3D Grasp Interference Detection Excluding the Target Workpiece
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Solution Overview
Problem
Existing methods for determining interference between a grasping hand and peripheral objects during the picking of a workpiece from a pile often result in erroneous detections, as they include distance information representing the target workpiece, leading to false interference warnings with objects that do not actually interfere.
Innovation Solution
An information processing apparatus that obtains a range image of a space, identifies the target workpiece, and determines interference between the grasping unit and peripheral objects by using a three-dimensional shape model and a hand model to detect spatial overlaps, excluding the target workpiece area from the interference determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If distance information representing the target workpiece is included in the range image for interference determination, then the determination can be performed using all available spatial data, but false interference detections occur with the target workpiece itself
Solution Approach 1:
The patent segments the range image data into two distinct parts: the target workpiece area and the peripheral object area. By dividing the spatial data, the system can perform interference determination separately for each region, allowing accurate detection of peripheral objects while excluding the target workpiece from false interference detections.
Solution Approach 2:
The patent extracts and removes the target workpiece area from the range image data before performing interference determination. This extraction eliminates the source of false positives, allowing the system to focus solely on detecting actual peripheral objects that may interfere with the grasping operation.
2Manufacturing precision
If the hand is positioned close to the target workpiece for precise grasping, then grasping precision is improved, but false interference detections with the target workpiece increase
Solution Approach 1:
By extracting the target workpiece area from the range image before interference determination, the system eliminates false detections that would otherwise occur when the hand is positioned close to the workpiece. This allows the hand to approach the target precisely without triggering erroneous interference warnings.
Solution Approach 2:
The patent introduces an intermediary processing step that separates target identification from interference determination. This intermediary process uses the identified target area as a mask or exclusion zone, allowing the hand to position itself close to the workpiece while the system distinguishes between intentional proximity and actual interference with peripheral objects.
Data Source
AI summary
An information processing apparatus of the present invention correctly determines in advance whether interference occurs between an object around a target workpiece to be grasped, and a hand. The information processing apparatus includes an obtaining unit configured to obtain a range image of a space including a plurality of workpieces, an identification unit configured to identify, from the obtained range image, an area of the target workpiece to be grasped among the plurality of workpieces, an interference determination unit configured to determine whether interference occurs between an area included in the range image and a grasping unit configured to grasp the target workpiece, and an output unit configured to output, based on a result of the interference determination by the interference determination unit, a result of determination as to whether interference occurs between an area excluding the area of the target workpiece and the grasping unit.