Robot control system, robot control method, and robot control program

Abstract

This invention provides a robot control system, a robot control method, and a robot control program that enable robot control at low cost. [Solution] The system includes an environmental information acquisition means that acquires environmental information based on depth information indicating the distance to a target object obtained by operating an arm equipped with a proximity sensor capable of detecting the proximity of a target object, and an RGB image of the target object captured by an RGB camera mounted on the arm, and a control means that controls a robot having an arm according to an operation plan generated based on the environmental information.

Claims

1. An environmental information acquisition means acquires environmental information based on depth information indicating the distance to a target object obtained by operating an arm equipped with a proximity sensor capable of detecting the proximity of a target object, and an RGB image of the target object captured by an RGB camera mounted on the arm. The system includes control means for controlling the robot having the arm portion according to a motion plan generated based on environmental information. A robot control system characterized by the following features.

2. The system includes a simple environmental information acquisition means that acquires environmental information based on the RGB image of the target object captured by the RGB camera. The control means is If predetermined conditions are met, the robot is controlled according to the operation plan generated based on the environmental information acquired by the environmental information acquisition means. If the predetermined conditions are not met, the robot is controlled according to the operation plan generated based on the environmental information acquired by the simplified environmental information acquisition means. The robot control system according to claim 1.

3. The aforementioned predetermined condition is a state in which the control of the robot based on the existing motion plan cannot be completed normally. The robot control system according to claim 2.

4. The environmental information acquisition means, when the predetermined conditions are met, operates the arm based on at least one of the existing environmental information and the search range definition information in which the search range is defined, to acquire the depth information. The robot control system according to claim 2 or claim 3.

5. The aforementioned simplified environmental information acquisition means performs a 3D reconstruction process using RGB images and acquires environmental information including 3D spatial information related to the target object. Robot control system according to claim 2 or claim 3

6. The aforementioned environmental information acquisition means performs a 3D reconstruction process using depth information and RGB images to acquire environmental information including 3D spatial information relating to the target object. A robot control system according to any one of claims 1 to 3.

7. The environmental information acquisition means calculates the distance to the target object based on the posture information indicating the posture of the arm at the time the proximity sensor detects proximity to the target object. A robot control system according to any one of claims 1 to 3.

8. The system includes a motion plan generation means that generates a motion plan, including information indicating a control target trajectory, based on task definition information and environmental information that define the task to be performed by the robot. The control means controls the robot according to the motion plan generated by the motion plan generation means. A robot control system according to any one of claims 1 to 3.

9. Computers Environmental information is acquired based on depth information indicating the distance to the target object obtained by operating an arm equipped with a proximity sensor capable of detecting the proximity of the target object, and an RGB image of the target object captured by an RGB camera mounted on the arm. The robot having the arm is controlled according to a motion plan generated based on environmental information. A robot control method characterized by the following:

10. On the computer, An environmental information acquisition process that acquires environmental information based on depth information indicating the distance to the target object obtained by operating an arm equipped with a proximity sensor capable of detecting the proximity of the target object, and an RGB image of the target object captured by an RGB camera mounted on the arm, A control process that controls the robot having the arm according to an action plan generated based on environmental information. A robot control program to be executed.

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