Robot, robot system, control device, and control method

Patent metadata

Field	Value
Publication number	US-10562182-B2
Application number	US-201715680625-A
Country	US
Kind code	B2
Filing date	Aug 18, 2017
Priority date	Feb 4, 2014
Publication date	Feb 18, 2020
Grant date	Feb 18, 2020

Abstract

A robot includes: a hand; and a control unit that operates the hand, in which the control unit generates three-dimensional point group information for a partial image forming a captured image obtained by an imaging unit, and causes the hand to hold an object included in the partial image.

First claim

What is claimed is:

1. A robot comprising:
a hand;
an imaging sensor that is configured to capture an image of a plurality of objects so as to generate two-dimensional image data and three-dimensional image data of the image; and
a controller that is configured to operate the hand,
wherein the controller is configured to define a plurality of partial regions based on the two-dimensional image data,
the controller is configured to generate partial three-dimensional point group information in each of the plurality of partial regions based on the three-dimensional image data,
the controller is configured to determine a central axis in each of the plurality of partial regions based on the partial three-dimensional point group information,
the controller is configured to set a first partial region of the plurality of partial regions as a target region based on the central axis, and
the controller is configured to cause the hand to hold one of the plurality of objects in the target region.

2. The robot according to claim 1 ,
wherein the controller is configured to select a light region in which luminance is greater than a predefined value based on the two-dimensional image data,
the controller is configured to calculate an index value of the light region, and
the controller is configured to define the light region as one of the plurality of partial regions when the index value of the light region is within a predetermined range.

3. The robot according to claim 2 ,
wherein the controller is configured to calculate at least one of an area, a length, and an elliptical eccentricity of the light region as the index value.

4. The robot according to claim 3 ,
wherein the partial three-dimensional point group information includes information corresponding to a plurality of points in the plurality of partial regions,
wherein the controller is configured to select a set in which a length of a line segment between two points among the plurality of points is within a predetermined length range among a plurality of sets each of which is formed by two points among the plurality of points, and
the controller is configured to define the line segment between the two points of the selected set as the central axis.

5. The robot according to claim 4 ,
wherein an angle between the central axis and a horizontal plane is within a predetermined range in the first partial region of the plurality of partial regions.

6. A control device comprising:
an image sensor that is configured to receive two-dimensional image data and three-dimensional image data of an image of a plurality of objects; and
a processor that is configured to operate a robot,
wherein the processor is configured to define a plurality of partial regions based on the two-dimensional image data,
the processor is configured to generate partial three-dimensional point group information in each of the plurality of partial regions based on the three-dimensional image data,
the processor is configured to determine a central axis in each of the plurality of partial regions based on the partial three-dimensional point group information,
the processor is configured to set a first partial region of the plurality of partial regions as a target region based on the central axis, and
the processor is configured to cause the robot to hold one of the plurality of objects in the target region.

7. The control device according to claim 6 ,
wherein the processor is configured to select a light region in which luminance is greater than a predefined value based on the two-dimensional image data,
the processor is configured to calculate an index value of the light region, and
the processor is configured to define the light region as one of the plurality of partial regions when the index value of the light region is within a predetermined range.

8. The control device according to claim 7 ,
wherein the processor is configured to calculate at least one of an area, a length, and an elliptical eccentricity of the light region as the index value.

9. The control device according to claim 8 ,
wherein the partial three-dimensional point group information includes information corresponding to a plurality of points in the plurality of partial regions,
wherein the processor is configured to select a set in which a length of a line segment between two points among the plurality of points is within a predetermined length range among a plurality of sets each of which is formed by two points among the plurality of points, and
the processor is configured to define the line segment between the two points of the selected set as the central axis.

10. The control device according to claim 9 ,
wherein an angle between the central axis and a horizontal plane is within a predetermined range in the first partial region of the plurality of partial regions.

11. A robot system comprising:
a robot;
an imaging sensor that is configured to capture an image of a plurality of objects so as to generate two-dimensional image data and three-dimensional image data of the image; and
a controller that is configured to operate the robot,
wherein the controller is configured to define a plurality of partial regions based on the two-dimensional image data,
the controller is configured to generate partial three-dimensional point group information in each of the plurality of partial regions based on the three-dimensional image data,
the controller is configured to determine a central axis in each of the plurality of partial regions based on the partial three-dimensional point group information,
the controller is configured to set a first partial region of the plurality of partial regions as a target region based on the central axis, and
the controller is configured to cause the robot to hold one of the plurality of objects in the target region.

12. The robot system according to claim 11 ,
wherein the controller is configured to select a light region in which luminance is greater than a predefined value based on the two-dimensional image data,
the controller is configured to calculate an index value of the light region, and
the controller is configured to define the light region as one of the plurality of partial regions when the index value of the light region is within a predetermined range.

13. The robot system according to claim 12 ,
wherein the controller is configured to calculate at least one of an area, a length, and an elliptical eccentricity of the light region as the index value.

14. The robot system according to claim 13 ,
wherein the partial three-dimensional point group information includes information corresponding to a plurality of points in the plurality of partial regions,
wherein the controller is configured to select a set in which a length of a line segment between two points among the plurality of points is within a predetermined length range among a plurality of sets each of which is formed by two points among the plurality of points, and
the controller is configured to define the line segment between the two points of the selected set as the central axis.

15. The robot system according to claim 14 ,
wherein an angle between the central axis and a horizontal plane is within a predetermined range in the first partial region of the plurality of partial regions.

Assignees

• Seiko Epson Corp

Inventors

• Harada Tomoki
• Hashimoto Koichi
• Arai Shogo

Classifications

• G05B2219/39543

  Recognize object and plan hand shapes in grasping movements · CPC title

• G05B2219/40053

  Pick 3-D object from pile of objects · CPC title

• B25J9/1612 Primary

  characterised by the hand, wrist, grip control · CPC title

• Y10S901/47

  Optical · CPC title

• B25J9/1697

  Vision controlled systems · CPC title