INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, ROBOT CONTROL APPARATUS, AND ROBOT SYSTEM

• US 20170028561A1
• Filed: 07/13/2016
• Published: 02/02/2017
• Est. Priority Date: 07/29/2015
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Yamada, Daisuke, Kobayashi, Kazuhiko, Suzuki, Masahiro
• Granted Patent: US 10,335,951 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B25J 13/082 Grasping-force detectors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/40053 Pick 3-D object from pile of objects

Abstract

An information processing apparatus includes, an acquisition unit that acquires surface position information on an object, a decision unit that decides a measurement position for measuring the object based on the surface position information acquired by the acquisition unit, a measurement unit that measures contact position information on contact with the object at the measurement position decided by the decision unit, a creation unit that creates map information indicative of spatial position information on the object based on the contact position information measured by the measurement unit, and a recognition unit that recognizes the position and orientation of the object based on the map information created by the creation unit.

Claims

1. An information processing apparatus, comprising:

an acquisition unit configured to acquire surface position information on an object;

a decision unit configured to decide a measurement position for measuring the object based on the surface position information acquired by the acquisition unit;

a measurement unit configured to measure contact position information on contact with the object at the measurement position decided by the decision unit;

a creation unit configured to create map information indicative of spatial position information on the object based on the contact position information measured by the measurement unit; and

a recognition unit configured to recognize the position and orientation of the object based on the map information created by the creation unit.

2. The information processing apparatus according to claim 1, wherein the creation unit includes:

a first creation unit configured to create the map information based on the surface position information acquired by the acquisition unit; and

a second creation unit configured to update the map information created by the first creation unit based on the contact position information measured by the measurement unit.

3. The information processing apparatus according to claim 1, wherein

the decision unit detects a position at a convex surface of the object based on the surface position information acquired by the acquisition unit, and decides the detected position as the measurement position.

4. The information processing apparatus according to claim 1, wherein

the acquisition unit acquires the surface position information based on image information obtained by imaging the object.

5. The information processing apparatus according to claim 1, wherein

the measurement unit includes

a first acquisition unit configured to acquire reaction force on contact with the object, and

a second acquisition unit configured to acquire the position of a contact point with the object, and

the measurement unit measures the position of the contact point acquired by the second acquisition unit, when the reaction force acquired by the first acquisition unit reaches a predetermined upper limit value, as the contact position information.

6. The information processing apparatus according to claim 1, wherein

the measurement unit includes a third acquisition unit configured to acquire a distance to the approached object, and

the measurement unit measures the contact position information based on the distance acquired by the third acquisition unit on contact with the object.

7. The information processing apparatus according to claim 1, further comprising a second decision unit configured to decide a grasp position where a robot is allowed to grasp the object based on the position and orientation of the object recognized by the recognition unit.

8. The information processing apparatus according to claim 7, wherein

the second decision unit decides the position of a space into which a grasp portion of the robot is insertable as the grasp position.

9. The information processing apparatus according to claim 7, further comprising a second measurement unit configured to measure grasp width information when the object is grasped at the grasp position decided by the second decision unit, wherein

the recognition unit further uses the grasp width information measured by the second measurement unit to recognize the position and orientation of the object.

10. A robot control apparatus comprising a control unit configured to control operations of a robot performing work on the object in the information processing apparatus according to claim 1.

11. A robot system, comprising at least one sensor and the robot in the robot control apparatus according to claim 10.

12. The robot system according to claim 11, wherein the at least one sensor includes a visual sensor configured to capture an image of the object and acquires image information.

13. The robot system according to claim 11, wherein the at least one sensor includes a force sensor configured to acquire reaction force on contact with the object.

14. The robot system according to claim 11, wherein the at least one sensor includes a position detection sensor configured to acquire the position and orientation of the robot.

15. The robot system according to claim 11, wherein the at least one sensor includes a force sensor configured to acquire reaction force on grasp of the object.

16. An information processing method, comprising:

acquiring surface position information on an object;

deciding a measurement position for measuring the object based on the acquired surface position information;

measuring contact position information on contact with the object at the decided measurement position;

creating map information indicative of spatial position information on the object based on the contact position information measured at the measuring; and

recognizing the position and orientation of the object based on the created map information.

17. A computer-readable storage medium storing a program that when executed by a computer causes the computer to serve as units of an information processing apparatus including:

an acquisition unit configured to acquire surface position information on an object;

a decision unit configured to decide a measurement position for measuring the object based on the surface position information acquired by the acquisition unit;

a measurement unit configured to measure contact position information on contact with the object at the measurement position decided by the decision unit;

a creation unit configured to create map information indicative of spatial position information on the object based on the contact position information measured by the measurement unit; and

a recognition unit configured to recognize the position and orientation of the object based on the map information created by the creation unit.