US 11,865,730 B2
Camera position/attitude calibration device, camera position/attitude calibration method, and robot
Hideyuki Kume, Tokyo (JP); Ryosuke Miki, Tokyo (JP); So Sasatani, Tokyo (JP); and Masaya Itoh, Tokyo (JP)
Assigned to Hitachi, Ltd., Tokyo (JP)
Appl. No. 17/055,821
Filed by Hitachi, Ltd., Tokyo (JP)
PCT Filed Jun. 5, 2018, PCT No. PCT/JP2018/021497
§ 371(c)(1), (2) Date Nov. 16, 2020,
PCT Pub. No. WO2019/234814, PCT Pub. Date Dec. 12, 2019.
Prior Publication US 2021/0229290 A1, Jul. 29, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 9/04 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 9/04 (2013.01); B25J 13/089 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A camera pose calibration device comprising:
a task operation planning unit that plans a task operation plan for executing a task that is set in a robot, from an image captured by a camera installed on the robot and a pose of the robot;
a calibration operation planning unit that plans a calibration operation plan necessary for calibrating a relative pose of the camera and the robot from the image and the pose of the robot; and
an integration operation planning unit that plans an integrated operation plan by integrating the task operation plan planned by the task operation planning unit and the calibration operation plan planned by the calibration operation planning unit, wherein
the camera pose calibration device operates the robot.