Robot
Provided is a robot capable of automatically confirming the accuracy of a three-dimensional sensor and correcting the accuracy. The robot comprises: a three-dimensional sensor; a notification unit for notifying a determination timing for determining a deviation of an optical system of the three-dimensional sensor, on the basis of a change in a physical quantity related to the three-dimensional sensor; and a determination unit for determining whether or not there is a deviation at the optical system of the three-dimensional sensor. The change in the physical quantity includes at least one of acceleration and the number of times of acceleration and deceleration added to the three-dimensional sensor, a change in temperature of the three-dimensional sensor within a certain period, a change in temperature of the three-dimensional sensor within a total operating period, and the number of times of change in temperature of the three-dimensional sensor within the total operating period.
1. A robot, comprising:
a three-dimensional sensor configured to capture an image of a target object;
a notification unit configured to notify a determination timing for, based on fluctuation of a physical quantity relating to the three-dimensional sensor, determining deviation in an optical system belonging to the three-dimensional sensor; and
a determination unit configured to determine whether deviation in the optical system belonging to the three-dimensional sensor has arisen,
wherein the fluctuation of the physical quantity includes at least one of a number of times the robot operates, a number of times the robot takes out a target object, a number of times the three-dimensional sensor captures an image, a number of times acceleration or deceleration is applied to the three-dimensional sensor, a change in temperature of the three-dimensional sensor within a certain time period, a change in temperature of the three-dimensional sensor within a total operating time period, or a number of changes in temperature by the three-dimensional sensor within the total operating time period.
2. The robot according to claim 1 , wherein the fluctuation of the physical quantity includes at least one of the change in temperature of the three-dimensional sensor within the certain time period, the change in temperature of the three-dimensional sensor within the total operating time period, or the number of changes in temperature by the three-dimensional sensor within the total operating time period.
3. The robot according to claim 1 , wherein the notification unit notifies the determination timing when a preset determination condition is satisfied.
4. The robot according to claim 1 , wherein the determination unit determines whether deviation in the optical system has arisen by employing a number of three-dimensional points for a target object or a measurement distance to the target object as an evaluation index.
5. The robot according to claim 3 , further comprising:
a condition setting unit configured to set the determination condition.
6. The robot according to claim 1 , further comprising:
a selection unit configured to select whether to make a determination using the determination unit when the determination timing is notified.
7. The robot according to claim 1 , further comprising:
a measuring unit configured to measure deviation in the optical system, and
a correction unit configured to correct the optical system using the measured deviation in the optical system.