Indeterminate body position estimation method, indeterminate body position estimation device and program

A shape and program technology, applied in the field of indeterminate shape position estimation, can solve the problems of difficult application and easily deformed indeterminate shape, and achieve the effect of high-precision position detection rate

Inactive Publication Date: 2020-05-05
WEST ELECTRIC CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, the method described in Non-Patent Document 1 is a method for an indeterminate workpiece with a partially flat surface, and it is difficult to apply it to a general indeterminate object that is easily deformed as a whole.

Method used

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  • Indeterminate body position estimation method, indeterminate body position estimation device and program
  • Indeterminate body position estimation method, indeterminate body position estimation device and program
  • Indeterminate body position estimation method, indeterminate body position estimation device and program

Examples

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Embodiment

[0039] figure 1 It is a block diagram showing an example of the structure of the bin picking system according to the embodiment of the present invention. The bin picking system 1 includes a measuring unit 3, a gripping unit 4 and an information processing device 5. In the bin picking system 1, the measuring section 3 measures the inside of the box 7, and when the information processing device 5 determines that there is an amorphous body 9, the gripping section 4 performs a process of taking out the amorphous body 9. The processing is repeated until the amorphous body 9 becomes non-existent. in figure 1 , Shows that there are two amorphous bodies 9 in the box 7 1 And 9 2 Case. In the following, subscripts are sometimes omitted. A plurality of unshaped bodies 9 are loosely packed in the box body 7 and are skewed and overlapped due to vibration and impact during transportation. In addition, there are cases where they fall in the middle of picking and cause overlap.

[0040] The ...

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PUM

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Abstract

The invention provides a shapeless body position presumption method, and a shapeless body position presumption device and program, and the overlapped upper and lower relationship of a shapeless body the whole shape of which can deform easily can be presumed in high precision. A distance sensor (13) mainly uses a measuring part (3) to measure the distance information, even if the shapeless body has a transparent part, the position of the shapeless body can be presumed in high precision. Furthermore, a threshold setting part (23) sets a threshold used for distinguishing overlapped parts, and an overlap mode presumption part presumes the overlap mode and presumes which overlap mode exists to obtain an object candidate. An upper and lower presumption part (27) presumes which object is at the uppermost side by means of a plurality of evaluation indexes. A centre-of-gravity position presumption part (29) presumes the backup centre-of-gravity position of the object arranged on the upper part.

Description

Technical field [0001] The present invention relates to an indefinite body position estimating method, an indefinite body position estimating device, and a program, and particularly relates to an indefinite body position estimating method and the like for estimating the top and bottom of a plurality of indefinite bodies. Background technique [0002] In recent years, a bin picking system using a robot has been developed. Bin picking refers to sequentially grasping objects from among multiple objects stacked at random and transporting them to a specific place. In bin picking, it is desired to hold the vicinity of the center of gravity of the object, so the center of gravity position information of the object is important. [0003] Estimation of the position of the center of gravity is performed in the state where there are multiple objects in the box or in bulk. These objects are skewed and overlapped in the box due to vibration and impact during transportation. In the case of sk...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 藤冈毅山本元司
Owner WEST ELECTRIC CO LTD
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