Robot device, method of controlling the same, computer program, and robot system

• US 10,293,487 B2
• Filed: 01/11/2018
• Issued: 05/21/2019
• Est. Priority Date: 07/25/2011
• Status: Active Grant

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Shimizu, Satoru, Kawamoto, Kenta, Iwai, Yoshiaki
• Primary Examiner(s): Jen, Ian
• Application Number:
  US15/868,519
• Publication Number:
  US 20180133899A1
• Time in Patent Office: 495 Days
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/37618 Observe, monitor position, posture of tool
• CPC Class Codes: G05B 2219/39478 Control force and posture of hand
• CPC Class Codes: G05B 2219/39517 Control orientation and position of object in hand, roll between plates
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 Optical

Abstract

Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.

Claims

1. A mobile apparatus, comprising:

circuitry configured to

acquire current posture data of an object from an image data and target posture data of the object based on surrounding environment information of the object, the surrounding environment information including positions of other objects, wherein the target posture data is acquired a plurality of times and a correct target posture is determined on the basis of the acquired target posture data, and

perform a process of correcting the posture of the object in a case that at least a predetermined difference exists between the current posture data of the object and the correct target posture of the object by comparing the current posture data of the object with the correct target posture of the object.

2. The apparatus according to claim 1, wherein the circuitry is further configured to obtain posture change data in the case that the predetermined difference exists, and

perform the process of correcting the posture of the object based on the posture change data.

3. The apparatus according to claim 2, wherein the circuitry is further configured to cause an end effector to move as the process of correcting the posture of the object according to the posture change data.

4. The apparatus according to claim 3, wherein the circuitry is further configured to send a query to a user before causing the end effector to move according to the posture change data.

5. The apparatus according to claim 3, further comprising the end effector and the end effector is coupled to the circuitry.

6. The apparatus according to claim 2, wherein the circuitry is further configured to acquire each target posture data for each of objects and retain the each target posture data for each of the objects in an object posture database.

7. The apparatus according to claim 2, wherein the target posture data is based on a posture taught from a user.

8. The apparatus according to claim 2, further comprising a plurality of actuators and a plurality of joints, each actuator operating a respective joint.

9. The apparatus according to claim 8, wherein the plurality of joints together with a plurality of links form a tectonic belt.

10. The apparatus according to claim 2, wherein the target posture data is determined by learning.

11. A method for an apparatus, comprising:

acquiring, with circuitry, current posture data of an object from an image data and target posture data of the object based on surrounding environment information of the object, the surrounding environment information including positions of other objects, wherein the target posture data is acquired a plurality of times and a correct target posture is determined on the basis of the acquired target posture data; and

performing, with the circuitry, a process of correcting the posture of the object in a case that at least a predetermined difference exists between the current posture data of the object and the correct target posture of the object by comparing the current posture data of the object with the correct target posture of the object.

12. The method according to claim 11, further comprising:

obtaining posture change data in the case that the predetermined difference exists, and

performing the process of correcting the posture of the object based on the posture change data.

13. The method according to claim 12, further comprising causing an end effector to move as the process of correcting the posture of the object according to the posture change data.

14. The method according to claim 12, further comprising sending a query to a user before causing the end effector to move according to the posture change data.

15. The method according to claim 13, wherein the apparatus includes the end effector and the end effector is coupled to the circuitry.

16. The method according to claim 12, further comprising acquiring each target posture data for each of objects and retain the each target posture data for each of the objects in an object posture database.

17. The method according to claim 12, wherein the target posture data is based on a posture taught from a user.

18. The method according to claim 12, wherein the apparatus includes a plurality of actuators and a plurality of joints, each actuator operating a respective joint.

19. The method according to claim 18, wherein the plurality of joints together with a plurality of links form a tectonic belt.

20. The method according to claim 12, wherein the target posture data is determined by learning.