is a sensor to be calibrated, the position and orientation of which are calibrated by the calibration device 13.

[0027] The markers M1 and M2 are, for example, any of a calibration board detectable by an RGB camera, a calibration wand detectable by a motion capture camera, a metallic calibration board detectable by a thermal camera, an object having a predetermined shape detectable by a shape acquisition sensor, and a light-emitting element that emits light that can be received by a light-receiving element. In this embodiment, an example will be described in which the markers M1 and M2 are both calibration boards having a predetermined pattern, and the sensors 11 and 12 are both RGB cameras.

[0028] Here, the marker M2 is placed so that the position and orientation RP3 based on the marker M1 is known. That is, information on the relative position and relative orientation of the markers M1 and M2 is acquired in advance by the calibration device 13. Note that the markers M1 and M2 are attached, for example, to the same main surface of a planar member, making it easy to understand the relative orientation of the markers M1 and M2.

[0029] The calibration device 13 calculates the position and orientation RP5 of the sensor 12 with respect to the origin s1 of the mobile robot 100 using, for example, a calculation processing device. More specifically, the calibration device 13 first calculates the position and orientation RP2 of the marker M1 with respect to the sensor 11 based on the detection result by the sensor 11. The calibration device 13 also calculates the position and orientation RP4 of the marker M2 with respect to the sensor 12 based on the detection result by the sensor 12. The calibration device 13 then calculates the position and orientation RP5 of the sensor 12 with respect to the origin s1 from the position and orientation RP1 of the sensor 11 with respect to the origin s1, the position and orientation RP2 of the marker M1 with respect to the sensor 11, the position and orientation RP3 of the marker M2 with respect to the marker M1, and the position and orientation RP4 of the marker M2 with respect to the sensor 12.

[0030] As a result, the mobile system 1 according to this embodiment and the calibration device 13 used therein can calibrate the position and orientation of the sensor 12 even if the sensor 12 to be calibrated is not installed in a position where the marker M1 can be detected simultaneously with the sensor 11. In other words, the mobile system 1 according to this embodiment and the calibration device 13 used therein can efficiently calibrate the position and orientation of the sensor 12 attached to the mobile robot 100.

[0031] (Modification of the mobile system 1) 2 is a diagram showing a modified example of the mobile system 1 as a mobile system 1a. In the mobile system 1a, a sensor 11a is provided instead of the sensor 11, as compared with the mobile system 1. The sensor 11a is a LiDAR, which is a type of shape acquisition sensor. As with the sensor 11, the sensor 11a is attached to a predetermined position of the mobile robot 100 so that a position and orientation RP1 based on an origin s1 of the mobile robot 100 is known.

[0032] Furthermore, in the mobile system 1a, a marker M2 is attached to a marker stand B1. The sensor 11a, which is a LiDAR, detects the shape of a leg B1a of the marker stand B1 as the marker M1.

[0033] Here, the marker M2 is attached to the marker stand B1 so that the position and orientation RP3 based on the leg B1a of the marker stand B1 is known. In other words, information on the relative position and relative orientation of the marker M2 and the leg B1a of the marker stand B1 is acquired in advance by the calibration device 13.

[0034] The calibration device 13 calculates the position and orientation RP5 of the sensor 12 with respect to the origin s1 of the mobile robot 100 using, for example, a calculation processing device. More specifically, the calibration device 13 first calculates the position and orientation RP2 of the leg B1a of the marker stand B1 with respect to the sensor 11a based on the detection result by the sensor 11a. The calibration device 13 also calculates the position and orientation RP4 of the marker M2 with respect to the sensor 12 based on the detection result by the sensor 12. The calibration device 13 then calculates the position and orientation RP5 of the sensor 12 with respect to the origin s1 from the position and orientation RP1 of the sensor 11a with respect to the origin s1, the position and orientation RP2 of the leg B1a of the marker stand B1 with respect to the sensor 11a, the position and orientation RP3 of the marker M2 with respect to the leg B1a of the marker stand B1, and the position and orientation RP4 of the marker M2 with respect to the sensor 12.

[0035] Thereby, the mobile system 1a can achieve the same effect as the mobile system 1. In the present embodiment, the sensor 11a, which is a LiDAR, detects the shape of the leg B1a of the marker stand B1 as the marker M1, but is not limited to this. For example, the sensor 11a may detect the shape or pattern of a predetermined part other than the leg B1a of the marker stand B1 as the marker M1. Also, a reflective tape may be attached to a predetermined area of ​​the marker stand B1 detected by the sensor 11a. This makes it easier for the sensor 11a to detect the predetermined area of ​​the marker stand B1.

[0036] <Embodiment 2> 3 is a diagram showing a configuration example of a mobile system 2 according to a second embodiment. In the mobile system 2, the position of the sensor 12 is not calibrated, and only the attitude of the sensor 12 is calibrated. Calibration of only the attitude of the sensor 12 out of the position and attitude of the sensor 12 is assumed to be performed, for example, when highly accurate detection of the attachment position of the sensor 12 is not required, or when the sensor 12 is attached to a joint portion and the attitude of the sensor 12 may vary while the position of the sensor 12 is fixed. Here, the attitude of the sensor 12 refers to the roll, pitch, and yaw angles of the sensor 12 with respect to the origin s1 of the mobile robot 100.

[0037] In this embodiment, the sensor 11 is attached to a predetermined position of the mobile robot 100 so that the orientation RA1 based on the origin s1 of the mobile robot 100 is known. In other words, information on the orientation RA1 of the sensor 11 based on the origin s1 of the mobile robot 100 is acquired in advance by the calibration device 13. On the other hand, the sensor 12 is attached in a state where the orientation RA5 based on the origin s1 of the mobile robot 100 is unknown. The sensor 12 is a sensor to be calibrated, the orientation of which is calibrated by the calibration device 13.

[0038] Moreover, the marker M2 is placed so that the orientation RA3 with respect to the marker M1 is known. That is, information on the relative orientation of the markers M1 and M2 is acquired in advance by the calibration device 13. Note that the markers M1 and M2 are attached, for example, to the same main surface of a planar member, so that the relative orientation of the markers M1 and M2 becomes easy to understand.

[0039] The calibration device 13 calculates an orientation RA5 of the sensor 12 with respect to the origin s1 of the mobile robot 100, for example, using a calculation processing device. More specifically, the calibration device 13 first calculates an orientation RA2 of the marker M1 with respect to the sensor 11 based on the detection result by the sensor 11. The calibration device 13 also calculates an orientation RA4 of the marker M2 with respect to the sensor 12 based on the detection result by the sensor 12. The calibration device 13 then calculates an orientation RA5 of the sensor 12 with respect to the origin s1 from the orientation RA1 of the sensor 11 with respect to the origin s1, the orientation RA2 of the marker M1 with respect to the sensor 11, the orientation RA3 of the marker M2 with respect to the marker M1, and the orientation RA4 of the marker M2 with respect to the sensor 12.

[0040] As a result, the mobile system 2 according to this embodiment and the calibration device 13 used therein can calibrate the attitude of the sensor 12 even if the sensor 12 to be calibrated is not installed in a position where it can detect the marker M1 simultaneously with the sensor 11. In other words, the mobile system 2 according to this embodiment and the calibration device 13 used therein can efficiently calibrate the attitude of the sensor 12 attached to the mobile robot 100.

[0041] (First Modification of the Mobile System 2) 4 is a diagram showing a first modified example of the mobile system 2 as a mobile system 2a. In the mobile system 2a, a sensor 11a is provided instead of the sensor 11, as compared with the mobile system 2. The sensor 11a is a LiDAR, which is a type of shape acquisition sensor. As with the sensor 11, the sensor 11a is attached to a predetermined position of the mobile robot 100 so that the attitude RA1 based on the origin s1 of the mobile robot 100 is known.

[0042] Furthermore, in the mobile system 2a, a marker M2 is attached to a marker stand B1. The sensor 11a, which is a LiDAR, detects the shape of a leg B1a of the marker stand B1 as the marker M1.

[0043] Here, the marker M2 is attached to the marker stand B1 so that the orientation RA3 based on the leg B1a of the marker stand B1 is known. In other words, information on the relative orientation between the marker M2 and the leg B1a of the marker stand B1 is acquired in advance by the calibration device 13.

[0044] The calibration device 13 calculates the orientation RA5 of the sensor 12 with respect to the origin s1 of the mobile robot 100, for example, using a calculation processing device. More specifically, the calibration device 13 first calculates the orientation RA2 of the leg B1a of the marker stand B1 with respect to the sensor 11a from the detection result by the sensor 11a. The calibration device 13 also calculates the orientation RA4 of the marker M2 with respect to the sensor 12 from the detection result by the sensor 12. The calibration device 13 then calculates the orientation RA5 of the sensor 12 with respect to the origin s1 from the orientation RA1 of the sensor 11a with respect to the origin s1, the orientation RA2 of the leg B1a of the marker stand B1 with respect to the sensor 11a, the orientation RA3 of the marker M2 with respect to the leg B1a of the marker stand B1, and the orientation RA4 of the marker M2 with respect to the sensor 12.

[0045] Thereby, the mobile system 2a can achieve the same effect as the mobile system 2. In the present embodiment, the sensor 11a, which is a LiDAR, detects the shape of the leg B1a of the marker stand B1 as the marker M1, but is not limited to this. For example, the sensor 11a may detect the shape of a predetermined part other than the leg B1a of the marker stand B1 as the marker M1. Also, a reflective tape may be attached to a predetermined area of ​​the marker stand B1 detected by the sensor 11a. This makes it easier for the sensor 11a to detect the predetermined area of ​​the marker stand B1.

[0046] (Second Modification of the Mobile System 2) 5 is a diagram showing a second modified example of the mobile system 2 as a mobile system 2b. In the mobile system 2b, a marker M2 is attached to a main surface of a planar member B2 such as a whiteboard or a wall of a room, as compared with the mobile system 2a. The sensor 11a, which is a LiDAR, detects the shape of an arbitrary region B2a on the main surface of the planar member B2 (the inclination of the main surface of the planar member B2) as a marker M1.

[0047] Here, since the marker M2 is attached to the main surface of the planar member B2, the orientation (posture) of the marker M2 is the same as the orientation (posture) of the main surface of the planar member B2. Therefore, it can be said that the orientations of the marker M2 and the main surface of the planar member B2 (corresponding to the marker M1) are known.

[0048] The calibration device 13 calculates the orientation RA5 of the sensor 12 with respect to the origin s1 of the mobile robot 100, for example, using a calculation processing device. More specifically, the calibration device 13 first calculates the orientation (orientation) RA2 of the area B2a of the main surface of the planar member B2 with respect to the sensor 11a from the detection result by the sensor 11a. The calibration device 13 also calculates the orientation RA4 of the marker M2 with respect to the sensor 12 from the detection result by the sensor 12. The calibration device 13 then calculates the orientation RA5 of the sensor 12 with respect to the origin s1 from the orientation RA1 of the sensor 11a with respect to the origin s1, the orientation (orientation) RA2 of the area B2a of the main surface of the planar member B2 with respect to the sensor 11a, the orientation RA3 of the marker M2 with respect to the leg B1a of the marker stand B1, and the orientation RA4 of the marker M2 with respect to the sensor 12. As a result, the mobile system 2b can achieve the same effects as the mobile systems 2 and 2a.

[0049] (Third Modification of the Mobile System 2) FIG. 6 is a diagram showing a third modified example of the mobile system 2 as a mobile system 2c.

[0050] In the mobile system 2c, during calibration, for example, the mobile robot 100 moves so that the mobile robot 100 and the planar member B2 face each other. This makes the orientation (posture) RA6 between the origin s1 of the mobile robot 100 and an arbitrary area B2a on the main surface of the planar member B2 known. Therefore, the sensor 11a is not required.

[0051] As described above, since the marker M2 is attached to the main surface of the planar member B2, the orientation (posture) of the marker M2 is the same as the orientation (posture) of the main surface of the planar member B2. Therefore, it can be said that the orientations of the marker M2 and the main surface of the planar member B2 (corresponding to the marker M1) are known.

[0052] The calibration device 13 calculates an orientation RA5 of the sensor 12 with respect to the origin s1 of the mobile robot 100, for example, using a calculation processing device. More specifically, the calibration device 13 first calculates an orientation RA4 of the marker M2 with respect to the sensor 12 from the detection result by the sensor 12. Then, the calibration device 13 calculates an orientation RA5 of the sensor 12 with respect to the origin s1 from an orientation RA6 of the area B2a of the main surface of the planar member B2 with respect to the origin s1 and an orientation RA4 of the marker M2 with respect to the sensor 12. This allows the mobile system 2c to achieve the same effect as the mobile systems 2, 2a, and 2b.

[0053] As described above, the mobile systems according to the first and second embodiments and the calibration devices used therein are capable of calibrating the second sensor attached to the mobile robot even if the second sensor to be calibrated is not installed in a position where it can detect the common marker simultaneously with the first sensor. In other words, the mobile systems according to the first and second embodiments and the calibration devices used therein can efficiently calibrate the second sensor attached to the mobile robot.

[0054] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present invention.

[0055] Furthermore, in the present disclosure, a part or all of the control processing in the calibration device 13 can be realized by causing a CPU (Central Processing Unit) to execute a computer program.

[0056] The above-mentioned program includes a set of instructions (or software code) for making the computer perform one or more functions described in the embodiment when the program is loaded into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or the tangible storage medium includes a random-access memory (RAM), a read-only memory (ROM), a flash memory, a solid-state drive (SSD) or other memory technology, a CD-ROM, a digital versatile disc (DVD), a Blu-ray® disk or other optical disk storage, a magnetic cassette, a magnetic tape, a magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, the transitory computer-readable medium or the communication medium includes an electrical, optical, acoustic, or other form of propagating signal.

[0057] A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes.

[0058] (Appendix 1) A mobile robot; A marker attached to a main surface of the planar member; a sensor attached to the mobile robot and configured to be able to detect the marker; A calibration device; A method for calibrating a moving system, comprising: The mobile robot is disposed so that a main surface of the planar member faces the mobile robot; Detecting the marker with the sensor; Using the calibration device, a posture of the marker is calculated based on the detection result of the marker by the sensor; calculating an orientation of the sensor with respect to the origin based on the calculated orientation of the marker with respect to the sensor using the calibration device and an orientation of the marker with respect to the origin of the mobile robot, which is specified by placing the mobile robot so that the main surface of the planar member and the side surface of the mobile robot face each other; A method for calibrating the motion system. [Explanation of symbols]

[0059] 1. Mobile System 1a Mobile System 2. Movement System 2a Mobile System 2b Mobile System 2c Movement System 11 Sensors 11a Sensor (LiDAR) 12 Sensors 13 Calibration Equipment 100 Mobile Robot B1 Marker Stand B1a Marker stand legs B2 Plane member B2a Any area of ​​the main surface of a planar member M1 Marker M2 Marker

Claims

1. 1. A calibration device comprising: a first sensor is attached to a predetermined position of the mobile robot such that at least a posture of the first marker with respect to an origin is known and is configured to be able to detect the first marker; and from a detection result of the first marker by the first sensor, a posture of the first marker with respect to the first sensor is calculated; a second sensor is attached to the mobile robot at a position different from the predetermined position, and is configured to be able to detect a second marker whose orientation with respect to the first marker is at least known; and a posture of the second marker with respect to the first marker is calculated based on a detection result of the second marker by the second sensor; and calculating at least an orientation of the second sensor based on the origin from an orientation of the first sensor based on the origin, an orientation of the first marker based on the first sensor, an orientation of the second marker based on the first marker, and an orientation of the second marker based on the second sensor; 1. A calibration device comprising: The first sensor is a LiDAR (Light Detection And Ranging) configured to be able to detect a shape of the first marker, The second sensor is an RGB camera configured to be able to detect a pattern of the second marker. Calibration equipment.

2. a position of the second marker relative to the first marker is further known; the first sensor is attached to the mobile robot at the predetermined position such that its position relative to the origin is further known; The calibration device comprises: calculating a position and an orientation of the first marker based on the first sensor from a detection result of the first marker by the first sensor; Calculating a position and an orientation of the second marker based on the second sensor from a detection result of the second marker by the second sensor; and calculating a position and orientation of the second sensor based on the origin from a position and orientation of the first sensor based on the origin, a position and orientation of the first marker based on the first sensor, a position and orientation of the second marker based on the first marker, and a position and orientation of the second marker based on the second sensor; The calibration device according to claim 1 .

3. The first marker is either a leg or a portion of a predetermined shape of a marker stand to which the second marker is attached. The calibration device according to claim 1 .

4. The first marker is an arbitrary region of a main surface of a planar member to which the second marker is attached. The calibration device according to claim 1 .

5. A calibration device according to any one of claims 1 to 4; the first sensor and the second sensor; the first marker and the second marker; A calibration system comprising:

6. The mobile robot; A calibration device according to any one of claims 1 to 4; the first sensor and the second sensor; the first marker and the second marker; A moving system comprising:

7. A method for calibrating a calibration device, comprising: a first sensor is attached to a predetermined position of the mobile robot such that at least a posture of the first marker with respect to an origin is known and is configured to be able to detect the first marker; and from a detection result of the first marker by the first sensor, a posture of the first marker with respect to the first sensor is calculated; a second sensor is attached to the mobile robot at a position different from the predetermined position and configured to be able to detect a second marker whose orientation with respect to the first marker is at least known; and a posture of the second marker with respect to the first marker is calculated based on a detection result of the second marker by the second sensor; calculating at least an orientation of the second sensor based on the origin from an orientation of the first sensor based on the origin, an orientation of the first marker based on the first sensor, an orientation of the second marker based on the first marker, and an orientation of the second marker based on the second sensor; 1. A calibration method comprising: The first sensor is a LiDAR (Light Detection And Ranging) configured to be able to detect a shape of the first marker, The second sensor is an RGB camera configured to be able to detect a pattern of the second marker. Calibration method.

8. a position of the second marker relative to the first marker is further known; the first sensor is attached to the mobile robot at the predetermined position such that its position relative to the origin is further known; In the calibration method for the calibration device, calculating a position and an orientation of the first marker based on the first sensor from a detection result of the first marker by the first sensor; calculating a position and an orientation of the second marker based on the second sensor from a detection result of the second marker by the second sensor; calculating a position and orientation of the second sensor based on the origin from a position and orientation of the first sensor based on the origin, a position and orientation of the first marker based on the first sensor, a position and orientation of the second marker based on the first marker, and a position and orientation of the second marker based on the second sensor; The calibration method according to claim 7.

9. A control program for causing a computer to execute a calibration process using a calibration device, a first sensor is attached to a predetermined position of the mobile robot such that at least a posture of the first marker relative to an origin is known, and the first sensor is configured to be able to detect the first marker; and a process of calculating a posture of the first marker relative to the first sensor based on a detection result of the first marker; a process of calculating a posture of the second marker with respect to the first marker based on a detection result of the second marker by a second sensor, the second sensor being attached to a position different from the predetermined position of the mobile robot and configured to be able to detect the second marker, the posture of which with respect to the first marker is at least known; calculating at least an orientation of the second sensor based on the origin from an orientation of the first sensor based on the origin, an orientation of the first marker based on the first sensor, an orientation of the second marker based on the first marker, and an orientation of the second marker based on the second sensor; A control program for causing a computer to execute the above. The first sensor is a LiDAR (Light Detection And Ranging) configured to be able to detect a shape of the first marker, The second sensor is an RGB camera configured to be able to detect a pattern of the second marker. Control program.

10. a position of the second marker relative to the first marker is further known; the first sensor is attached to the mobile robot at the predetermined position such that its position relative to the origin is further known; In the control program, calculating a position and an orientation of the first marker based on a detection result of the first marker by the first sensor; calculating a position and an orientation of the second marker based on a detection result of the second marker by the second sensor; calculating a position and orientation of the second sensor with respect to the origin based on a position and orientation of the first sensor with respect to the origin, a position and orientation of the first marker with respect to the first sensor, a position and orientation of the second marker with respect to the first marker, and a position and orientation of the second marker with respect to the second sensor; The control program according to claim 9, which causes a computer to execute the control program.

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