Target detection method and detection device including calibration function

Patent metadata

Field	Value
Publication number	US-2023302651-A1
Application number	US-202318187748-A
Country	US
Kind code	A1
Filing date	Mar 22, 2023
Priority date	Mar 24, 2022
Publication date	Sep 28, 2023
Grant date	—

Abstract

There are provided a target detection method and detection device that include a calibration function and can maintain detection accuracy of a target irrespectively of a change (such as a temperature) in external environment.
A target detection method includes: a step of calculating a quantitative value; a step of, at a first position information generation device, measuring a first target; a step of, at a second position information generation device, measuring a second target; a step of calculating a position of the second target using the first position information generation device as a position reference based on a measurement value of the first target obtained by the first position information generation device, a measurement value of the second target obtained by the second position information generation device, and the quantitative value; and a step of calibrating the quantitative value before measuring a third target using the second position information generation device.

First claim

1 . A target detection method including a calibration function comprising:
a step of calculating a quantitative value; a step of, at a first position information generation device, measuring a first target; a step of, at a second position information generation device, measuring a second target; a step of calculating a position of the second target using the first position information generation device as a position reference based on a measurement value of the first target obtained by the first position information generation device, a measurement value of the second target obtained by the second position information generation device, and the quantitative value; and a step of calibrating the quantitative value before measuring a third target using the second position information generation device.

2 . The target detection method including the calibration function according to claim 1 , wherein
the quantitative value is an origin position and a posture of the second position information generation device with at least one of the second position information generation device and a marker serving as a position reference, and a processing step for calculating and/or calibrating the quantitative value includes a first step of, at the first position information generation device, measuring at least one of the second position information generation device and the marker, a second step of, at the first position information generation device, measuring a fourth target, a third step of, at the second position information generation device, measuring the fourth target, and a fourth step of calculating and/or calibrating the quantitative value based on measurement results in the first step, the second step, and the third step.

3 . The target detection method including the calibration function according to claim 2 , further comprising a step of measuring a fifth target for securing a position and a posture of the fourth target.

4 . The target detection method including the calibration function according to claim 1 , wherein the quantitative value is a value that is determined in advance and differs depending on a temperature of the second position information generation device, and the quantitative value is calculated and/or calibrated based on temperature measurement of the second position information generation device.

5 . The target detection method including the calibration function according to claim 1 , wherein
the first position information generation device is a laser tracker, and the second position information generation device is a 3D scanner.

6 . The target detection method including the calibration function according to claim 2 , wherein
the first position information generation device is a laser tracker, and the second position information generation device is a 3D scanner.

7 . The target detection method including the calibration function according to claim 3 , wherein
the first position information generation device is a laser tracker, and the second position information generation device is a 3D scanner.

8 . The target detection method including the calibration function according to claim 4 , wherein
the first position information generation device is a laser tracker, and the second position information generation device is a 3D scanner.

9 . A target detection device including a calibration function comprising:
a device that calculates a quantitative value; a first position information generation device that measures a first target; and a second position information generation device that measures a second target, wherein a position of the second target is calculated using the first position information generation device as a position reference based on a measurement value of the first target obtained by the first position information generation device, a measurement value of the second target obtained by the second position information generation device, and the quantitative value, and the quantitative value is calibrated before the second position information generation device measures a third target.

Assignees

• Shiroki Corp
• Tamadic Co Ltd
• Shinya Hirano
• Tact System Co Ltd

Inventors

• Okumura Yu
• Matsushita Naofumi
• Nakamura Junya
• Uchiyama Tomokazu
• Fujino Shinji
• Kakureya Motohiro
• Yagi Kohei
• Hirano Shinya
• Fujiyama Hitoshi

Classifications

• B25J9/1692 Primary

  Calibration of manipulator · CPC title

• G01B11/2504 Primary

  Calibration devices · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• G01B11/002

  for measuring two or more coordinates · CPC title

• G01B21/042

  Calibration or calibration artifacts (G01B3/30, G01B9/02072 take precedence) · CPC title