INFORMATION PROCESSING APPARATUS, CONTROL METHOD FOR INFORMATION PROCESSING APPARATUS AND STORAGE MEDIUM

• US 20130158947A1
• Filed: 11/21/2012
• Published: 06/20/2013
• Est. Priority Date: 12/20/2011
• Status: Active Application

• Current Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Original Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Inventors: Suzuki, Masahiro
• Application Number:
  US13/683,650
• Publication Number:
  US 20130158947A1
• Time in Patent Office: Days
• US Class Current: 702/155
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G01B 11/00 Measuring arrangements characterised by the use of optical techniques
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/40053 Pick 3-D object from pile of objects
• CPC Class Codes: G05B 2219/40564 Recognize shape, contour of object, extract position and orientation
• CPC Class Codes: G06F 15/00 Digital computers in general details G06F1/00 – G06F13/00; Data processing equipment in general

Abstract

An information processing apparatus comprises a first sensor unit configured to obtain, as first information, two-dimensional information or three-dimensional information about a target object; a first measurement unit configured to measure a position and orientation of the target object by analyzing the first information; a second sensor unit mounted on a robot for executing an operation for the target object, and configured to obtain, as second information, two-dimensional information or three-dimensional information about the target object in a position and orientation determined based on a measurement result by the first measurement unit; and a second measurement unit configured to measure the position and orientation of the target object by analyzing the second information.

Claims

1. An information processing apparatus comprising:

a first sensor unit configured to obtain, as first information, two-dimensional information or three-dimensional information about a target object;

a first measurement unit configured to measure a position and orientation of the target object by analyzing the first information;

a second sensor unit mounted on a robot for executing an operation for the target object, and configured to obtain, as second information, two-dimensional information or three-dimensional information about the target object in a position and orientation determined based on a measurement result by said first measurement unit; and

a second measurement unit configured to measure the position and orientation of the target object by analyzing the second information.

2. The apparatus according to claim 1, further comprising

a determination unit configured to determine, as a position and orientation of said second sensor unit, a position and orientation in which reflected light of projection light projected on the target object when said second sensor unit captures the target object does not enter a capturing range of said second sensor unit, based on the measurement result by said first measurement unit.

3. The apparatus according to claim 1, further comprising

a determination unit configured to determine, as a position and orientation of said second sensor unit, a position and orientation in which it is possible to measure a feature portion of the target object, based on the measurement result by said first measurement result.

4. The apparatus according to claim 1, further comprising:

a model information holding unit configured to hold model information of the target object,

wherein said first measurement unit measures the position and orientation of the target object by matching the first information with the model information.

5. The apparatus according to claim 1, further comprising

a model information holding unit configured to hold model information of the target object,

wherein said second measurement unit measures the position and orientation of the target object by matching the second information with the model information.

6. The apparatus according to claim 4, wherein

the model information indicates three-dimensional geometric model information based on CAD data.

7. The apparatus according to claim 4, wherein

the model information includes a plurality of pieces of reference image information obtained by observing the target object or three-dimensional geometric model based on CAD data from a plurality of predetermined viewpoints.

8. The apparatus according to claim 1, wherein

if there are a plurality of types of target objects, the position and orientation of said second sensor unit is determined based on the type of the target object.

9. The apparatus according to claim 1, further comprising

a robot control unit configured to control an operation of the robot for the target object based on the position and orientation of the target object measured by said second measurement unit.

10. The apparatus according to claim 9, further comprising

a storage unit configured to store a measurement result by said second measurement unit or a result of the operation executed by the robot according to the measurement result,

wherein the position and orientation of said second sensor unit is determined by excluding a position and orientation in which measurement by said second measurement unit fails and thus a measurement result is not obtained, or a position and orientation in which the operation by the robot fails.

11. A control method for an information processing apparatus, comprising the steps of:

obtaining, as first information, two-dimensional information or three-dimensional information about a target object;

measuring a position and orientation of the target object by analyzing the first information;

obtaining, as second information, two-dimensional information or three-dimensional information about the target object in a position and orientation determined based on a measurement result in the measuring; and

measuring the position and orientation of the target object by analyzing the second information.

12. A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute each step of a control method for an information processing apparatus according to claim 11.