Information processing apparatus, information processing method, and recording medium
First Claim
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1. An information processing apparatus for controlling a robot which holds and moves an object, the apparatus comprising:
- a processor,wherein the processor acquires, from a measurement apparatus, a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus,acquires a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement apparatus to the object for the three-dimensional coordinate of the plurality of objects, anddetermines an order to hold the plurality of objects by the robot based on the position in the oblique direction and outputs an information representing the order, andwherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.
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Abstract
An information processing apparatus acquires an image of multiple objects, acquires positions and orientations of the objects based on the image, and decides the holding order of the objects based on the positions and orientations and a direction that is set.
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Citations
15 Claims
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1. An information processing apparatus for controlling a robot which holds and moves an object, the apparatus comprising:
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a processor, wherein the processor acquires, from a measurement apparatus, a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus, acquires a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement apparatus to the object for the three-dimensional coordinate of the plurality of objects, and determines an order to hold the plurality of objects by the robot based on the position in the oblique direction and outputs an information representing the order, and wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An information processing method performed by an information processing apparatus and performed for controlling a robot which holds and moves an object, the method comprising:
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acquiring, from a measurement apparatus, a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus, acquiring a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement apparatus to the object for the three-dimensional coordinate of the plurality of objects, acquiring a three-dimensional coordinate of a plurality of position in an oblique direction inclining with respect to a measuring direction of a distance between the measurement apparatus and the object for each three-dimensional coordinate of the plurality of objects, determining an order to hold the plurality of objects by the robot and outputs an information representing the order based on the position in the oblique direction, wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.
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13. A non-transitory computer-readable storage medium storing a computer program that causes a computer to perform an information processing method for controlling a robot which holds and moves an object, the method comprising:
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acquiring, from a measurement apparatus, a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus, acquiring a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement apparatus to the object for the three-dimensional coordinate of the plurality of objects, determining an order to hold the plurality of objects by the robot and outputs an information representing the order based on the position in the oblique direction, wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.
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14. A measurement apparatus, comprising:
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a measurement unit configured to measure a distance between the measurement apparatus and an object, and a processor, wherein the processor acquires, from the measurement unit, a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus, acquires a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement unit to the object for the three-dimensional coordinate of the plurality of objects, and determines an order to hold the plurality of objects by a robot and outputs an information representing the order based on the position in the oblique direction, and wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.
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15. A method, comprising steps of:
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measuring a distance from a measurement apparatus to a plurality of objects by using the measurement apparatus; acquiring a three-dimensional coordinate of a plurality of objects measured in distance by the measurement apparatus; acquiring a position in an oblique direction inclining with respect to a measuring direction of a distance from the measurement apparatus to the object for the three-dimensional coordinate of the plurality of objects; creating a list arranged with a plurality of objects in an order of measuring a distance by the measurement apparatus based on the position in the oblique direction; and holding each of the plurality of objects by a robot based on the list, wherein one of the axes of the three-dimensional coordinate is a measuring direction of the distance from the measurement apparatus to an object.
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Specification