Handling system, handling method, storage medium, information processing device, and data structure

Patent metadata

Field	Value
Publication number	US-2024391110-A1
Application number	US-202418795846-A
Country	US
Kind code	A1
Filing date	Aug 6, 2024
Priority date	Feb 8, 2022
Publication date	Nov 28, 2024
Grant date	—

Abstract

According to an embodiment, a handling system includes a holder and controller. The holder holds an object. The controller controls the holder. The controller acquires information about physical properties of the object. The controller generates a holding plan for holding the object by the holder on the basis of the physical properties. The holding plan includes information of a holding region of the object in which the object is held by the holder. The controller causes the holder to hold the object on the basis of the holding plan.

First claim

What is claimed is:

1 . A handling system comprising:
a holder configured to hold an object; and a controller configured to control the holder, wherein the controller is configured to: acquire information about physical properties of the object, generate a holding plan for holding the object by the holder on the basis of the physical properties, wherein the holding plan includes information of a holding region of the object in which the object is held by the holder, and cause the holder to hold the object on the basis of the holding plan.

2 . The handling system according to claim 1 , wherein the controller is configured to decide the holding region in which the object is held by the holder, on the basis of the physical properties of the object.

3 . The handling system according to claim 1 , wherein the controller is configured to acquire image data of the object and perform image recognition for the image data on the basis of the physical properties of the object.

4 . The handling system according to claim 3 , wherein the controller is configured to, in the image recognition, perform a filtering process for the image data on the basis of the physical properties of the object.

5 . The handling system according to claim 3 ,
wherein the holder includes an adsorber configured to adsorb the object, and wherein the controller is configured to detect an adsorption region of the object, to which the adsorber can adsorb, on the basis of the physical properties of the object and identify the adsorption region as the holding region.

6 . The handling system according to claim 1 , wherein the controller is configured to identify a plurality of candidate regions for the object as candidates for the holding region in which the object is held by the holder, calculate a score for each of the candidate regions on the basis of the physical properties of the object, and decide the holding region in which the object is held by the holder, on the basis of the score.

7 . The handling system according to claim 6 ,
wherein the score includes a component related to a center-of-gravity position of the object, and wherein the controller is configured to calculate the component related to the center-of-gravity position on the basis of the physical properties of the object.

8 . The handling system according to claim 6 ,
wherein the holder includes a pincher having a pinching hand configured to pinch the object, and wherein the controller is configured to calculate the score on the basis of an estimated amount of entry of the pinching hand into the candidate region.

9 . The handling system according to claim 1 , wherein the controller is configured to decide a degree to which the holder presses a surface of the object in the holding plan on the basis of the physical properties of the object.

10 . The handling system according to claim 1 , wherein the controller is configured to decide a target position to which the holder moves to hold the object in the holding plan, on the basis of the physical properties of the object.

11 . The handling system according to claim 1 , wherein the physical properties include properties related to at least one of flexibility and deformability.

12 . The handling system according to claim 11 , wherein the controller is configured to cause the holder to deform the object when the holder holds the holding region.

13 . A handling method to be executed by a processor of a computer, the handling method comprising:
an information acquisition step; a planning step; and an execution step, wherein the information acquisition step includes acquiring information about physical properties of an object, wherein the planning step includes generating a holding plan for holding the object by a holder configured to hold the object, on the basis of the physical properties, wherein the holding plan includes information of a holding region of the object in which the object is held by the holder, and wherein the execution step includes causing the holder to hold the object on the basis of the holding plan.

14 . A non-volatile computer-readable storage medium storing a program for causing a processor of a computer to execute a handling method, the handling method comprising:
an information acquisition step; a planning step; and an execution step, wherein the information acquisition step includes acquiring information about physical properties of an object, wherein the planning step includes generating a holding plan for holding the object by a holder configured to hold the object, on the basis of the physical properties, wherein the holding plan includes information of a holding region of the object in which the object is held by the holder, and wherein the execution step includes causing the holder to hold the object on the basis of the holding plan.

15 . An information processing device for generating a holding plan for holding an object by a holder, the information processing device comprising:
a processor configured to: acquire information about physical properties of the object, and generate the holding plan for holding the object by the holder on the basis of the physical properties, wherein the holding plan includes information of a holding region of the object in which the object is held by the holder.

16 . A data structure for a handling system including a holder configured to hold an object and a controller configured to control the holder, the data structure comprising with respect to a plurality of objects, identification information of each object and information about physical properties of each object,
wherein the data structure is used for a process in which: the controller identifies an object to be held, the controller generates a holding plan for holding the object by the holder on the basis of the information about the physical properties corresponding to the object, wherein the holding plan includes information of a holding region of the object in which the object is held by the holder, and the controller causes the holder to hold the object on the basis of the holding plan.

17 . The data structure according to claim 16 , wherein the data structure is updated on the basis of a result of causing the holder to hold the object.

18 . A handling method of handling an object using the data structure according to claim 16 , the handling method comprising steps of:
in a case in which the object is not included in the data structure, identifying another object having similarity to the object among the plurality of objects included in the data structure; generating a holding plan for holding the object by the holder configured to hold the object on the basis of the information about the physical properties of the identified object, wherein the holding plan includes the information of the holding region of the object in which the object is held by the holder, and causing the holder to hold the object on the basis of the holding plan.

19 . The handling method according to claim 18 , further comprising a step of updating the data structure on the basis of a result of causing the holder to hold the object.

Assignees

• Toshiba Kk

Inventors

• Eto Haruna
• Ogawa Akihito
• Tokura Seiji
• Komoda Kazuma

Classifications

• B25J9/1612

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

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• B25J15/08

  having finger members (B25J15/02, B25J15/04 take precedence) · CPC title

• B25J13/08

  by means of sensing devices, e.g. viewing or touching devices · CPC title

• B25J9/1697 Primary

  Vision controlled systems · CPC title