Calibration method for operation apparatus, operation apparatus system, and control apparatus

A calibration method for an operation apparatus including a first moving body unit capable of pivoting about a horizontally extending axis, a first motor configured to drive the first moving body unit, and a first detector configured to detect a pivot position of the first moving body unit, the calibration method including:

• aligning the first moving body unit to one reference position selected from a plurality of predetermined reference positions;
• determining the reference position by comparing a driving parameter value of the first motor at the one reference position with determination parameter values respectively preset for the plurality of reference positions;
• and
• registering, as reference position information for calculating the pivot position, position information of the one reference position determined in the determining and detection value information of the first detector,
• wherein the operation apparatus further includes a second moving body unit capable of pivoting about a horizontally extending second axis, wherein the second moving body unit includes one end that is axially supported to be pivotal and the other end that is provided at a distance from the one end and moves on a circumferential track about a pivot shaft of the second moving body unit, a second motor configured to drive the second moving body unit, and a second detector configured to detect a pivot position of the second moving body unit, and
• the calibration method further includes:
• selecting the first moving body unit as a moving body subjected to calibration;
• and
• holding the second moving body unit at a holding position predetermined as the pivot position of the second moving body unit,
• wherein the second moving body unit has a plurality of holding positions in advance, and
• the calibration method further includes selecting a holding position from the plurality of holding positions of the second moving body unit, and moving the second moving body unit to the selected holding position, and
• in the determining for the first moving body unit, the reference position is determined from a determination current value set in accordance with the holding position of the second moving body unit selected in the selecting the holding position.

An operation apparatus system comprising an operation apparatus and a control apparatus for the operation apparatus,

• the operation apparatus comprising:
• a first moving body unit capable of pivoting about a horizontally extending axis wherein the first moving body unit includes one end that is axially supported to be pivotal and the other end that is provided at a distance from the one end and moves on a circumferential track about a pivot shaft of the first moving body unit;
• a first motor configured to drive the first moving body unit;
• a first detector configured to detect a pivot position of the first moving body unit;
• and
• a plurality of reference positions predetermined as positions each serving as a reference of the first moving body unit, and
• the control apparatus comprising:
• a memory storing a program;
• and
• one or more processors which, by executing the program, function as:
• an alignment unit configured to align the first moving body unit to one reference position selected from the plurality of predetermined reference positions;
• a determination unit configured to determine the one reference position based on determination parameter values preset for the plurality of reference positions and a driving parameter value of the first motor;
• and
• a registration unit configured to register, as reference position information for calculating the pivot position, position information of the one reference position determined by the determination unit and detection value information of the first detector, wherein
• the driving parameter value of the first motor is a current value of the first motor,
• the detected driving parameter value is a present driving current value of the first motor,
• the determination parameter value which is preset is a unique determination current value,
• the determination parameter value includes a first determination current value IaO and a second determination current value IbO different from the determination current value IaO,
• predetermined first range values including the first determination current value IaO and predetermined second range values including the second determination current value IbO are registered in the determination unit,
• if the present driving current value is included in the predetermined first range values, the determination unit determines a first posture, and
• if the present driving current value is included in the predetermined second range values, determines a second posture.

A control apparatus that controls an operation apparatus including:

• a first moving body unit capable of pivoting about a horizontally extending axis, wherein the first moving body unit includes one end that is axially supported to be pivotal and the other end that is provided at a distance from the one end and moves on a circumferential track about a pivot shaft of the first moving body unit;
• a first motor configured to drive the first moving body unit;
• and
• a first detector configured to detect a pivot position of the first moving body unit, the control apparatus comprising:
• one or more processors configured to function as:
• an alignment unit configured to align the first moving body unit to one reference position selected from the plurality of predetermined reference positions;
• a determination unit configured to determine the one reference position based on determination parameter values preset for the respective reference positions of the first moving body unit and a driving parameter value of the first motor at the one reference position;
• a registration unit configured to register, as reference position information for calculating the pivot position, position information of the one reference position determined by the determination unit and detection value information of the first detector,
• a driving information obtaining unit configured to obtain information of the driving parameter value;
• a determination unit configured to register information of the determination parameter value;
• and
• a calibration information registration unit configured to register detection value information of the determined one reference position and position information based on the detection value information,
• wherein the detected driving parameter value is a present driving current value of the first motor,
• the determination parameter value which is preset is a unique determination current value,
• the determination parameter value includes a first determination current value IaO and a second determination current value IbO different from the determination current value IaO,
• predetermined first range values including the first determination current value IaO and predetermined second range values including the second determination current value IbO are registered in the determination unit, and
• if the present driving current value is included in the predetermined first range values, the determination unit determines a first posture, and
• if the present driving current value is included in the predetermined second range values, determines a second posture.