Position measurement device, position measurement system, and measurement device

A position measurement device comprising:

• a position measurement unit including an irradiation unit configured to irradiate measurement light to a reflective element arranged on a movable unit of a robot, a light reception unit configured to receive reflected light from the reflective element, a position information acquisition unit configured to acquire position information of the reflective element on the basis of a light reception result of the light reception unit, and a movement unit configured to change an irradiation direction of the measurement light;
• an imaging unit configured to image one or both of at least a part of the robot and the reflective element;
• a transmission unit configured to transmit the position information acquired by the position information acquisition unit or adjustment information of the robot based on the position information to a control system of the robot;
• and
• a movement device capable of movement and including at least the irradiation unit, the light reception unit, the movement unit, and the imaging unit,
• wherein the movement unit is controlled so that the measurement light is irradiated to the reflective element on the basis of an imaging result of the imaging unit.

A position measurement method with a position measurement device,

• wherein the a position measurement device comprising:
• a movement device capable of movement;
• a position measurement unit including an irradiation unit configured to irradiate measurement light to a reflective element arranged on a movable unit of a robot, a light reception unit configured to receive reflected light from the reflective element, a position information acquisition unit configured to acquire position information of the reflective element, and a movement unit configured to change an irradiation direction of the measurement light;
• an imaging unit;
• and
• a transmission unit configured to transmit the position information acquired by the position information acquisition unit or adjustment information of the robot based on the position information to a control system of the robot,
• wherein the position measurement method comprising:
• a moving step of moving at least one of the irradiation unit, the light reception unit, the movement unit, and the imaging unit by the movement device;
• a controlling step of controlling the movement unit so that one or both of at least a part of the robot and the reflective element are imaged using the imaging unit;
• and
• an irradiating step of irradiating the measurement light to the reflective element on the basis of an imaging result of the imaging unit.