초록 ▼

A robot calibration system for calibrating a robot and a method of determining a position of the robot to calibrate the robot are disclosed. The system includes an electrical ground defining a return for an electrical circuit. The robot, which is electrically connected to the ground, includes an arm

A robot calibration system for calibrating a robot and a method of determining a position of the robot to calibrate the robot are disclosed. The system includes an electrical ground defining a return for an electrical circuit. The robot, which is electrically connected to the ground, includes an arm having a tool surface operating within a robot workspace. The system also includes an electrical supply and a detection device. The electrical supply defines a source for the circuit and provides a charge and a reference voltage to the system. The detection device communicates with the electrical supply to detect variations in either the charge, the reference voltage, or both. The system further includes a calibration object. The calibration object is electrically insulated from the ground and is electrically connected to the electrical supply. The calibration object receives the charge and the reference voltage from the electrical supply to determine the position of the robot relative to the calibration object when the tool surface moves toward the calibration object to electrically interact with the calibration object.

대표청구항 ▼

A robot calibration system for calibrating a robot and a method of determining a position of the robot to calibrate the robot are disclosed. The system includes an electrical ground defining a return for an electrical circuit. The robot, which is electrically connected to the ground, includes an arm

A robot calibration system for calibrating a robot and a method of determining a position of the robot to calibrate the robot are disclosed. The system includes an electrical ground defining a return for an electrical circuit. The robot, which is electrically connected to the ground, includes an arm having a tool surface operating within a robot workspace. The system also includes an electrical supply and a detection device. The electrical supply defines a source for the circuit and provides a charge and a reference voltage to the system. The detection device communicates with the electrical supply to detect variations in either the charge, the reference voltage, or both. The system further includes a calibration object. The calibration object is electrically insulated from the ground and is electrically connected to the electrical supply. The calibration object receives the charge and the reference voltage from the electrical supply to determine the position of the robot relative to the calibration object when the tool surface moves toward the calibration object to electrically interact with the calibration object. me, wherein the identification result reliability calculating means determines a lighting environment using information about time before executing identification. 8. The robot as claimed in claim 1, comprising a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein the identification result reliability calculating means determines a lighting environment using the positional information. 9. The robot as claimed in claim 1, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person. 10. The robot as claimed in claim 1, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result is reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using at least one selected from a variance value of pixel values in the face area detected at the face detecting and identifying means to that in the vincinity of an outside of the face area, and an average pixel value of whole image. 11. The robot as claimed in claim 1, including a robot state observing means observing a lighting state in a room using a lighting device state observing means working with a lighting device in a room to detect whether or not the lighting device is turned on, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the persent lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using information whether or not the lighting device is turned on. 12. The robot as claimed in claim 1, including a robot state observing a curtain state in a room using a curtain state observing means working with curtains to detect whether or not the curtains are drawn, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the ident ification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using information whether or not the curtains are drawn. 13. The robot as claimed in claim 1, including a robot state observing means retaining information about time, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using information about time before executing identification. 14. The robot as claimed in claim 1, including a robot state observing means retaining positional information acquired by observing a position of a robot in a room, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the dientification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person; and the identification result reliability calculating means determines the present lighting environment using the positional information. 15. The robot at claimed in claim 1, wherein: when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliabilty calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot. 16. The robot as claimed in claim 1, wherein when the controlling means determines to shift to a state for identification, the identification result reliability calculating means determines whether or not the present lighting environment is suitable for identification; and when the identification result reliability calculating means determines that the present lighting environment is suitable for identification, the face detecting and identifying means identifies the person; or when the identification result reliability calculating means determines that the present lighting environment is not suitable for identification, the controlling means controls the robot not to identify the person, and the moving means moves the robot; and the identification result reliability calculating means determines the present lighting environment using at least one selected from a variance value of pixel values in the face area detected at the face detecting and identi