Information processing apparatus and method for controlling the same

• US 9,511,493 B2
• Filed: 03/07/2011
• Issued: 12/06/2016
• Est. Priority Date: 03/10/2010
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Nomura, Osamu, Matsugu, Masakazu
• Primary Examiner(s): Yenke, Brian
• Application Number:
  US13/582,116
• Publication Number:
  US 20120327224A1
• Time in Patent Office: 2,101 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems

Abstract

An information processing apparatus includes an imaging unit and is capable of setting arrangement of a structural member of a robot system which works based on an image captured by the imaging unit. The information processing apparatus includes an arrangement unit configured to arrange a virtual object corresponding to the structural member in a virtual space corresponding to a working space of the robot system, a first acquisition unit configured to acquire a virtual space image in the virtual space which corresponds to the captured image and in which the virtual object is arranged, and a second acquisition unit configured to acquire an evaluation value indicating adaptation of arrangement of the virtual object to the work of the robot system based on the virtual space image.

Claims

1. An information processing apparatus comprising:

a memory configured to store a program; and

a processor that executes the program to implement;

an arrangement unit configured to arrange a virtual object corresponding to a structural member in a virtual space corresponding to a working space of a robot system;

a first acquisition unit configured to acquire a plurality of the virtual space images, different in arrangement of the virtual object from one another, in the virtual space which corresponds to a captured image and in which the virtual object is arranged;

a second acquisition unit configured to acquire, without an instruction of an operator of the information processing apparatus, a plurality of evaluation values each corresponding a respective one of the plurality of the virtual space images, each evaluation value indicating an amount of adaptability of arrangement of the virtual object to the work of the robot system based on the virtual space image; and

a selection unit configured to select an optimum evaluation value optimally suitable for the work of the robot system, from among the plurality of the evaluation values, by determining a respective difference value between a reference value and each of the plurality of evaluation values, and selecting as the optimum evaluation value an evaluation value having a smallest difference value.

2. The information processing apparatus according to claim 1, further comprising a notification unit configured to notify a user of an arrangement parameter of the structural member of the robot system corresponding to the selected optimum evaluation value.

3. The information processing apparatus according to claim 1, wherein the second acquisition unit acquires at least one evaluation value using at least one of a contrast value of the virtual space image, recognition reliability of the virtual object in the virtual space image, an obstruction ratio of the virtual object in the virtual space image, and measurement reliability of the virtual object in the virtual space image.

4. The information processing apparatus according to claim 1, wherein arrangement of the structural member of the robot system includes at least one of arrangement of an imaging unit, arrangement of a lighting system for illuminating an object to be worked in the robot system, arrangement of a robot arm for working the object to be worked, and arrangement of a screen device.

5. The information processing apparatus according to claim 1, wherein the second acquisition unit acquires at least one evaluation value using at least one of tack time of work of the robot system, information about the illumination of the lighting system, and information about a shape model of the structural member.

6. The information processing apparatus according to claim 1, further comprising a display control unit configured to cause a display unit to display the virtual space and the virtual object as a computer graphics image.

7. The information processing apparatus according to claim 1, further comprising a limitation unit configured to limit an arrangement range within which the virtual object is arranged by the arrangement unit.

8. The information processing apparatus according to claim 7, wherein the limitation unit limits the arrangement range within which the virtual object is arranged by the arrangement unit based on a user'"'"'s instruction.

9. The information processing apparatus according to claim 7, wherein the limitation unit limits the arrangement range within which the virtual object is arranged by the arrangement unit according to a shape of the object to be worked in the robot system.

10. The information processing apparatus according to claim 7, further comprising a detection unit configured to detect a change in the structural member of the robot system, wherein the limitation unit limits the arrangement range within which the virtual object is arranged by the arrangement unit based on the detected change.

11. A robot system comprising:

a memory configured to store a program; and

a processor that executes the program to implement;

an arrangement unit configured to arrange a virtual object corresponding to a structural member of the robot system in a virtual space corresponding to a working space of the robot system;

a first acquisition unit configured to acquire a plurality of the virtual space images, different in arrangement of the virtual object from one another, in the virtual space which corresponds to the captured image and in which the virtual object is arranged;

a second acquisition unit configured to acquire, without an instruction of an operator of the robot system, a plurality of evaluation values each corresponding a respective one of the plurality of the virtual space images, each evaluation value indicating an amount of adaptability of arrangement of the virtual object to the work of the robot system based on the virtual space image;

a selection unit configured to select an optimum evaluation value optimally suitable for the work of the robot system, from among the plurality of the evaluation values, by determining a respective difference value between a reference value and each of the plurality of evaluation values, and selecting as the optimum evaluation value an evaluation value having a smallest difference value; and

an output unit configured to output an arrangement parameter of the structural member based on the selected optimum evaluation value.

12. A method comprising:

arranging a virtual object corresponding to a structural member in a virtual space corresponding to a working space of a robot system;

acquiring a plurality of the virtual space images, different in arrangement of the virtual object from one another, in the virtual space which corresponds to a captured image and in which the virtual object is arranged;

acquiring, without an instruction of an operator of the method, a plurality of evaluation values each corresponding a respective one of the plurality of the virtual space images, each evaluation value indicating an amount of adaptability of arrangement of the virtual object to the work of the robot system based on the virtual space image; and

selecting an optimum evaluation value optimally suitable for the work of the robot system, from among the plurality of the evaluation values, by determining a respective difference value between a reference value and each of the plurality of evaluation values, and selecting as the optimum evaluation value an evaluation value having a smallest difference value.

13. A non-transitory computer-readable storage medium storing a computer program that when executed by a computer causes the computer to function as an information processing apparatus comprising:

an arrangement unit configured to arrange a virtual object corresponding to a structural member in a virtual space corresponding to a working space of a robot system;

a first acquisition unit configured to acquire a plurality of the virtual space images, different in arrangement of the virtual object from one another, in the virtual space which corresponds to a captured image and in which the virtual object is arranged;

a second acquisition unit configured to acquire, without an instruction of an operator of the information processing apparatus, a plurality of evaluation values each corresponding a respective one of the plurality of the virtual space images, each evaluation value indicating an amount of adaptability of arrangement of the virtual object to the work of the robot system based on the virtual space image; and

a selection unit configured to select an optimum evaluation value optimally suitable for the work of the robot system, from among the plurality of the evaluation values, by determining a respective difference value between a reference value and each of the plurality of evaluation values, and selecting as the optimum evaluation value an evaluation value having a smallest difference value.