Information processing device, driving control method, and program-recording medium

Patent metadata

Field	Value
Publication number	US-12030175-B2
Application number	US-202017418431-A
Country	US
Kind code	B2
Filing date	Feb 19, 2020
Priority date	Mar 13, 2019
Publication date	Jul 9, 2024
Grant date	Jul 9, 2024

Abstract

In order to simplify the control configuration for controlling a driving device and improve reliability of the operation of the driving device, an information processing device includes a detection unit and a processing unit. The detection unit detects the detection target from a captured image by using reference data that is a learning result obtained by machine learning of the detection target including the position of the center of gravity of the object in the captured image. The processing unit controls the driving device to be controlled that acts on the object having the center of gravity detected by the detection unit, by using the detection result of the detection unit.

First claim

What is claimed is:

1. An information processing device comprising:
at least one processor configured to:
detect a detection target from a captured image by using reference data that is a learning result obtained by machine learning of the detection target including a position of a center of gravity of an object in the captured image, the detection target being the object of which the center of gravity changes due to a change in either or both of an outer shape and a condition of contents; and
control a driving device to be controlled that acts on the object by using a result of the detection.

2. The information processing device according to claim 1 , wherein the at least one processor tracks the detection target by using the result of the detection.

3. The information processing device according to claim 1 , wherein the detection target also includes a predetermined control attention point in a region whose of which a position changes by driving of the driving device, and the at least one processor detects the control attention point in addition to the position of the center of gravity of the object from the captured image.

4. The information processing device according to claim 3 , wherein the at least one processor controls the driving device in such a way that, from a state in which the position of the center of gravity of the detected object and the control attention point in a device having a gripping function as the driving device are arranged on a same virtual straight line, the control attention point moves in a direction approaching the position of the center of gravity of the object and grips the object.

5. The information processing device according to claim 1 , wherein the at least one processor generates the reference data by performing the machine learning on the detection target including the position of the center of gravity of the object in the captured image.

6. A driving control method comprising:
by at least one processor,
detecting a detection target from a captured image by using reference data that is a learning result obtained by machine learning of the detection target including a position of a center of gravity of an object in the captured image, the detection target being the object of which the center of gravity changes due to a change in either or both of an outer shape and a condition of contents; and
controlling a driving device to be controlled that acts on the object by using a result of the detection.

7. A non-transitory program-recording medium storing a computer program for causing a computer to execute:
detecting a detection target from a captured image by using reference data that is a learning result obtained by machine learning of the detection target including a position of a center of gravity of an object in the captured image, the detection target being the object of which the center of gravity changes due to a change in either or both of an outer shape and a condition of contents; and
controlling a driving device to be controlled that acts on the object by using a result of the detection.

Assignees

• Nec Corp

Inventors

• Kitagawa Takeharu

Classifications

• B25J19/023

  including video camera means · CPC title

• G06N20/00

  Machine learning · CPC title

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G06T2207/20081

  Training; Learning · CPC title

• G06T7/74

  involving reference images or patches · CPC title