Robot control device and computer program

Abstract

A robot control device 10 comprises a computation unit 11 that calculates a positional relationship and an orientational relationship between a work machine 20 and a movable robotic device 2. The computation unit controls the robotic device, executes first measurement for measuring a first feature part present at a prescribed position of the work machine, executes second measurement for measuring a second feature part of prescribed shape provided on the work machine, executes first calibration for calculating a relative position between a first prescribed position of first coordinates of the work machine and a second prescribed position of second coordinates of the robotic device on the basis of the first measurement, and executes second calibration so that a second orientation of the second coordinates matches a first orientation of the first coordinates on the basis of the second measurement.

Description

Robot control device and computer program

[0001] The present disclosure relates to a robot control device capable of correcting its own position and a computer program.

[0002] In order to work accurately, a robot device may perform calibration to correct the relative positional relationship with the work object (see, for example, Patent Document 1). The robot device described in Patent Document 1 includes, for example, a robot arm, measures a predetermined position provided on a machine tool, and executes calibration of the relative positional relationship with the work object.

[0003] In recent years, a robot system including a machine tool such as a machine tool and a robot device that cooperates with the machine tool and in which the robot device is configured to be movable has been studied. Since the position of the robot device in these robot systems is sequentially changed, it is necessary to correct the positional relationship and the attitude relationship with the machine tool. The conventional technology has a fixed positional relationship between the work object and the robot device and calculates only the relative positional relationship. The conventional technology could not calculate the relative attitude relationship even when applied to a movable robot device and a machine tool.

[0004] Japanese Patent Application Laid-Open No. 2011-173200

[0005] An object of the present invention is to provide a robot control device capable of performing calibration between a movable robot device and a machine tool, and a computer program.

[0006] According to a first aspect of the present disclosure, a robot control device is provided, comprising a calculation unit for calculating the positional and orientational relationships between a work machine and a movable robot device, wherein the calculation unit controls the robot device, performs a first measurement to measure a first feature portion located at a predetermined position of the work machine, performs a second measurement to measure a second feature portion of a predetermined shape provided on the work machine, performs a first calibration based on the first measurement to calculate the relative position between a first predetermined position of the first coordinates of the work machine and a second predetermined position of the second coordinates of the robot device, and performs a second calibration based on the second measurement to make the second orientation of the second coordinates match the first orientation of the first coordinates.

[0007] This is a diagram showing the schematic configuration of a robot system according to an embodiment. This is a block diagram showing the configuration of the robot system. This is a diagram showing an example of first measurement and second measurement by the robot device. This is a diagram illustrating the principle of the first calibration. This is a diagram illustrating the principle of the second calibration. This is a diagram illustrating the principle of the second calibration. This is a diagram illustrating the configuration of the feature part and the mating key. This is a diagram illustrating the configuration of the feature part and the mating key. This is a diagram illustrating the configuration of the feature part and the mating key. This is a flowchart showing the processing flow of the calibration method executed in the robot control device.

[0008] As shown in Figure 1, the robot system 1 consists of a work machine 20 installed in a predetermined position and a movable robot device 2. The work machine 20 is, for example, a machine tool for processing a workpiece. The work machine 20 may be any other device that is the object of the work, not just a machine tool. The work machine 20 is provided with a feature section 21 which is the target of measurement for calibration, which will be described later. The feature section 21 is provided with a first feature section 22 which is the target of measurement for the first calibration, which will be described later. The feature section 21 is provided with a second feature section 23 which is the target of measurement for the second calibration, which will be described later.

[0009] Robot device 2 is a collaborative robot that operates in cooperation with the work machine 20. For example, robot device 2 moves itself to transport a workpiece, stops at a predetermined position, and places the workpiece inside the work machine 20. Robot device 2 performs specific tasks such as unloading the processed workpiece from the work machine 20, moving it, and placing the processed workpiece at another predetermined position.

[0010] The robot device 2 is equipped with a multi-jointed robot arm 3 that performs various tasks. The robot arm 3 is equipped with multiple arm members. Each arm member is connected to the others by rotatable joints. The joints are driven by a drive unit Mn (n: natural number), which is a power source. The drive unit Mn is composed of, for example, a reduction gear and a motor. The drive unit Mn is configured to adjust the joints of the arm members to any angle. By driving the drive unit Mn individually, the robot arm 3 can be moved arbitrarily. A detection unit 4 for detecting position is provided at the tip of the robot arm 3. The detection unit 4 is a sensor capable of detecting the feature part 21 provided on the work machine 20, as described later. Any sensor capable of detecting the feature part 21 may be used for the detection unit 4.

[0011] The robot device 2 includes a mobile running section 5. The running section 5 includes, for example, four wheels 8. The running section 5 includes drive units 6 and 7 that serve as power sources. The drive units 6 and 7 are composed of, for example, reduction gears and motors that individually drive at least two of the wheels 8. By individually driving two of the wheels 8, the running section 5 can move in any direction and stop at any position.

[0012] The robot device 2 includes a robot control device 10 that performs motion control and calculation processing. The robot control device 10 includes a calculation unit 11 that performs motion control and calculation processing. The calculation unit 11 is composed of a processor such as a CPU (Central Processing Unit). The calculation unit 11 controls the robot arm 3 and the travel unit 5. The calculation unit 11 calculates the positional relationship between the work machine 20 and the mobile robot device 2, as will be described later.

[0013] The robot control device 10 includes a storage unit 12 that stores data and computer programs necessary for performing control and calculations. The storage unit 12 is composed of a non-temporary storage medium such as a hard disk drive (HDD) or flash memory. For example, the storage unit 12 stores a computer program for performing the calibration method described later.

[0014] The working machine 20 has a reference first coordinate G1 set. The first coordinate G1 is, for example, a 3-axis xyz Cartesian coordinate. The robot control device 10 has a second coordinate G2 set, which is the coordinate system of the robot device 2. The second coordinate G2 is a 3-axis xyz Cartesian coordinate. The tip of the robot arm 3 has a third coordinate G3 set for measuring the first coordinate G1. The third coordinate G3 is a 3-axis xyz Cartesian coordinate.

[0015] As shown in Figure 3, the robot device 2 moves autonomously and stops at a specific location adjacent to the work machine 20. The positional and orientational relationships between the robot device 2 and the work machine 20 differ with each movement of the robot device 2. At the stopped position, the robot device 2 performs measurements to calibrate the positional and orientational relationships between the robot device 2 and the work machine 20. The robot device 2 measures the feature part 21 provided on the work machine 20 using the tip 3A of the robot arm 3.

[0016] Figure 4 shows the principle of the calibration method performed in the robot device 2. The calculation unit 11 calculates, for example, the position from the origin O2 of the second coordinate system G2 of the robot device 2 to the tip end 3A of the robot arm 3. The calculation unit 11 calculates a vector Vm (m: natural number) corresponding to each arm member based on the length and orientation of each arm member of the robot arm 3. The calculation unit 11 calculates the vector Vm based on the length of each arm member and the rotation angle of the drive unit Mn. The calculation unit 11 adds each vector Vm from the origin O2, which is the base end of the robot arm 3, to calculate the position of the tip end 3A. The calculation unit 11 sets a third coordinate system G3 with the tip end 3A as the origin O3.

[0017] As shown in Figure 5, the calculation unit 11 controls the robot arm 3, for example, at a stopped position to perform a first measurement. In the first measurement, the calculation unit 11 measures the first feature portion 23 located at a predetermined position on the work machine 20. The calculation unit 11 measures the origin O1 (first predetermined position) of the first coordinate G1 set on the first feature portion 23. The first predetermined position may be set at a coordinate other than the origin O1. In this embodiment, the first predetermined position is set to the origin O1 in order to simplify the calculation process. In the first measurement, the calculation unit 11 controls the robot arm 3 of the robot device 2 to perform a first operation and measures the position of the origin O1 (first predetermined position) provided on the first feature portion 22. The calculation unit 11 moves the tip portion 3A to coincide the tip portion 3A (origin O3) with the origin O1 of the first coordinate G1 set on the work machine 20. Based on the first measurement, the calculation unit 11 performs a first calibration to calculate the relative position between the origin O1 (first predetermined position) of the first coordinate system of the work machine 20 and the origin O2 (second predetermined position) of the second coordinate system of the robot device 2.

[0018] As shown in Figure 6, the calculation unit 11 performs a second measurement to measure a second feature portion 23 of a predetermined shape provided on the work machine 20. The calculation unit 11 causes the robot device 10 to perform a second operation to measure the directions of two orthogonal axes included in the first coordinate provided on the second feature portion. Based on the second measurement, the calculation unit 11 performs a second calibration to make the second orientation of the second coordinate G2 match the first orientation of the first coordinate G1.

[0019] The calculation unit 11 measures, for example, the orientation of the first coordinate G1 provided in the second feature section 23. The second feature section 23 is formed in a predetermined shape along the directions of at least two axes of the first coordinate G1. The calculation unit 11 controls the robot arm 3 to measure the predetermined shape. In the second measurement, the calculation unit 11 measures the orientation of the first coordinate G1 (see Figure 6(A)). In the second measurement, the calculation unit 11 controls the robot arm 3 of the robot device 2 to execute a second operation and measures the directions of two orthogonal axes included in the first coordinate G1 provided in the second feature section 23.

[0020] The calculation unit 11, for example, measures the second feature unit 23 in the second operation, measures the first direction of the first coordinate axis (e.g., the x-axis) included in the first coordinate G1, and measures the second direction of the second coordinate axis (e.g., the y-axis) which is orthogonal to the first coordinate axis. The calculation unit 11 aligns the x-axis direction of the corresponding third coordinate G3 with the x-axis direction of the first coordinate G1. The calculation unit 11 aligns the y-axis direction of the corresponding third coordinate G3 with the y-axis direction of the first coordinate G1 (see Figure 6(B)). The z-axis direction of the third coordinate G3 is necessarily determined by the z-axis direction of the first coordinate G1 once the x-axis and y-axis directions are determined.

[0021] As shown in Figure 7, the calculation unit 11 performs a second calibration to make the orientation of the second coordinate G2 match the orientation of the third coordinate G3, thereby matching the orientation of the second coordinate G2 to the orientation of the first coordinate G1. For example, the calculation unit 11 aligns the third direction of the third coordinate axis (x-axis) included in the second coordinate G2 with the x-axis of the third coordinate G3. As a result, the calculation unit 11 performs a first coordinate axis calibration to align the third direction of the third coordinate axis (x-axis) included in the second coordinate G2 with the first direction of the first coordinate axis (x-axis) of the first coordinate G1 (see Figure 7(B)). For example, the calculation unit 11 aligns the fourth direction of the fourth coordinate axis (y-axis) included in the second coordinate G2 with the y-axis of the third coordinate G3. As a result, the calculation unit 11 performs a second coordinate axis calibration to align the fourth direction of the fourth coordinate axis (y-axis) included in the second coordinate G2 with the second direction of the second coordinate axis (y-axis) of the first coordinate G1 (see Figure 7(B)).

[0022] Through the above process, the calculation unit 11 completes a first calibration to correct the relative positional relationship between the work machine and the movable robot device, and a second calibration to correct the relative posture relationship between the work machine and the movable robot device.

[0023] As shown in Figure 8, the tip portion 3A and feature portion 21 of the robot arm 3 are formed in a shape that allows for the execution of first and second calibrations. A fitting key 3B, which is formed in the shape of a rod with a rhomboid cross-section, is formed on the tip portion 3A of the robot arm 3. The feature portion 21 is formed in the shape of a disc, for example. At the center of the feature portion 21 is a first feature portion 22 formed in a rhomboid hole into which the fitting key 3B fits. The origin O1 of the first coordinate G1 is set in the first feature portion 22. The first feature portion 22 performs a first calibration to measure the origin O1 of the first coordinate G1 by fitting the fitting key 3B into it.

[0024] In the example shown in Figure 8, the first feature portion 22 also functions as the second feature portion 23. The second feature portion 23, formed in the rhombic hole, guides the mating key 3B to be fitted in the x-axis direction, and enables the measurement of the first coordinate G1 in the first direction in the second calibration. Furthermore, the second feature portion 23, formed in the rhombic hole, guides the mating key 3B to be fitted in the y-axis direction, and enables the measurement of the first coordinate G1 in the second direction in the second calibration. Looking at the first feature portion 22 in the direction toward the x-axis of the first coordinate G1, a mortar-shaped inclined surface 21A is formed on the front side of the feature portion 21, facing toward the first feature portion 22 (second feature portion 23). The inclined surface 21A is formed to guide the mating key 3B to the first feature portion 22 (second feature portion 23) when the mating key 3B comes into contact with it. The calculation unit 11 brings the mating key 3B into contact with the inclined surface 21A and searches for the first feature portion 22 (second feature portion 23).

[0025] The calculation unit 11 controls the robot arm 3 to move the mating key 3B while making contact in the direction of small reaction force, and when the mating key 3B reaches the first feature part 22 (second feature part 23), it mats the mating key 3B into the first feature part 22 (second feature part 23). The calculation unit 11 performs a first calibration and a second calibration when the mating key 3B is mated into the first feature part 22 (second feature part 23). With the disc-shaped feature part 21, the calculation unit 11 can perform the first calibration and the second calibration by performing the operation of mating key 3B mating into the first feature part 22 (second feature part 23).

[0026] In the first measurement, the calculation unit 11 performs a first operation to fit the mating key 3B of the robot device 2 to the origin O1 (first predetermined position) of the first coordinate G1 provided on the first feature unit 22, and performs a first calibration. In the second operation of the second measurement, the calculation unit 11 fits the mating key 3B along the first direction of the x-axis (first coordinate axis) of the first coordinate G1, and aligns the third direction of the x-axis (third coordinate axis) of the second coordinate G2 with the first direction. In the second operation of the second measurement, the calculation unit 11 fits the mating key 3B in the second direction of the y-axis (second coordinate axis) of the first coordinate G1, and aligns the fourth direction of the y-axis (fourth coordinate axis) of the second coordinate G2 with the second direction. Through the above operation, the calculation unit 11 performs a second operation for the second measurement and completes the second calibration.

[0027] As shown in Figure 9, the tip portion 3A and feature portion 21 of the robot arm 3 may be formed in other shapes that enable the execution of the first calibration and the second calibration. The tip portion 3A of the robot arm 3 has a rod-shaped mating key 3B with a rhombic cross-section. The feature portion 21 has, for example, a groove-shaped second feature portion 23 into which the tip of the mating key 3B fits. The cross-sectional shape of the second feature portion 23 constrains the mating key 3B in the first direction of the x-axis (first coordinate axis) of the first coordinate G1 when the mating key 3B is fitted. The second feature portion 23 causes the measurement of the first direction of the x-axis (first coordinate axis) of the first coordinate G1 to be performed as part of the second calibration by fitting the tip of the mating key 3B.

[0028] The second feature section 23 is formed along the second direction of the y-axis (second coordinate axis) of the first coordinate G1. The second feature section 23 is made to trace the tip of the mating key 3B, thereby performing the measurement of the second direction of the y-axis (second coordinate axis) of the first coordinate G1, which is part of the second calibration. The first feature section 22 is formed at one end of the second feature section 23. The origin O1 of the first coordinate G1 is set in the first feature section 22. The first feature section 22 is made to perform the first calibration, which measures the origin O1 of the first coordinate G1, by mating the mating key 3B into it.

[0029] An inclined surface 21A is formed around the second feature portion 23 when viewed in the cross-sectional direction. The inclined surface 21A is formed to guide the mating key 3B to the second feature portion 23 when the mating key 3B comes into contact with it. The calculation unit 11 brings the mating key 3B into contact with the inclined surface 21A and searches for the second feature portion 23. The calculation unit 11 controls the robot arm 3 to move the mating key 3B while making contact in the direction of small reaction force, and when the mating key 3B reaches the second feature portion 23, it mats the mating key 3B into the second feature portion 23.

[0030] At this time, the calculation unit 11 fits the mating key 3B in the first direction of the x-axis (first coordinate axis) of the first coordinate G1, and aligns the third direction of the x-axis of the third coordinate G3 with the first direction of the x-axis of the first coordinate G1. As a result, the calculation unit 11 aligns the x-axis (third coordinate axis) of the second coordinate G2 with the first direction of the x-axis of the first coordinate G1.

[0031] The calculation unit 11 moves the mating key 3B along the second direction of the y-axis (second coordinate axis) of the first coordinate G1, and aligns the fourth direction of the y-axis of the third coordinate G3 with the first direction of the x-axis of the first coordinate G1. As a result, the calculation unit 11 aligns the y-axis (fourth coordinate axis) of the second coordinate G2 with the second direction of the y-axis of the first coordinate G1. Through the above operation, the calculation unit 11 performs the second operation for the second measurement and completes the second calibration.

[0032] The calculation unit 11 moves the mating key 3B along the second feature section 23, reaches the first feature section 22, and mates the mating key 3B into the first feature section 22. As a result, the calculation unit 11 performs a first operation to measure the origin O1 of the first coordinate G1. The calculation unit 11 then performs a first operation to mate the mating key 3B of the robot device 2 into the position of the origin O1 (first predetermined position) of the first coordinate G1 provided in the first feature section 22, and performs a first calibration.

[0033] As shown in Figure 10, the mating key 3B may be formed in the shape of a rod with a triangular cross-section. The tip of the mating key 3B may be formed to be pointed in a triangular shape. The cross-sectional shape of the groove-shaped second feature portion 23 may be formed so as to fit the pointed tip shape of the mating key 3B.

[0034] As shown in Figure 11, the mating key 3B may be formed in the shape of a rod with a trapezoidal cross-section. The tip of the mating key 3B may also be formed in a trapezoidal shape. The cross-sectional shape of the groove-shaped second feature portion 23 may be formed so as to fit the trapezoidal tip shape of the mating key 3B.

[0035] The shape of the mating key 3B, the shape of the first feature portion 22, and the shape of the second feature portion 23 may be combined in any way other than the combination described above. The shape of the mating key 3B, the shape of the first feature portion 22, and the shape of the second feature portion 23 should be formed in a way that allows for first measurement and second measurement.

[0036] The first and second calibrations described above may be performed not only by performing the first and second measurements by fitting the mating key 3B and the feature part 22, but may also be performed using other measurement methods as long as it is possible to measure the position of the origin O1 (first predetermined position) of the first coordinate G1 and the directions of at least two axes of the first coordinate G1. For example, if the work machine 20 has feature parts such as doors or corners of housings that coincide with the directions of at least two axes included in the first coordinate G1, the first and second measurements may be performed by measuring the predetermined position and the two axial directions of these feature parts. The first and second measurements may be performed not only by fitting the mating key 3B and the feature part 22, but also by contact with the feature part. The first and second measurements may be performed based on three-dimensional or two-dimensional laser measurement of the feature part. The first and second measurements may be performed based on image data of the feature part taken by a camera. The first and second measurements may be performed by measuring the positions of at least three points, which are combinations of the origin O2 (a predetermined position) of the first coordinate system G1 and at least two points from among one point included on the x-axis of the first coordinate system G1, one point included on the y-axis of the first coordinate system G1, and one point included on the z-axis of the first coordinate system G1.

[0037] Figure 12 shows a flowchart illustrating the processing flow of the calibration method executed in the robot control device 10. The calibration method is executed based on a computer program that can be installed on the computer mounted on the robot control device 10. The computer program causes the arithmetic unit 11 (processor) to perform the following processes.

[0038] The calculation unit 11 controls the robot arm 3 of the robot device 2 and performs a first measurement to measure a first feature portion 22 located at a predetermined position on the work machine 20 (S100). The calculation unit 11 performs a second measurement to measure a second feature portion 23 of a predetermined shape provided on the work machine 20 (S102). Based on the first measurement, the calculation unit 11 performs a first calibration to calculate the relative position between the origin O1 (first predetermined position) of the first coordinate G1 of the work machine 20 and the origin O2 (second predetermined position) of the second coordinate G2 of the robot device 2 (S104). Based on the second measurement, the calculation unit 11 performs a second calibration to match the second orientation of the second coordinate G2 to the first orientation of the first coordinate G1 (S106).

[0039] As described above, the robot control device 10 can perform a first calibration by calculating the positional relationship between the movable robot device 2 and the work machine 20 fixed in a predetermined position by performing a first measurement. The robot control device 10 can perform a second calibration by calculating the attitude relationship between the robot device 2 and the work machine 20 by performing a second measurement. The robot control device 10 can perform the first and second measurements simply and accurately by fitting or tracing the mating key 3B provided on the robot device 2 onto the feature part 21.

[0040] The calculation unit 11 of the robot control device 10 described above is a functional module realized, for example, by a computer program executed on a processor. The computer program for executing the processing of the processor that realizes the calculation unit 11 of the robot control device 10 may be provided in the form of being recorded on a computer-readable non-temporary recording medium such as semiconductor memory, magnetic recording medium, or optical recording medium. The computer program may also be provided as a program product.

[0041] While embodiments of this disclosure have been described in detail, this disclosure is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, or partially deleted in various ways, without departing from the spirit of the invention or the idea and intent of the invention derived from the claims and their equivalents. For example, the order of operations and processes in the embodiments described above are given as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above. Furthermore, combining some of the embodiments described above as appropriate is within the scope of this disclosure.

[0042] With respect to the above embodiments and variations, the following additional notes are disclosed. (Addendum 1) A robot control device comprising a calculation unit that calculates the positional relationship and orientation relationship between a work machine and a movable robot device, wherein the calculation unit controls the robot device, performs a first measurement to measure a first feature part located at a predetermined position of the work machine, performs a second measurement to measure a second feature part of a predetermined shape provided on the work machine, performs a first calibration to calculate the relative position between a first predetermined position of the first coordinates of the work machine and a second predetermined position of the second coordinates of the robot device based on the first measurement, and performs a second calibration to make the second orientation of the second coordinates match the first orientation of the first coordinates based on the second measurement. (Addendum 2) The robot control device according to Addendum 1, wherein in the first measurement, the calculation unit causes the robot device to perform a first operation to measure the position of the first predetermined position provided on the first feature part, and in the second measurement, the calculation unit causes the robot device to perform a second operation to measure the directions of two orthogonal axes included in the first coordinates provided on the second feature part. (Note 3) The robot control device according to Note 2, wherein the calculation unit, in the second calibration, measures the second feature portion, measures the first direction of the first coordinate axis included in the first coordinate, measures the second direction of the second coordinate axis orthogonal to the first coordinate axis, performs a first coordinate axis calibration to match the third direction of the third coordinate axis included in the second coordinate to the first direction, and performs a second coordinate axis calibration to match the fourth coordinate axis orthogonal to the third coordinate axis of the second coordinate to the second direction. (Note 4) The robot control device according to Note 3, wherein the calculation unit, in the first measurement, performs a first operation to fit the mating key of the robot device to the first predetermined position provided in the first feature portion, and in the second measurement, performs a second operation to measure the directions of two orthogonal axes included in the first coordinate provided in the second feature portion of the robot device.(Note 5) The robot control device according to Note 4, wherein in the second operation, the calculation unit fits the mating key in the first direction of the first coordinate axis, aligns it with the third direction of the third coordinate axis, fits the mating key in the second direction of the second coordinate axis, and aligns it with the fourth direction of the fourth coordinate axis. (Note 6) The robot control device according to Note 4, wherein in the second operation, the calculation unit fits the mating key in the first direction of the first coordinate axis, aligns it with the third direction of the third coordinate axis, traces the mating key in the second direction of the second coordinate axis, and aligns it with the fourth direction of the fourth coordinate axis. (Note 7) A computer program that can be installed on a robot control device for calculating the positional and orientational relationships between a work machine and a movable robot device, wherein the program causes a computer mounted on the robot control device to perform the following processes: control the robot device, perform a first measurement to measure a first characteristic part located at a predetermined position of the work machine, perform a second measurement to measure a second characteristic part of a predetermined shape provided on the work machine, perform a first calibration to calculate the relative position between a first predetermined position of the first coordinates of the work machine and a second predetermined position of the second coordinates of the robot device based on the first measurement, and perform a second calibration to match the second orientation of the second coordinates to the first orientation of the first coordinates based on the second measurement.

[0043] 1 Robot system, 2 Robot device, 3 Robot arm, 3A Tip, 3B Mating key, 4 Detection unit, 5 Travel unit, 6,7 Drive unit, 8 Wheel, 10 Robot control device, 11 Calculation unit, 12 Memory unit, 20 Working machine, 21 Feature unit, 21 First feature unit, 21A Inclined surface, 22 First feature unit, 23 Second feature unit, G1 First coordinate, G2 Second coordinate, G3 Third coordinate, Mn Drive unit, O1 Origin, O2 Origin, O3 Origin, Vm Vector

Claims

1. A robot control device comprising a calculation unit for calculating the positional and orientation relationship between a work machine and a movable robot device, wherein the calculation unit controls the robot device, performs a first measurement to measure a first characteristic part located at a predetermined position of the work machine, performs a second measurement to measure a second characteristic part of a predetermined shape provided on the work machine, performs a first calibration to calculate the relative position between a first predetermined position of the first coordinates of the work machine and a second predetermined position of the second coordinates of the robot device based on the first measurement, and performs a second calibration to make the second orientation of the second coordinates match the first orientation of the first coordinates based on the second measurement.

2. The robot control device according to claim 1, wherein the calculation unit, in the first measurement, causes the robot device to perform a first operation and measures the position of the first predetermined position provided in the first feature portion, and in the second measurement, causes the robot device to perform a second operation and measures the directions of two orthogonal axes included in the first coordinate provided in the second feature portion.

3. The robot control device according to claim 2, wherein the calculation unit, in the second calibration, measures the second feature portion, measures the first direction of the first coordinate axis included in the first coordinate, measures the second direction of the second coordinate axis orthogonal to the first coordinate axis, performs a first coordinate axis calibration to match the third direction of the third coordinate axis included in the second coordinate to the first direction, and performs a second coordinate axis calibration to match the fourth coordinate axis of the second coordinate, orthogonal to the third coordinate axis, to the second direction.

4. The robot control device according to claim 3, wherein the calculation unit causes the robot device to perform a first operation in the first measurement, which is to fit the mating key of the robot device into the first predetermined position provided in the first feature portion, and the calculation unit causes the robot device to perform a second operation in the second measurement, which is to measure the directions of two orthogonal axes included in the first coordinate provided in the second feature portion.

5. The robot control device according to claim 4, wherein the calculation unit, in the second operation, fits the mating key in the first direction of the first coordinate axis and aligns it with the third direction of the third coordinate axis, and fits the mating key in the second direction of the second coordinate axis and aligns it with the fourth direction of the fourth coordinate axis.

6. The robot control device according to claim 4, wherein in the second operation, the calculation unit fits the mating key in the first direction of the first coordinate axis, aligns it with the third direction of the third coordinate axis, traces the mating key in the second direction of the second coordinate axis, and aligns it with the fourth direction of the fourth coordinate axis.

7. A computer program installable on a robot control device for calculating the positional and orientational relationships between a work machine and a movable robot device, the program causing a computer mounted on the robot control device to perform the following processes: control the robot device; perform a first measurement to measure a first characteristic part located at a predetermined position of the work machine; perform a second measurement to measure a second characteristic part of a predetermined shape provided on the work machine; perform a first calibration to calculate the relative position between a first predetermined position of the first coordinates of the work machine and a second predetermined position of the second coordinates of the robot device based on the first measurement; and perform a second calibration to match the second orientation of the second coordinates to the first orientation of the first coordinates based on the second measurement.

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