Handling device, control device, and holding method

Patent metadata

Field	Value
Publication number	US-11518625-B2
Application number	US-202016802723-A
Country	US
Kind code	B2
Filing date	Feb 27, 2020
Priority date	Sep 13, 2019
Publication date	Dec 6, 2022
Grant date	Dec 6, 2022

Abstract

A handling device according to an embodiment has an arm, a holder, a storage, and a controller. The arm includes at least one joint. The holder is attached to the arm and is configured to hold an object. The storage stores a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder. The detector is configured to detect information about the object. The controller is configured to generate holdable candidate points on the basis of the information detected by the detector, to search the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points, and to determine a holding posture of the holder on the basis of the searched position. The function map associates a manipulability with each position in the environment in which the object is present. The manipulability is a parameter calculated from at least one joint angle of the holder.

First claim

What is claimed is:

1. A handling device comprising:
an arm including at least one joint;
a holder attached to the arm and configured to hold an object;
a storage storing a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder;
a detector configured to detect information about the object; and
a controller configured to generate holdable candidate points on the basis of the information detected by the detector, to search the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points, and to determine a holding posture of the holder on the basis of the searched position,
wherein the function map associates a manipulability with each position in the environment in which the object is present,
wherein the manipulability is a parameter calculated from at least one joint angle of the holder, and
wherein the storage stores at least one of a function map of the information about positions, a function map of the information about postures, a function map obtained by integrating the function map of the information about positions and the function map of the information about postures, a function map which maximizes accessible regions of the holder, a function map which maximizes possible postures of the holder, and a function map which maximizes ease of release of the object after the object is held.

2. The handling device according to claim 1 , wherein the storage stores, for at least one of the information about positions and the information about postures, the function map in which the positions in the environment are at equal intervals or the function map in which the positions are at unequal intervals.

3. The handling device according to claim 1 ,
wherein the storage stores a function map of the information about postures in which the postures are limited, and
wherein the controller is further configured to define characteristic curvature shapes among surface shapes of the object as a surface shape primitive, to analyze a surface shape of the object on the basis of the information detected by the detector, to estimate a position that is the surface shape primitive on the surface of the object on the basis of the analysis results, to search the function map of the information about postures in which the postures are limited for a position in the environment in which the object is present, the position being associate with the estimated position, and to determine a holding posture of the holder on the basis of the searched position.

4. The handling device according to claim 1 , wherein the controller is further configured to select at least one function map from the plurality of function maps stored in the storage on the basis of a type of the holder.

5. The handling device according to claim 1 , wherein the controller is further configured to simulate a state of the handling device using a model, to generate an image of an accessible region of the holder on the basis of the simulated results, and to output the generated image to a display device.

6. A control device in a handling device comprising an arm including at least one joint, a holder attached to the arm and configured to hold an object, and a detector configured to detect information about the object, comprising:
a storage storing a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder; and
a controller configured to generate holdable candidate points on the basis of the information detected by the detector, to search the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points, and to determine a holding posture of the holder on the basis of the searched position,
wherein the function map associates a manipulability with each position in the environment in which the object is present,
wherein the manipulability is a parameter calculated from at least one joint angle of the holder, and
wherein the storage stores at least one of a function map of the information about positions, a function map of the information about postures, a function map obtained by integrating the function map of the information about positions and the function map of the information about postures, a function map which maximizes accessible regions of the holder, a function map which maximizes possible postures of the holder, and a function map which maximizes ease of release of the object after the object is held.

7. A holding method using a control device in a handling device comprising an arm including at least one joint, a holder which attached to the arm and configured to hold an object, a detector configured to detect information about the object, and a storage storing a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder, the function map associating a manipulability with each position in the environment in which the object is present, the manipulability being a parameter calculated from at least one joint angle of the holder, the holding method comprising:
generating holdable candidate points on the basis of the information detected by the detector;
searching the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points; and
determining a holding posture of the holder on the basis of the searched position,
wherein the storage stores at least one of a function map of the information about positions, a function map of the information about postures, a function map obtained by integrating the function map of the information about positions and the function map of the information about postures, a function map which maximizes accessible regions of the holder, a function map which maximizes possible postures of the holder, and a function map which maximizes ease of release of the object after the object is held.

Assignees

• Toshiba Kk

Inventors

• Komoda Kazuma
• Tokura Seiji
• Eto Haruna
• Jiang Ping
• Sugahara Atsushi
• Ogawa Akihito

Classifications

• B25J9/1612 Primary

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

• B25J15/0616

  with vacuum · CPC title

• B25J9/1669

  characterised by special application, e.g. multi-arm co-operation, assembly, grasping · CPC title

• B65G57/04

  by suction or magnetic devices · CPC title

• G05B2219/40014

  Gripping workpiece to place it in another place · CPC title