Calibration device and transport robot equipped therewith

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 equipped with the same.

Background Art

[0002] Generally, in order to achieve high-precision 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 equipped with the same. [Means for solving the problem]

[0006] A calibration device according to this disclosure comprises: a first detection object installed on one of a first drive object configured to slide or rotate with respect to a first reference axis and a housing to which the first drive object is mounted; a first sensor installed on the other of the first drive object and the housing and capable of detecting the first detection object; a second detection object installed on one of a second drive object configured to slide or rotate with respect to a second reference axis and the housing to which the second drive object is mounted together with the first drive object; 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 the reference position of the first drive object in the housing according to the detection status of the first detection object by the first sensor, and sets the reference position of the second drive object in the housing according to the detection status of the second detection object by the second sensor, wherein the setting unit determines the setting order of the reference positions of the first drive object and the second drive object based on the respective operating statuses of the first drive object and the second drive object. This calibration device can quickly set the reference position for each of multiple interconnected driven objects. In other words, this calibration device can quickly perform the calibration of each of multiple interconnected driven objects. [Effects of the Invention]

[0007] According to this disclosure, it is possible to provide a calibration device capable of quickly performing calibration on each of a plurality of related driven objects, and a transport robot equipped with the same. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic perspective view showing the appearance of a transport robot to which the calibration device according to Embodiment 1 is applied. [Figure 2] This is a schematic perspective view showing a part of a transport robot to which the calibration device according to Embodiment 1 is applied. [Figure 3] This is a schematic perspective view showing a part of a transport robot to which the calibration device according to Embodiment 1 is applied. [Figure 4] This is a schematic plan view illustrating an example of calibration using the calibration device according to Embodiment 1. [Figure 5] This is a schematic plan view illustrating an example of calibration using the calibration device according to Embodiment 1. [Figure 6] This is a schematic plan view illustrating an example of calibration using the calibration device according to Embodiment 1. [Figure 7] This is a flowchart showing the operation of the calibration device according to Embodiment 1. [Figure 8] This is a schematic plan view illustrating an example of the operation of the calibration device according to Embodiment 1. [Modes for carrying out the invention]

[0009] The present invention will be described below through embodiments of the invention, but the invention claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means of solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted where necessary.

[0010] <Embodiment 1> Figure 1 is a schematic perspective view showing the external appearance of a transport robot to which the calibration device according to Embodiment 1 is applied. Figures 2 and 3 are schematic perspective views showing a part of the transport robot according to Embodiment 1. The transport robot according to this embodiment is an autonomous mobile robot capable of automatically transporting trays placed on shelves etc. installed at the starting point, placing them on the top plate, to the destination, and transferring them to shelves etc. installed at the destination.

[0011] The transport robot 100 according to this embodiment comprises at least a housing 101, wheels 102, a top plate 103, a storage compartment 104, and a calibration device 120. The transport robot 100 also comprises, for each object to be driven, a motor (actuator) for driving the object and an encoder for measuring the angle information of the motor, etc.

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

[0013] The top plate 103 is supported by the housing 101 via a lifting shaft 107 whose axial direction is vertical (z-axis direction). Here, the top plate 103 is configured to slide vertically as the lifting shaft 107 extends and retracts along the vertical direction. In other words, the top plate 103 is configured to be vertically movable. The transport robot 100 is provided with a first motor and a first encoder for the vertical extension and retraction of the lifting shaft 107. The first motor drives the lifting shaft 107 to extend and retract vertically. The first encoder measures angle information of the first motor, etc. The calibration device 120 performs vertical calibration of the lifting shaft 107, which is the object driven by the first motor. In other words, the calibration device 120 sets the vertical reference position (initial position) of the lifting shaft 107. The method of vertical calibration of the lifting shaft 107 by the calibration device 120 will be described later.

[0014] Furthermore, the top plate 103 is configured to rotate along the horizontal plane (xy plane) with the lifting axis 107 as the axis of rotation. The transport robot 100 is equipped with a second motor and a second encoder for the rotation of the lifting axis 107. The second motor drives the lifting axis 107 to rotate it. The second encoder measures the angle information of the second motor. The calibration device 120 performs calibration of the rotation angle of the lifting axis 107, which is the object driven by the second motor. In other words, the calibration device 120 sets the reference position of the rotation angle of the lifting axis 107. The method of calibration of the rotation angle of the lifting axis 107 by the calibration device 120 will be described later.

[0015] Furthermore, the top plate 103 is configured to slide horizontally by the movement of a linear motion axis 110 for sliding the top plate 103 along the horizontal direction. The transport robot 100 is equipped with a third motor and a third encoder for the horizontal movement of this linear motion axis 110. The third motor drives the linear motion axis 110 to move it horizontally. The third encoder measures angle information of the third motor, etc. The calibration device 120 performs horizontal calibration of the linear motion axis 110 for sliding the top plate 103, which is the object driven by the third motor. The method of horizontal calibration of the linear motion axis 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 having the entrance / exit from this entrance / exit. The conveying robot 100 hooks the conveyed object on the hook 108 and moves the linear motion shaft 109 to which the hook 108 is attached at the 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. Further, the conveying 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 provided with the entrance / exit of the hook 108 is referred to as the receiving and delivering port of the conveyed object on the top plate 103.

[0017] The conveying 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 drive 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 the transfer of the conveyed object is performed 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 toward the external shelf. Then, by sliding the top plate 103 toward the external shelf side, the top plate 103 and the external shelf are connected. Then, the transfer of the conveyed object is performed between the top plate 103 and the external shelf using the hook 108. After the transfer of the conveyed object is performed between the top plate 103 and the external shelf, for example, by executing the processing in the reverse order of the processing until the transfer of the conveyed object is performed between the top plate 103 and the external shelf, the top plate 103 returns to its original position.

[0020] In addition, when the transfer of the conveyed object is performed 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 toward the storage unit 104. Then, by sliding the top plate 103 toward the storage unit 104 side, the top plate 103 and the storage unit 104 are connected. Then, the transfer of the conveyed object is performed between the top plate 103 and the storage unit 104 using the hook 108. After the transfer of the conveyed object is performed between the top plate 103 and the storage unit 104, for example, by executing the processing in the reverse order of the processing until the transfer of the conveyed object is performed between the top plate 103 and the storage unit 104, the top plate 103 returns to its original position.

[0021] Here, in the case of the first to fifth encoders, if the power supply to the transport robot 100 is shut down, the stored angle information will be undefined. Therefore, when the transport robot 100 is powered on, it is necessary to perform calibration (setting of reference position) of the objects driven by the first to fifth motors. Accordingly, the calibration device 120 performs calibration of each object when the power is turned on. Note that the calibration device 120 may perform calibration of each object as needed during operation, not limited to when the power is turned on.

[0022] The calibration method for each driven object using the calibration device 120 will be explained below using Figures 2 and 4-6. Figures 4-6 are schematic plan views illustrating an example of calibration using the calibration device 120.

[0023] First, using Figure 4, we will explain an example in which the calibration device 120 performs horizontal calibration of the object to be driven, which is a linear motion shaft 109 with a hook 108 attached to its tip. Figure 4 shows the top plate 103, the hook 108, the linear motion shaft 109, and a part of the calibration device 120. Also, Figure 4 shows the object to be detected 131, the sensor 132, and the setting unit 123 as part of the calibration device 120.

[0024] The object to be detected 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 reflector and is attached to the top plate 103 (housing side). The sensor 132 is configured to detect the object to be detected 131 located within the detection range A1. Note that the mounting locations of the sensor 132 and the object to be detected 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 object to be calibrated, at a speed v1 in the direction that houses the hook 108 inside the top plate 103 (negative direction of the y-axis). The setting unit 123 then sets the position of the linear motion axis 109 at the timing when the sensor 132 detects the transition from undetected to detected object 131 as the reference position. Alternatively, the setting unit 123 may slide the linear motion axis 109 in the opposite direction (positive direction of the y-axis) and set the position of the linear motion axis 109 at the timing when the sensor 132 detects the transition from detected to undetected object 131 as the reference position.

[0026] Alternatively, if the detection timing of the transition from undetected to detected object 131 by sensor 132 is delayed, causing object 131 to move inside the detection range A1 of sensor 132, the setting unit 123 may slide the linear shaft 109 in the opposite direction (positive direction of the y-axis) at a speed v2 slower than speed v1, and set the position of the linear shaft 109 at the timing when sensor 132 detects the transition from detected to undetected object 131 as the reference position. Here, since speed v2 is slower than speed v1, the timing difference in the detection timing of the transition from detected to undetected object 131 by sensor 132 is small. Therefore, the calibration device 120 can accurately and quickly set the horizontal reference position of the linear shaft 109, which is the target of calibration. In other words, the calibration device 120 can accurately and quickly perform horizontal calibration of the linear shaft 109.

[0027] Next, using Figure 5, an example will be described in which the calibration device 120 performs horizontal calibration of the linear motion axis 110 for the sliding of the top plate 103, which is the object to be driven. Figure 5 shows the housing 101, the top plate 103, the hook 108, the linear motion axis 109, and a part of the calibration device 120. Also, Figure 5 shows the object to be detected 141, the sensor 142, and the setting unit 123 as part of the calibration device 120.

[0028] The object to be detected 141 has, for example, a specific shape, pattern, or color, and is mounted on a top plate 103 that is linked to a linear motion axis 110. The sensor 142 is, for example, a photo reflector and is mounted on the housing 101. The sensor 142 is configured to detect the object to be detected 141 located within the detection range A2. Note that the mounting locations of the sensor 142 and the object to be detected 141 may be reversed.

[0029] For example, in the calibration device 120, the setting unit 123 uses a motor to slide the linear motion axis 110, which is the object to be calibrated, at a speed v1 in the direction that houses the top plate 103 towards the housing 101 (negative direction of the y-axis). The setting unit 123 then sets the position of the linear motion axis 110 at the timing when the sensor 142 detects the transition from undetected to detected object 141 as the reference position. Alternatively, the setting unit 123 may slide the linear motion axis 110 in the opposite direction (positive direction of the y-axis) and set the position of the linear motion axis 110 at the timing when the sensor 142 detects the transition from detected to undetected object 141 as the reference position.

[0030] Alternatively, if the detection timing of the transition from undetected to detected object 141 by sensor 142 is delayed, causing object 141 to move inside the detection range A2 of sensor 142, the setting unit 123 may slide the linear shaft 110 in the opposite direction (positive direction of the y-axis) at a speed v2 slower than speed v1, and set the position of the linear shaft 110 at the timing when sensor 142 detects the transition from detected to undetected object 141 as the reference position. Here, since speed v2 is slower than speed v1, the timing difference in the detection of the transition from detected to undetected object 141 by sensor 142 is small. Therefore, the calibration device 120 can accurately and quickly set the horizontal reference position of the linear shaft 110, which is the target of calibration. In other words, the calibration device 120 can accurately and quickly perform horizontal calibration of the linear shaft 110.

[0031] Next, using Figure 2, we will explain an example in which the calibration device 120 performs vertical calibration of the lifting axis 107 that raises and lowers the top plate 103, which is the object to be driven. Figure 2 shows the object to be detected 121, the sensor 122, the setting unit 123, and the spring 124 as part of the calibration device 120.

[0032] The object to be detected 121 is a mechanical stopper attached to the housing 101. The sensor 122 is a pressure sensor that detects whether or not it has come into contact with the mechanical stopper, and is attached to the lifting shaft 107. The sensor 122 is also equipped with a spring 124 that absorbs the impact when the sensor 122 comes into contact with the mechanical stopper. Note that the mounting locations of the sensor 122 and the object to be detected 121 may be reversed.

[0033] The vertical calibration of the lifting axis 107 using the calibration device 120 is basically the same as the horizontal calibration of the linear motion axis 109 using 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, at a speed v1 in the direction that lowers the top plate 103 (negative z-axis direction). The setting unit 123 then sets the position of the lifting shaft 107 at the moment when the sensor 122 detects the transition from undetected to detected object 121 as the reference position. Alternatively, the setting unit 123 may slide the lifting shaft 107 in the opposite direction (positive z-axis direction) and set the position of the lifting shaft 107 at the moment when the sensor 122 detects the transition from detected to undetected object 121 as the reference position.

[0035] Alternatively, if the detection timing of the transition from undetected to detected object 121 by sensor 122 is delayed, and the lifting shaft 107 continues to descend due to the absorption of spring 124 even after sensor 122 has made contact with object 121, the setting unit 123 may slide the lifting shaft 107 in the opposite direction (positive z-axis direction) at a speed v2 slower than speed v1, and set the position of the lifting shaft 107 at the timing when sensor 122 detects the transition from detected to undetected object 121 as the reference position. Here, since speed v2 is slower than speed v1, the timing difference in the detection of the transition from detected to undetected object 121 by sensor 122 is small. Therefore, the calibration device 120 can accurately and quickly set the vertical reference position of the lifting shaft 107, which is the target of calibration. In other words, the calibration device 120 can accurately and quickly perform vertical calibration of the lifting shaft 107.

[0036] Next, using Figure 6, an example of the calibration device 120 performing calibration of the rotation angle of the lifting shaft 107, which is the object to be driven, will be explained. Figure 6 shows the housing 101, the lifting shaft 107, and a part of the calibration device 120. Also, Figure 6 shows the object to be detected 151, the sensor 152, and the setting unit 123 as part of the calibration device 120. The object to be detected 151 is attached to the lifting shaft 107. The sensor 152 is, for example, a photo reflector and is attached to the housing 101. The sensor 152 is configured to detect the object to be detected 151 located within the detection range A3. Note that the mounting locations of the sensor 152 and the object to be detected 151 may be reversed.

[0037] First, in the calibration device 120, the setting unit 123 uses a motor to rotate the lifting shaft 107, which is the object to be calibrated, counterclockwise at a speed v1. Then, the setting unit 123 sets the position of the lifting shaft 107 at the moment when the sensor 152 detects the transition from undetected to detected object 151 as the reference position. Alternatively, the setting unit 123 may rotate the lifting shaft 107 in the opposite direction (clockwise) and set the position of the lifting shaft 107 at the moment when the sensor 152 detects the transition from detected to undetected object 151 as the reference position.

[0038] Alternatively, if the detection timing of the transition from undetected to detected object 151 by sensor 152 is delayed, causing object 151 to move inside the detection range A2 of sensor 152, the setting unit 123 may rotate the lifting shaft 107 in the reverse direction (clockwise) at a speed v2 slower than speed v1, and set the position of the lifting shaft 107 at the timing when sensor 152 detects the transition from detected to undetected object 151 as the reference position. Here, since speed v2 is slower than speed v1, the timing difference in the detection of the transition from detected to undetected object 151 by sensor 152 is small. Therefore, the calibration device 120 can accurately and quickly set the reference position of the rotation angle of the lifting shaft 107, which is the target of calibration. In other words, the calibration device 120 can accurately and quickly perform the calibration of the rotation angle of the lifting shaft 107.

[0039] Incidentally, in a transport robot having multiple driveable objects that operate in relation to each other, when attempting to perform calibration on one of the driveable objects, another driveable object may interfere, potentially preventing the calibration of that object from being performed. Therefore, in the calibration device 120, the setting unit 123 determines the calibration order of each of the multiple driveable objects based on their operating status. The operating status of each driveable object is determined from the control status by the control device, etc. The following will explain this in detail using Figures 7 and 8.

[0040] Figure 7 is a flowchart showing the operation of the calibration device 120. Figure 8 is a schematic plan view illustrating an example of the operation of the calibration device 120. The process proceeds in the order of (A), (B), (C), and (D) in Figure 8. In the following, we will explain using the example where the linear motion axis 109 that slides the hook 108 horizontally, the linear motion axis 110 that slides the top plate 103 horizontally, and the lifting axis 107 that rotates the top plate 103 are the objects of calibration. Furthermore, in the following, we will explain using the example where the calibration device 120 starts performing calibration after the transport robot has moved the transported object T1 from the top plate 103 to the external shelf. Therefore, at the start of calibration, the hook 108 is extended from the top plate 103 towards the shelf, and the top plate 103 and the external shelf are connected.

[0041] First, the calibration device 120 selects a drive object to be calibrated from among several drive objects (step S101). For example, the calibration device 120 selects the linear shaft 110 that slides the top plate 103 horizontally as the object to be calibrated.

[0042] Subsequently, the calibration device 120 determines whether the calibration of the selected linear axis 110 is interfered with by other driven objects related to that linear axis 110 (step S102). The operating status of each driven object (i.e., whether one driven object is interfered with by another driven object) is determined from the control status by the control device, etc.

[0043] Referring to Figure 8(A), the linear motion axis 109 that slides the hook 108 horizontally protrudes from the top plate 103. Therefore, if we attempt to perform calibration of the linear motion axis 110 that slides the top plate 103 horizontally, the hook 108 may swing and unintentionally come into contact with the conveyed object T1. In other words, the calibration of the linear motion axis 110 is interfered with by the linear motion axis 109 (YES in step S102). Consequently, the calibration device 120 puts the calibration of the selected linear motion axis 110 on hold (step S104).

[0044] Then, with the calibration of the linear motion axis 110 on standby, the calibration device 120 selects a drive object that has not yet been calibrated as the calibration target (step S105 NO → step S101). For example, the calibration device 120 selects the linear motion axis 109 that slides the hook 108 horizontally as the calibration target.

[0045] Subsequently, the calibration device 120 determines whether the calibration of the selected linear axis 109 is interfered with by other driven objects related to the linear axis 109 (step S102).

[0046] Referring to Figure 8(A), the calibration of the linear shaft 109 is not interfered with by other driven objects associated with the linear shaft 109 (NO in step S102). Therefore, the calibration device 120 performs the calibration of the selected linear shaft 109 (step S103). Specifically, as shown in Figure 8(B), the calibration device 120 performs the calibration of the selected linear shaft 109 by sliding the hook 108 in a direction that houses it within the top plate 103.

[0047] Subsequently, the calibration device 120 selects an object that has not yet been calibrated as the object to be calibrated (NO in step S105 → step S101).

[0048] For example, the calibration device 120 selects the lifting axis 107 that rotates the top plate 103 as the calibration target. However, in this case, as shown in Figure 8(B), the top plate 103 is connected to an external shelf, so it is not possible to perform calibration of the lifting axis 107 that rotates the top plate 103. In other words, the calibration of the lifting axis 107 is interfered with by the linear axis 110 that slides the top plate 103 horizontally (YES in step S102). Therefore, in this case, the calibration device 120 puts the calibration of the selected lifting axis 107 on hold (step S104).

[0049] Then, with the calibration of the lifting shaft 107 on standby, the calibration device 120 selects a drive object that has not yet been calibrated as the calibration target (step S105 NO → step S101). For example, the calibration device 120 selects the standby linear shaft 110 as the calibration target. Alternatively, the calibration device 120 may select the standby linear shaft 110 as the calibration target after selecting the linear shaft 109, without selecting the lifting shaft 107.

[0050] Referring to Figure 8(B), since the hook 108 is already housed within the top plate 103, even if calibration of the linear motion axis 110 that slides the top plate 103 horizontally is performed, the hook 108 will not swing and unintentionally come into contact with the transported object T1. In other words, the calibration of the linear motion axis 110 is not interfered with by other driven objects, including the linear motion axis 109 that slides the hook 108 horizontally (NO in step S102). Therefore, the calibration device 120 performs calibration of the selected linear motion axis 110 (step S103). Specifically, as shown in Figure 8(C), the calibration device 120 performs calibration of the selected linear motion axis 110 by sliding the top plate 103 in the direction that houses it towards the housing 101.

[0051] Subsequently, the calibration device 120 selects the lifting shaft 107, which is a drive unit that has not yet been calibrated, as the target for calibration (NO in step S105 → step S101).

[0052] Referring to Figure 8(C), the top plate 103 is already housed in the housing 101 and is not connected to the external shelf, so there is no problem in performing the calibration of the lifting axis 107 that rotates the top plate 103. In other words, the calibration of the lifting axis 107 is not interfered with by other driven objects, including the linear axis 110 that slides the top plate 103 horizontally (NO in step S102). Therefore, the calibration device 120 performs the calibration of the selected lifting axis 107 (step S103). Specifically, as shown in Figure 8(D), the calibration device 120 performs the calibration by rotating the top plate 103 in a direction that rotates it, for example, to the left, with respect to the selected lifting axis 107.

[0053] Subsequently, if there are no drive objects that have not yet been calibrated (YES in step S105), the calibration device 120 terminates the calibration process.

[0054] In addition, for example, if there are objects to be transported on the top plate 103, the calibration device 120 may wait before performing the calibration of each drive object, and then perform the calibration of each drive object after the objects to be transported have been moved from the top plate 103 to an external shelf or storage unit 104.

[0055] Thus, the calibration device according to this disclosure determines the calibration order of each of the multiple interconnected drive objects based on the operating status of each of the multiple interconnected drive objects. This allows the calibration device according to this disclosure to quickly set the reference position of each of the multiple interconnected drive objects. In other words, the calibration device according to this disclosure can quickly perform the calibration of each of the multiple interconnected drive objects.

[0056] The present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. For example, the calibration device according to this disclosure is not limited to applications to transport robots, but can be applied to any device or system that requires calibration.

[0057] Furthermore, this disclosure can be realized by having a CPU (Central Processing Unit) execute a computer program to perform some or all of the control processing in the calibration device 120.

[0058] The program described above includes, when loaded into a computer, a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments. The program may be stored in a non-temporary computer-readable medium or a physical storage medium. Examples, but not limited to, include 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® disc, or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage, or other magnetic storage devices. The program may be transmitted over a temporary computer-readable medium or a communication medium. Examples, but not limited to, include temporary computer-readable medium or a communication medium that includes electrically, optically, acoustically, or otherwise propagating signals. [Explanation of Symbols]

[0059] 100 Transport robot, 101 Housing, 102 Wheels, 103 Top plate, 104 Storage section, 107 Lifting axis, 108 Hook, 109 Linear axis, 110 Linear axis, 120 Calibration device, 121 Object to be detected, 122 Sensor (pressure sensor), 123 Setting section, 124 Spring, 131 Object to be detected, 132 Sensor (photo reflector), 141 Object to be detected, 142 Sensor (photo reflector), 151 Object to be detected, 152 Sensor (photo reflector)

Claims

1. A first drive object configured to slide or rotate with respect to a first reference axis, and a first detection object installed on one side of the housing to which the first drive object is attached, A first sensor is installed on the other side of the first drive target and the housing, and is capable of detecting the first detection target, A second drive object configured to slide or rotate with respect to a second reference axis, and a second detection object installed on one of the housings to which the second drive object is mounted together with the first drive object, A second sensor is installed on the other side of the second object to be detected and the housing, and is capable of detecting the second object to be detected. A setting unit sets a reference position on the housing of the first drive object according to the detection status of the first detection object by the first sensor, and sets a reference position on the housing of the second drive object according to the detection status of the second detection object by the second sensor. A calibration device equipped with, If the setting unit determines that the second drive object cannot be slid or rotated by the predetermined operation of the first drive object, it sets the reference position of the second drive object after the predetermined operation of the first drive object is completed. Calibration device.

2. A third drive object configured to slide or rotate with respect to a third reference axis, and a third detection object installed on one side of the housing to which the third drive object is mounted together with the first and second drive objects, A third sensor is installed on the other side of the third drive target and the housing, and is capable of detecting the third detection target, Furthermore, If the setting unit determines that the third drive object cannot be slid or rotated by a predetermined operation of at least one of the first drive object and the second drive object, it sets the reference position of the third drive object after the predetermined operation of at least one of the first drive object and the second drive object is completed. The calibration apparatus according to claim 1.

3. The calibration device according to claim 1, The first object to be driven and The aforementioned second drive target object, The aforementioned housing and, A transport robot equipped with [a specific feature / equipment].

Images