Calibration system, control method thereof, and control program

Abstract

To provide a calibration system, a method for controlling the same, and a control program capable of identifying a relative positional relation among a plurality of calibration target apparatuses of different types.SOLUTION: A calibration system comprises: a first calibration tool; a second calibration tool that is installed so as to be able to identify a relative position thereof with respect to the first calibration tool, and in a type different from that of the first calibration tool; a first calibration target apparatus configured to be able to detect the first calibration tool; a second calibration target apparatus configured to be able to detect the second calibration tool; and an arithmetic processing apparatus configured to calculate the relative position of the second calibration target apparatus with respect to the first calibration target apparatus based on the result of detecting the first calibration tool by the first calibration target apparatus and the result of detecting the second calibration tool by the second calibration target apparatus.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a calibration system, a control method thereof, and a control program thereof. [Background technology]

[0002] Patent Document 1 discloses an anchor structure for marker placement in optical motion capture, in which two or more markers are spatially and geometrically arranged and fixed. With this anchor structure, even if one marker is optically blocked from the camera, the position of the blocked marker can be calculated from another marker. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-161681 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 assumes that markers will be detected by a motion capture camera, but does not assume that markers will be detected by a camera other than a motion capture camera, such as an RGB camera, or a device other than a camera (calibration target device), such as a shape acquisition sensor. Therefore, Patent Document 1 is unable to detect markers by, for example, both a motion capture camera and a shape acquisition sensor. In other words, Patent Document 1 is unable to detect markers by each of multiple calibration target devices of different types. As a result, Patent Document 1 has a problem in that it is difficult to identify the relative positional relationship between multiple calibration target devices of different types.

[0005] The present invention has been made in consideration of the above background, and aims to provide a calibration system, a control method thereof, and a control program that are capable of identifying the relative positional relationship between multiple calibration target devices of different types. [Means for solving the problem]

[0006] A calibration system according to one embodiment of the present invention includes a first calibration tool, a second calibration tool of a different type from the first calibration tool and installed so as to be able to identify its relative position with respect to the first calibration tool, a first calibration target device configured to be able to detect the first calibration tool, a second calibration target device configured to be able to detect the second calibration tool, and an arithmetic processing device that calculates a relative position of the second calibration target device with respect to the first calibration target device based on a detection result of the first calibration tool by the first calibration target device and a detection result of the second calibration tool by the second calibration target device. By including, in addition to the first calibration tool, the second calibration tool of a different type from the first calibration tool and installed so as to be able to identify its relative position with respect to the first calibration tool, the calibration system can identify the relative position of the second calibration target device with respect to the first calibration target device even when the first and second calibration target devices are different types, for example, when the first calibration target device is an RGB camera and the second calibration target device is a motion capture camera.

[0007] The first calibration target device is at least one of a camera, a shape acquisition sensor, a position detection sensor, and a light receiving element, and the second calibration target device is at least one of a camera, a shape acquisition sensor, a position detection sensor, and a light receiving element that is different from the first calibration target device.

[0008] The calibration tool may further include a connecting member that connects the first calibration tool and the second calibration tool, and the relative positional relationship between the first and second calibration tools can be fixed by the connecting member.

[0009] The apparatus may further include a robot that connects the first calibration tool and the second calibration tool via a robot arm. By connecting the first and second calibration tools via the robot arm, the angle of which is adjusted by the robot, it is possible to identify the relative position of the second calibration tool with respect to the first calibration tool.

[0010] The first calibration tool may be provided with a detection device configured to detect the second calibration tool and thereby determine the relative position of the second calibration tool with respect to the first calibration tool.

[0011] The system may further include a first robot equipped with the first calibration tool and a second robot equipped with the second calibration tool.

[0012] At least one of the first and second robots may be configured to be movable. This makes it easy to install and remove the calibration tool. Furthermore, since the calibration tool can be installed in high places or narrow spaces, the calibration system can be applied to complex environments.

[0013] The system may further include a third calibration tool, wherein the first calibration tool is provided with a first detection device configured to be able to determine the relative position of the third calibration tool with respect to the first calibration tool by detecting the third calibration tool, and the third calibration tool is provided with a second detection device configured to be able to determine the relative position of the second calibration tool with respect to the third calibration tool by detecting the second calibration tool.

[0014] The system may further include a first robot equipped with the first calibration tool, a second robot equipped with the second calibration tool, and a third robot equipped with the third calibration tool.

[0015] At least one of the first to third robots may be configured to be movable. This makes it easy to install and remove the calibration tool. Furthermore, since the calibration tool can be installed in high places or narrow spaces, the calibration system can be applied to complex environments.

[0016] A control method for a calibration system according to one embodiment of the present invention is a control method for a calibration system comprising a first calibration tool, a second calibration tool of a different type from the first calibration tool and installed so that its relative position with respect to the first calibration tool can be identified, a first calibration target device configured to be able to detect the first calibration tool, a second calibration target device configured to be able to detect the second calibration tool, and an arithmetic processing device, wherein the first calibration tool is detected by the first calibration target device and the second calibration tool is detected by the second calibration target device, and the arithmetic processing device calculates the relative position of the second calibration target device with respect to the first calibration target device based on the detection result of the first calibration tool by the first calibration target device and the detection result of the second calibration tool by the second calibration target device. In this control method for a calibration system, the calibration system further includes, in addition to the first calibration tool, a second calibration tool of a different type from the first calibration tool, which is installed so that its relative position with respect to the first calibration tool can be identified.This makes it possible to identify the relative position of the second calibration target device with respect to the first calibration target device even when the types of the first and second calibration target devices are different, for example, when the first calibration target device is an RGB camera and the second calibration target device is a motion capture camera, etc.

[0017] A control program according to one embodiment of the present invention is a control program for a calibration system comprising a first calibration tool, a second calibration tool of a different type from the first calibration tool and installed so that its relative position with respect to the first calibration tool can be identified, a first calibration target device configured to be able to detect the first calibration tool, a second calibration target device configured to be able to detect the second calibration tool, and an arithmetic processing device, and causes a computer to execute the following processes: detecting the first calibration tool by the first calibration target device; detecting the second calibration tool by the second calibration target device; and using the arithmetic processing device, calculating the relative position of the second calibration target device with respect to the first calibration target device based on the detection result of the first calibration tool by the first calibration target device and the detection result of the second calibration tool by the second calibration target device. In this control program, the calibration system further includes, in addition to the first calibration tool, a second calibration tool of a different type from the first calibration tool, which is installed so that its relative position with respect to the first calibration tool can be identified.This makes it possible to identify the relative position of the second calibration target device with respect to the first calibration target device even when the types of the first and second calibration target devices are different, for example, when the first calibration target device is an RGB camera and the second calibration target device is a motion capture camera, etc. [Effects of the Invention]

[0018] According to the present invention, it is possible to provide a calibration system, a control method thereof, and a control program that are capable of identifying the relative positional relationship between a plurality of calibration target devices of different types. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a block diagram showing an example of the configuration of a calibration system according to a first embodiment. [Figure 2] FIG. 2 is a conceptual diagram showing a specific example of the configuration of the calibration system shown in FIG. [Figure 3] 2 is a flowchart showing the operation of the calibration system shown in FIG. [Figure 4] FIG. 10 is a diagram illustrating an example of the configuration of a calibration system according to a second embodiment. [Figure 5] FIG. 10 is a diagram illustrating an example of the configuration of a calibration system according to a third embodiment. [Figure 6] FIG. 6 is a diagram showing a modification of the calibration system shown in FIG. [Figure 7] FIG. 10 is a diagram illustrating an example of the configuration of a calibration system according to a fourth embodiment. [Figure 8] FIG. 8 is a diagram showing a modification of the calibration system shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[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. Furthermore, not all of the configurations described in the embodiments are necessarily essential means for solving the problems. For clarity of explanation, the following description and drawings have been 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] <First Embodiment> 1 is a block diagram showing an example of the configuration of a calibration system 1 according to embodiment 1. In addition to a first calibration tool, the calibration system 1 further includes a second calibration tool of a different type from the first calibration tool, which is installed so that its relative position with respect to the first calibration tool can be identified. This makes it possible to identify the relative position of the second calibration target device with respect to the first calibration target device even when the first and second calibration target devices are of different types. This will be explained in detail below.

[0022] 1, the calibration system 1 includes at least calibration tools 11_1 and 11_2, a connecting member 12, calibration target devices 13_1 and 13_2, and a processing device 14. The processing device 14 and the calibration target devices 13_1 and 13_2 are configured to be able to communicate with each other via wire or wirelessly.

[0023] The calibration target device 13_1 is a device to be calibrated and is configured to be able to detect the calibration tool 11_1. The detection result of the calibration target device 13_1 with respect to the calibration tool 11_1 is used to estimate internal parameters (distortion) of the calibration target device 13_1, or to estimate external parameters (for example, to calculate the relative positional relationship between the calibration target device 13_1 and another calibration target device 13_2).

[0024] The calibration target device 13_1 is, for example, any of the following that can detect the calibration tool 11_1: an RGB camera, a motion capture camera, a thermal camera, a shape acquisition sensor such as a Lidar or a Sonar, a position detection sensor such as a Beacon or a GPS (Global Positioning System), and a light receiving element.

[0025] The calibration tool 11_1 is, for example, a calibration board that can be detected by an RGB camera, a calibration wand that can be detected by a motion capture camera, a metal calibration board that can be detected by a thermal camera, an object having a predetermined shape that can be detected by a shape acquisition sensor, a source of position information that can be detected by a position detection sensor, or a light-emitting element that emits light that can be received by a light-receiving element.

[0026] The calibration board is a board on which multiple feature points (markers) detectable by an RGB camera are regularly arranged. The calibration wand is a rod-shaped member on which multiple markers detectable by a motion capture camera are arranged at predetermined intervals. The metal calibration board is a board on which metal markers, such as copper markers, adjusted to a predetermined temperature, are regularly arranged so that they can be detected by a thermal camera.

[0027] The calibration target device 13_2 is a device to be calibrated, and is configured to be able to detect at least the calibration tool 11_2. The detection result of the calibration target device 13_2 with respect to the calibration tool 11_2 is used to estimate internal parameters of the calibration target device 13_2, or to estimate external parameters thereof.

[0028] Here, the calibration target device 13_2 is a device of a different type from the calibration target device 13_1. Specifically, the calibration target device 13_1 is any one of an RGB camera, a motion capture camera, a thermal camera, a shape acquisition sensor such as a lidar or a sonar, a position detection sensor such as a beacon or a GPS, and a light receiving element that can detect the calibration tool 11_2 and is different from the calibration target device 13_1.

[0029] The calibration tool 11_2 is, for example, any one of a calibration board detectable by an RGB camera, a calibration wand detectable by a motion capture camera, a metal calibration board detectable by a thermal camera, an object having a predetermined shape detectable by a shape acquisition sensor, a source of position information detectable by a position detection sensor, and a light-emitting element that emits light that can be received by a light-receiving element. However, since the calibration target devices 13_1 and 13_2 are different types from each other, the calibration tools 11_1 and 11_2 are also different types from each other.

[0030] That is, calibration tool 11_2 is any one of the following, different from calibration tool 11_1: a calibration board detectable by an RGB camera, a calibration wand detectable by a motion capture camera, a metal calibration board detectable by a thermal camera, an object having a predetermined shape detectable by a shape acquisition sensor, a source of position information detectable by a position detection sensor, and a light-emitting element that emits light that can be received by a light-receiving element.

[0031] Furthermore, the calibration tool 11_2 is disposed so that its relative position with respect to the calibration tool 11_1 can be specified. In the example of Fig. 1, the calibration tool 11_2 is connected to the calibration tool 11_1 by a connecting member 12 such as a rigid rod. This connecting member 12 can fix the relative positional relationship between the first and second calibration tools.

[0032] The calculation processing device 14 calculates the relative position (coordinates) of the calibration target device 13_2 with respect to the calibration target device 13_1 based on the detection result of the calibration tool 11_1 by the calibration target device 13_1 and the detection result of the calibration tool 11_2 by the calibration target device 13_2.

[0033] Specifically, in the calculation processing device 14, first, the relative position of the calibration tool 11_1 with respect to the calibration target device 13_1 is identified from the detection result of the calibration tool 11_1 by the calibration target device 13_1. Here, the calibration tool 11_1 and the calibration tool 11_2 are connected by the connecting member 12 so that the relative positional relationship is maintained. Therefore, it is possible to identify the relative position of the calibration tool 11_2 with respect to the calibration target device 13_1. Furthermore, from the detection result of the calibration tool 11_2 by the calibration target device 13_2, the relative position of the calibration target device 13_2 with respect to the calibration tool 11_2 is identified. Thereby, the relative position of the calibration target device 13_2 with respect to the calibration target device 13_1 is identified.

[0034] The calculation processing device 14 may be configured not only to calculate the relative position of the calibration target device 13_2 with respect to the calibration target device 13_1 as a reference, but also to estimate the internal parameters of the calibration target device 13_1 from the detection result of the calibration target device 13_1 with respect to the calibration tool 11_1, and to estimate the internal parameters of the calibration target device 13_2 from the detection result of the calibration target device 13_2 with respect to the calibration tool 11_2.

[0035] The arithmetic processing device 14 may be provided in a control device or the like separate from the calibration target devices 13_1 and 13_2, but is not limited thereto. For example, the arithmetic processing device 14 may be provided inside the calibration target device 13_1.

[0036] (Specific example of the configuration of calibration system 1) FIG. 2 is a diagram showing a specific example of the configuration of the calibration system 1 as a calibration system 1a.

[0037] 2, the calibration system 1a includes a calibration board 11_1a as the calibration tool 11_1 and a calibration wand 11_2a as the calibration tool 11_2. The calibration board 11_1a and the calibration wand 11_2a are connected by a connecting member 12 so that their relative positional relationship is maintained. The calibration system 1a also includes an RGB camera 13_1a as the calibration target device 13_1 that can detect the calibration board 11_1a, and a motion capture camera 13_2a as the calibration target device 13_2 that can detect the calibration wand 11_2a.

[0038] The combination of the types of the calibration tools 11_1 and 11_2 can be changed arbitrarily. Also, the combination of the types of the calibration target devices 13_1 and 13_2 can be changed arbitrarily as long as the calibration target devices 13_1 and 13_2 can detect the calibration tools 11_1 and 11_2, respectively.

[0039] (Calibration system 1 operation) FIG. 3 is a flowchart showing the operation of the calibration system 1. 3, in the calibration system 1, first, the calibration tool 11_1 is detected by the calibration target device 13_1 (step S101). In the example of the calibration system 1a shown in FIG. 2, the RGB camera 13_1a photographs the calibration board 11_1a.

[0040] Further, the calibration tool 11_2 is detected by the calibration target device 13_2 (step S102). In the example of Fig. 2, the motion capture camera 13_2a captures an image of the calibration wand 11_2a.

[0041] Thereafter, if necessary, the internal parameters of the calibration target devices 13_1 and 13_2 are estimated (step S103).

[0042] Thereafter, based on the detection results of the calibration target devices 13_1 and 13_2, the relative position of the calibration target device 13_2 with respect to the calibration target device 13_1 is calculated (step S104).

[0043] In the example of the calibration system 1a shown in FIG. 2, first, the relative position of the calibration board 11_1a with respect to the RGB camera 13_1a is identified from an image of the calibration board 11_1a captured by the RGB camera 13_1a. Here, the calibration board 11_1a and the calibration wand 11_2a are connected by a connecting member 12 so that the relative positional relationship is maintained. Therefore, it is possible to identify the relative position of the calibration wand 11_2a with respect to the RGB camera 13_1a. Furthermore, the relative position of the motion capture camera 13_2a with respect to the calibration wand 11_2a is identified from an image of the calibration wand 11_2a captured by the motion capture camera 13_2a. Thereby, the relative position of the motion capture camera 13_2a with respect to the RGB camera 13_1a is identified.

[0044] In this way, the calibration system 1 of this embodiment further includes, in addition to the calibration tool 11_1, a calibration tool 11_2 of a different type from the calibration tool 11_1, which is installed so that its relative position with respect to the calibration tool 11_1 can be identified.Therefore, even if the types of the calibration target devices 13_1 and 13_2 are different, the relative position (coordinates) of the calibration target device 13_2 with respect to the calibration target device 13_1 can be identified.

[0045] In the present embodiment, the calibration system 1 is described taking as an example a case where the relative positional relationship between two calibration target devices 13_1 and 13_2 is determined, but this is not limiting. For example, the calibration system 1 may be configured to determine the relative positional relationship between n calibration target devices 13_1 to 13_n, which is three or more. In this case, one or more of the calibration target devices 13_1 to 13_n are configured to be able to detect the calibration tool 11_1, and the rest are configured to be able to detect the calibration tool 11_2.

[0046] <Embodiment 2> 4 is a block diagram showing an example of the configuration of a calibration system 2 according to embodiment 2. Compared to the calibration system 1, the calibration system 2 includes a robot 20 having a robot arm 22 instead of the connecting member 12. The arithmetic processing device 14, the calibration target devices 13_1 and 13_2, and the robot 20 are configured to be able to communicate with each other via wire or wirelessly.

[0047] The calibration tool 11_1 and the calibration tool 11_2 are connected by a robot arm 22 instead of the kneaded material member 12. Here, the robot 20 is configured to be able to control the robot arm 22 while grasping its position and angle. Therefore, it is possible to identify the relative positional relationship between the calibration tool 11_1 and the calibration tool 11_2 from the control status of the robot arm 22 by the robot 20.

[0048] Thereby, similarly to the calibration system 1, the calibration system 2 can identify the relative position (coordinates) of the calibration target device 13_2 with respect to the calibration target device 13_1 even if the types of the calibration target devices 13_1 and 13_2 are different.

[0049] The robot 20 may be configured to be movable. Specifically, the robot 20 may be configured to be movable by remote control or may be configured to be movable autonomously. This facilitates installation and removal of the calibration tools 11_1 and 11_2. Furthermore, since the calibration tools 11_1 and 11_2 can be installed in high places or narrow places, the calibration system 2 can be applied to complex environments.

[0050] <Third Embodiment> Fig. 5 is a block diagram showing a configuration example of a calibration system 3 according to a third embodiment. Compared to the calibration system 1, the calibration system 3 includes a detection device 32 instead of the connecting member 12. The arithmetic processing device 14, the calibration target devices 13_1 and 13_2, and the detection device 32 are configured to be able to communicate with each other via wire or wirelessly. In the example of Fig. 5, the calibration tool 11_1 is mounted on an air vehicle (so-called drone) 30_1, which is a type of robot, and the calibration tool 11_2 is mounted on an air vehicle 30_2, which is also a type of robot.

[0051] The detection device 32 is attached to the calibration tool 11_1 and is configured to be able to identify the relative position of the calibration tool 11_2 with respect to the calibration tool 11_1 by detecting the calibration tool 11_2. The detection device 32 is, for example, the same type of device (for example, a motion capture camera) as the calibration target device 13_2.

[0052] Thereby, similarly to the calibration system 1, the calibration system 3 can identify the relative position (coordinates) of the calibration target device 13_2 with respect to the calibration target device 13_1 even if the types of the calibration target devices 13_1 and 13_2 are different.

[0053] Furthermore, since the flying bodies 30_1 and 30_2 are configured to be movable, the calibration system 3 can achieve the same effects as the calibration system 2. That is, the calibration tools 11_1 and 11_2 can be easily installed and removed. Furthermore, since the calibration tools 11_1 and 11_2 can be installed in high places or narrow places, the calibration system 3 can be applied to complex environments.

[0054] In the present embodiment, the case where the detection device 32 is configured to be able to detect the calibration tool 11_2 has been described as an example, but the present invention is not limited to this. As shown in a modified example (calibration system 3a) of Fig. 6, the detection device 32 may be configured to be able to detect a calibration tool 32a attached to the calibration tool 11_2, instead of detecting the calibration tool 11_2.

[0055] <Fourth Embodiment> Fig. 7 is a block diagram showing a configuration example of a calibration system 4 according to embodiment 4. Compared to the calibration system 3, the calibration system 4 further includes a calibration tool 11_3 and a detection device 42 attached thereto. In the example of Fig. 7, the calibration tool 11_3 is mounted on an air vehicle (so-called drone) 30_3, which is a type of robot.

[0056] The detection device 32 attached to the calibration tool 11_1 is configured to be able to identify the relative position of the calibration tool 11_3 with respect to the calibration tool 11_1 by detecting the calibration tool 11_3.

[0057] The detection device 42 attached to the calibration tool 11_3 is configured to be able to identify the relative position of the calibration tool 11_2 with respect to the calibration tool 11_3 by detecting the calibration tool 11_2.

[0058] Thereby, similarly to the calibration system 1, the calibration system 4 can identify the relative position (coordinates) of the calibration target device 13_2 with respect to the calibration target device 13_1 even if the types of the calibration target devices 13_1 and 13_2 are different.

[0059] Furthermore, since the flying bodies 30_1 to 30_3 are configured to be movable, the calibration system 4 can achieve the same effects as the calibration system 2. That is, the calibration tools 11_1 to 11_3 can be easily installed and removed. Furthermore, since the calibration tools 11_1 to 11_3 can be installed in high places or narrow places, the calibration system 4 can be applied to complex environments.

[0060] In the present embodiment, the calibration system 4 is described as having three calibration tools 11_1 to 11_3 configured so that the relative positional relationship between them can be specified, but this is not limiting. For example, the calibration system 4 may be provided with m calibration tools 11_1 to 11_m, which are four or more, configured so that the relative value relationship between them can be specified.

[0061] Furthermore, in the present embodiment, the case where the relative positional relationship between the calibration tools 11_1 and 11_2 is determined by using the detection device 32 and the relative positional relationship between the calibration tools 11_3 and 11_2 is determined by using the detection device 42 has been described as an example, but the present invention is not limited to this. The relative positional relationship between the calibration tools 11_1 to 11_3 may be determined by using any of the above-mentioned methods, such as a connecting member or a robot arm, instead of the detection devices 32 and 42. An example will be described below with reference to FIG. 8.

[0062] (Modification of Calibration System 4) FIG. 8 is a diagram showing a modification of the calibration system 4 as a calibration system 4a.

[0063] Compared to the calibration system 4, the calibration system 4a includes a robot 50 having a robot arm 52 instead of the detection device 32. In the example of FIG. 8, the calibration tools 11_1 and 11_3 are connected by the robot arm 52 instead of being mounted on the flying bodies 30_1 and 30_3. Here, the robot 50 is configured to be able to control the robot arm 52 while grasping its position and angle. Therefore, it is possible to identify the relative positional relationship between the calibration tool 11_1 and the calibration tool 11_3 from the control status of the robot arm 52 by the robot 50.

[0064] That is, in the calibration system 4 a, the relative positional relationship between the calibration tools 11 _ 1 and 11 _ 3 is determined by the robot 50 having the robot arm 52 instead of being determined by the detection device 32 .

[0065] As a result, the calibration system 4a can achieve the same effects as the calibration system 4.

[0066] As described above, the calibration systems according to the first to fourth embodiments further include, in addition to the first calibration tool, a second calibration tool of a different type from the first calibration tool, which is installed so that its relative position with respect to the first calibration tool can be identified. This makes it possible to identify the relative position of the second calibration target device with respect to the first calibration target device even when the first and second calibration target devices are of different types.

[0067] Although the present disclosure has been described as a hardware configuration in the above-mentioned first to fourth embodiments, the present disclosure is not limited to this. The present disclosure can be realized by causing a CPU (Central Processing Unit) to execute a computer program to control the calibration system.

[0068] The above-described program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Non-transitory computer-readable media include, for example, magnetic recording media, magneto-optical recording media, CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories. Magnetic recording media include, for example, flexible disks, magnetic tapes, and hard disk drives. Magneto-optical recording media include, for example, magneto-optical disks. Semiconductor memories include, for example, mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory). The program may also be supplied to a computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire or an optical fiber, or via a wireless communication path. [Explanation of symbols]

[0069] 1~4 Calibration system 1a Calibration System 3a Calibration System 4a Calibration System 11_1~11_3 Calibration Tool 11_1a Calibration board 11_2a Calibration wand 12 Connecting member 13_1~13_2 Calibration target device 13_1a RGB camera 13_2a Motion capture camera 14 Processing unit 20. Robot 22 Robot Arm 30_1~30_3 Flying object 32 Detection Device 32a Calibration Tool 42 Detection Device 50 Robot 52 Robot Arm

Claims

1. a first calibration tool; a second calibration tool of a different type from the first calibration tool, the second calibration tool being installed so that its relative position with respect to the first calibration tool can be identified; a first calibration target device configured to be able to detect the first calibration tool; a second calibration target device configured to be able to detect the second calibration tool; an arithmetic processing device that calculates a relative position of the second calibration target device with respect to the first calibration target device based on a detection result of the first calibration tool by the first calibration target device and a detection result of the second calibration tool by the second calibration target device; A calibration system comprising: a robot connecting the first calibration tool and the second calibration tool via a robot arm; Calibration system.

2. a first calibration tool; a second calibration tool of a different type from the first calibration tool, the second calibration tool being installed so that its relative position with respect to the first calibration tool can be identified; a first calibration target device configured to be able to detect the first calibration tool; a second calibration target device configured to be able to detect the second calibration tool; an arithmetic processing device that calculates a relative position of the second calibration target device with respect to the first calibration target device based on a detection result of the first calibration tool by the first calibration target device and a detection result of the second calibration tool by the second calibration target device; A calibration system comprising: the first calibration tool is provided with a detection device configured to detect the second calibration tool and thereby identify a relative position of the second calibration tool with respect to the first calibration tool; Calibration system.

3. a first robot equipped with the first calibration tool; a second robot equipped with the second calibration tool; Further provided with The calibration system of claim 2 .

4. At least one of the first and second robots is configured to be movable. The calibration system of claim 3 .

5. a first calibration tool; a second calibration tool of a different type from the first calibration tool, the second calibration tool being installed so that its relative position with respect to the first calibration tool can be identified; a first calibration target device configured to be able to detect the first calibration tool; a second calibration target device configured to be able to detect the second calibration tool; an arithmetic processing device that calculates a relative position of the second calibration target device with respect to the first calibration target device based on a detection result of the first calibration tool by the first calibration target device and a detection result of the second calibration tool by the second calibration target device; A calibration system comprising: Further comprising a third calibration tool; the first calibration tool is provided with a first detection device configured to detect the third calibration tool and thereby identify a relative position of the third calibration tool with respect to the first calibration tool; the third calibration tool is provided with a second detection device configured to detect the second calibration tool and thereby identify a relative position of the second calibration tool with respect to the third calibration tool; Calibration system.

6. a first robot equipped with the first calibration tool; a second robot equipped with the second calibration tool; a third robot equipped with the third calibration tool; Further provided with The calibration system of claim 5 .

7. At least one of the first to third robots is configured to be movable. The calibration system of claim 6 .

8. the first calibration target device is at least one of an RGB camera, a motion capture camera, a thermal camera, a shape acquisition sensor, a position detection sensor, and a light receiving element; the second calibration target device is at least one of an RGB camera, a motion capture camera, a thermal camera, a shape acquisition sensor, a position detection sensor, and a light receiving element, which is different from the first calibration target device; A calibration system according to any one of claims 1 to 7.

9. a first calibration tool; a second calibration tool of a different type from the first calibration tool, the second calibration tool being installed so that its relative position with respect to the first calibration tool can be identified; a first calibration target device configured to be able to detect the first calibration tool; a second calibration target device configured to be able to detect the second calibration tool; a robot connecting the first calibration tool and the second calibration tool via a robot arm; a processing unit; A method for controlling a calibration system, comprising: Detecting the first calibration tool by the first calibration target device; detecting the second calibration tool by the second calibration target device; using the arithmetic processing device, calculating a relative position of the second calibration target device with respect to the first calibration target device based on a detection result of the first calibration tool by the first calibration target device and a detection result of the second calibration tool by the second calibration target device; A method for controlling a calibration system.

10. a first calibration tool; a second calibration tool of a different type from the first calibration tool, the second calibration tool being installed so that its relative position with respect to the first calibration tool can be identified; a first calibration target device configured to be able to detect the first calibration tool; a second calibration target device configured to be able to detect the second calibration tool; a detection device provided on the first calibration tool and configured to detect the second calibration tool to identify a relative position of the second calibration tool with respect to the first calibration tool; a processing unit; A method for controlling a calibration system, comprising: Detecting the first calibration tool by the first calibration target device; detecting the second calibration tool by the second calibration target device; using the arithmetic processing device, calculating a relative position of the second calibration target device with respect to the first calibration target device based on a detection result of the first calibration tool by the first calibration target device and a detection result of the second calibration tool by the second calibration target device; A method for controlling a calibration system.

11. a first calibration tool; a second calibration tool of a different type from the first calibration tool, the second calibration tool being installed so that its relative position with respect to the first calibration tool can be identified; a first calibration target device configured to be able to detect the first calibration tool; a second calibration target device configured to be able to detect the second calibration tool; a robot connecting the first calibration tool and the second calibration tool via a robot arm; a processing unit; A control program for a calibration system, comprising: detecting the first calibration tool by the first calibration target device; detecting the second calibration tool by the second calibration target device; using the arithmetic processing device, a process of calculating a relative position of the second calibration target device with respect to the first calibration target device based on a detection result of the first calibration tool by the first calibration target device and a detection result of the second calibration tool by the second calibration target device; A control program that causes a computer to execute the above.

12. a first calibration tool; a second calibration tool of a different type from the first calibration tool, the second calibration tool being installed so that its relative position with respect to the first calibration tool can be identified; a first calibration target device configured to be able to detect the first calibration tool; a second calibration target device configured to be able to detect the second calibration tool; a detection device provided on the first calibration tool and configured to detect the second calibration tool to identify a relative position of the second calibration tool with respect to the first calibration tool; a processing unit; A control program for a calibration system, comprising: detecting the first calibration tool by the first calibration target device; detecting the second calibration tool by the second calibration target device; using the arithmetic processing device, a process of calculating a relative position of the second calibration target device with respect to the first calibration target device based on a detection result of the first calibration tool by the first calibration target device and a detection result of the second calibration tool by the second calibration target device; A control program that causes a computer to execute the above.

Images