Information processing apparatus, control method for information processing apparatus, and recording medium

• US 9,727,053 B2
• Filed: 08/07/2012
• Issued: 08/08/2017
• Est. Priority Date: 08/26/2011
• Status: Active Grant

• Current Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Original Assignee: Canon Ayutthaya Limited (Canon Inc.)
• Inventors: Ito, Yoshinori
• Primary Examiner(s): Khatib, Rami
• Assistant Examiner(s): Wiltey, Nicholas K
• Application Number:
  US13/568,595
• Publication Number:
  US 20130054025A1
• Time in Patent Office: 1,827 Days
• Field of Search: 700259, 700262, 700264, 901 3, 901 4, 414730, 31856814, 702152, 702153
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 19/42 Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
• CPC Class Codes: G05B 2219/36492 Record position and orientation, posture of probe, tool
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/39094 Interference checking between robot and fixture
• CPC Class Codes: G05B 2219/39484 Locate, reach and grasp, visual guided grasping
• CPC Class Codes: G05B 2219/39536 Planning of hand motion, grasping
• CPC Class Codes: G05B 2219/39542 Plan grasp points, grip matrix and initial grasp force
• CPC Class Codes: G05B 2219/45064 Assembly robot

Abstract

An information processing apparatus comprises an obtaining unit configured to obtain sensing data on an area including an installation target component; a detection unit configured to detect a position/orientation of the installation target component as a component position/orientation based on the sensing data; a setting unit configured to set, based on the component position/orientation and shape data on the installation target component, a candidate gripped portion of the installation target component to be gripped by a hand mechanism; a calculation unit configured to calculate, as a candidate hand position/orientation, a position/orientation of the hand mechanism in which the candidate gripped portion can be gripped; and a generation unit configured to generate candidate teaching data for gripping operation by the hand mechanism by associating the candidate gripped portion and the candidate hand position/orientation with each other.

Claims

1. An information processing apparatus for generating teaching data for an installation by a robot, comprising:

a memory; and

a controller constructed to;

obtain sensing data of an installation target component installed in a prescribed position on an installation recipient component,

set a portion of the installation target component as a gripped portion based on the sensing data and model data of the installation target component, wherein the gripped portion is to be held by a hand mechanism of a robot during a holding operation, and wherein the gripped portion is not occluded by the installation recipient component,

calculate a hand position and orientation of the hand mechanism in which the gripped portion can be held by the hand mechanism,

store information on the gripped portion and the hand position and orientation in the memory as teaching data, and

control the robot to perform a holding operation of holding an installation target component with the hand mechanism based on the teaching data stored in the memory.

2. The information processing apparatus according to claim 1, wherein the controller is further constructed to calculate a relative holding orientation of the hand mechanism and the installation target component in which the gripped portion can be held, and

wherein the teaching data further includes the relative holding orientation.

3. The information processing apparatus according to claim 1,

wherein the teaching data further includes the sensing data.

4. The information processing apparatus according to claim 1, wherein the control of the robot to perform the holding operation includes controlling driving the hand mechanism and a robot arm connected to the hand mechanism.

5. The apparatus according to claim 4, wherein the controller is further constructed to:

detect whether interference with the installation recipient component or an operation environment occurs when the hand mechanism and the robot arm are driven.

6. The information processing apparatus according to claim 1,

wherein the control of the robot to perform the holding operation includes:

controlling driving of the hand mechanism and a robot arm connected to the hand mechanism in conformity with the hand position and orientation stored in memory so as to hold the installation target component in a state of being installed in the prescribed position on the installation recipient component, and

wherein the controller is further constructed to control driving of the hand mechanism and the robot arm to perform a return operation of returning the installation target component to a component supply tray, and

wherein the teaching data includes information indicating a reverse order of progress for the robot arm and the hand mechanism in the return operation.

7. The information processing apparatus according to claim 6, wherein the controller is further constructed to receive an instruction indicating a user operation,

wherein the return operation is executed in accordance with the instruction indicating the user operation.

8. The information processing apparatus according to claim 1, wherein the sensing data comprises image data on an area including the installation target component installed in the prescribed position on the installation recipient component.

9. The information processing apparatus according to claim 1, wherein the sensing data comprises distance information on an area including the installation target component installed in the prescribed position on the installation recipient component.

10. The apparatus according to claim 1, wherein the controller is further constructed to detect at least one of a position or an orientation of the installation target component as a component position/orientation based on the sensing data,

wherein the gripped portion of the installation target component is also set based on the component position/orientation.

11. The information processing apparatus according to claim 10, wherein the memory is further constructed to store information on a predetermined held portion associated with the model data on the installation target component, and

wherein the gripped portion of the installation target component is also set based on the information on the predetermined held portion.

12. The information processing apparatus according to claim 10, wherein the hand position and orientation is calculated in a state in which no interference occurs at the time of installation, and

wherein the controller is further constructed to determine whether interference occurs based on whether model data on the robot arm and the hand mechanism, model data on the installation recipient component, and the model data on the installation target component, overlap.

13. A method for controlling an information processing apparatus for generating teaching data for an installation by a robot, the method comprising the steps of:

obtaining sensing data of an installation target component installed in a prescribed position on an installation recipient component;

setting a portion of the installation target component as a gripped portion based on the sensing data and model data of the installation target component, wherein the gripped portion is to be held by a hand mechanism of a robot during a holding operation, and wherein the gripped portion is not occluded by the installation recipient component;

calculating a hand position and orientation of the hand mechanism in which the gripped portion can be held by the hand mechanism;

storing information on the gripped portion and the hand position and orientation in a memory as teaching data; and

controlling the robot to perform a holding operation of holding an installation target component with the hand mechanism based on teaching data stored in the memory.

14. A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute each step of a method for controlling an information processing apparatus for generating teaching data for an installation by a robot, the method comprising the steps of:

obtaining sensing data of an installation target component installed in a prescribed position on an installation recipient component;

setting a portion of the installation target component as a gripped portion based on the sensing data and model data of the installation target component, wherein the gripped portion is to be held by a hand mechanism of a robot during a holding operation, and wherein the gripped portion is not occluded by the installation recipient component;

calculating a hand position and orientation of the hand mechanism in which the gripped portion can be held by the hand mechanism;

storing information on the gripped portion and the hand position and orientation in a memory as teaching data; and

controlling the robot to perform a holding operation of holding an installation target component with the hand mechanism based on teaching data stored in the memory.