Object gripping system, object gripping method, storage medium and robot system

Patent metadata

Field	Value
Publication number	US-9266237-B2
Application number	US-201113225728-A
Country	US
Kind code	B2
Filing date	Sep 6, 2011
Priority date	Sep 7, 2010
Publication date	Feb 23, 2016
Grant date	Feb 23, 2016

Abstract

A system comprises: a measurement unit adapted to measure a position/orientation of at least one target object based on an image obtained by capturing the at least one target object; a selection unit adapted to select at least one grippable target object based on the position/orientation; a determination unit adapted to determine, as an object to be gripped, a grippable target object in a state with a highest priority from the at least one grippable target object based on priorities set in advance for states including gripping positions/directions; a gripping unit adapted to grip the object to be gripped in the state with the highest priority; and a changing unit adapted to change the state of the gripped object, to a state in which the gripped object is assembled to the other object.

First claim

What is claimed is:

1. A controller for an object gripping system, the controller comprising:
a memory; and
at least one processor coupled to the memory, the at least one processor being configured to perform the functions of:
a position and orientation measurement unit adapted to measure a position and orientation of at least one target object based on a captured image of the at least one target object;
a selection unit adapted to select at least one grippable target object from the at least one target object based on the position and orientation; and
a determination unit adapted to determine a gripping target object from the at least one grippable target object, which is selected by said selection unit, based on priorities set in advance for states including gripping positions or gripping directions,
wherein the priority is set in advance to be higher with a decrease in an amount of change required to change from a first gripping position and gripping direction to a second gripping position and gripping direction for the gripping target object to be assembled to another object.

2. The apparatus according to claim 1 , wherein said determination unit determines, as the gripping target object, a grippable target object in a state with a highest priority.

3. An object gripping system comprising:
the controller to claim 1 ;
a gripping unit adapted to grip the gripping target object, which is determined by said determination unit, in the state with the highest priority, the gripping target object gripped by the gripping unit being a gripped object; and
a changing unit adapted to change at least one of a gripping position and gripping direction of the gripped object from the first gripping position and gripping direction to the second gripping position and gripping direction in which the gripped object will be assembled to the other object.

4. The system according to claim 3 , further comprising an assembly unit adapted to assemble the gripped object to the other object with the second gripping position and gripping direction.

5. The system according to claim 3 , further comprising an image capturing unit adapted to capture an image of the at least one target object,
wherein said image capturing unit captures an image of the object gripped by said gripping unit again,
said position and orientation measurement unit measures a position and orientation of the at least one target object again based on the image captured again by said image capturing unit, and
said changing unit changes at least one of a gripping position and a gripping direction of the gripped object gripped by said gripping unit from the first gripping position and gripping direction to the second gripping position and gripping direction for the gripped object to be assembled to the other object, based on the position and orientation measured again by said position and orientation measurement unit.

6. The system according to claim 3 , wherein said gripping unit includes one of a multi-fingered mechanism, a gripper mechanism, and a suction mechanism.

7. A robot system comprising the object gripping system according to claim 3 .

8. A controller for an object gripping system, the controller comprising:
a memory; and
at least one processor coupled to the memory, the at least one processor being configured to perform the functions of:
a position and orientation measurement unit adapted to measure a position and orientation of at least one target object based on a captured image of the at least one target object;
a selection unit adapted to select at least one grippable target object from the at least one target object based on the position and orientation from the at least one target object; and
a determination unit adapted to determine a gripping target object from the at least one grippable target object, which is selected by said selection unit, based on priorities set in advance for states including gripping positions or gripping directions,
wherein the priority is set in advance to be higher with a decrease in time required to change from a first gripping position and gripping direction to a second gripping position and gripping direction for the gripping target object to be assembled to another object .

9. A method for controlling an object gripping system that includes a processor, the method comprising the steps of:
measuring, by the processor, a position and orientation of at least one target object based on a captured image of the at least one target object;
selecting, by the processor, at least one grippable target object from the at least one target object based on the position and orientation;
determining, by the processor, a gripping target object from the at least one grippable target object which is selected in the selecting step, based on priorities set in advance for states including gripping positions or gripping directions,
wherein the priority is set in advance to be higher with a decrease in change amount required to change from a first gripping position and gripping direction to a second gripping position and gripping direction for the gripping target object to be assembled to another object.

10. A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute processes in the method according to claim 9 .

11. An object gripping method comprising:
gripping the gripping target object which is determined by the method according to claim 9 , in the state with the highest priority; and
changing at least one of a gripping position and gripping direction of the gripping target object, which is gripped in the gripping step, from the first gripping position and gripping direction to the second gripping position and gripping direction in which the gripping target object will be assembled to the other object.

12. A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute processes in the object gripping method according to claim 11 .

13. A method for controlling an object gripping system that includes a processor, the method comprising the steps of:
measuring, by the processor, a position and orientation of at least one target object based on a captured image of the at least one target object;
selecting, by the processor, at least one grippable target object from the at least one target object based on the position and orientation;
determining, by the processor, a gripping target object from the at least one grippable target object, which is selected in the selecting step, based on priorities set in advance for states including gripping positions or gripping directions,
wherein the priority is set in advance to be higher with a decrease in time required to change from a first gripping position and gripping direction to a second gripping position and gripping direction for the gripping target object to be assembled to another object.

14. A non-transitory computer-readable storage medium storing a computer program for causing a computer to execute processes in the method according to claim 13 .

Assignees

• Nomura Osamu
• Canon Kk

Inventors

• Nomura Osamu

Classifications

• G05B2219/37555

  Camera detects orientation, position workpiece, points of workpiece · CPC title

• G05B15/02

  electric · CPC title

• B25J9/1612 Primary

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

• G05B2219/39508

  Reorientation of object, orient, regrasp object · CPC title

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title