Robot Arm Orientation Recognition Memory Reduction
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Solution Overview
Problem
Existing methods for estimating the three-dimensional position and orientation of objects with high degrees of freedom are inefficient, leading to increased memory usage and processing time in industrial robots, especially when the object's orientation is not grippable, and struggle with variations in appearance due to orientation changes.
Innovation Solution
An information processing apparatus that restricts the position and orientation of work subjects to be recognized based on the workability of the robot arm, using an obtaining unit to determine feasible orientations and a restriction unit to limit recognition processing to only those orientations where the robot arm can perform work, thereby reducing memory capacity and processing time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the recognizer is designed to detect target subjects with high degree of freedom orientations, then the recognition capability is improved, but the memory capacity increases and detection processing time is prolonged
Solution Approach 1:
The patent segments the continuous orientation space into discrete orientation categories (e.g., 0°, 45°, 90°, 135°, 180°, 225°, 270°, 315°). Instead of designing the recognizer to handle all possible orientations with high degree of freedom, the orientation parameter is divided into a finite set of representative categories, reducing the recognition burden while maintaining practical effectiveness
Solution Approach 2:
The patent changes the parameter representation by discretizing the continuous orientation angle into categorical values. This parameter transformation reduces the complexity of the recognition problem from continuous high-degree-of-freedom estimation to discrete category classification, thereby reducing memory capacity requirements and processing time
2Reliability
If the recognizer detects all possible orientations including non-grippable orientations, then the detection completeness is improved, but the detection processing time increases
Solution Approach 1:
The patent extracts and removes non-grippable orientations from the recognition scope. By identifying orientations that cannot be gripped by the robot hand, these orientations are excluded from the detection task, reducing unnecessary processing while maintaining detection completeness for all practically relevant (grippable) orientations
Solution Approach 2:
The patent applies partial action by detecting only the necessary orientations (grippable orientations) rather than all possible orientations. This partial detection approach is sufficient for practical robotic manipulation tasks, avoiding the time cost of detecting excessive orientations that cannot be acted upon
3Measurement precision
If the collation limit value is relaxed to permit orientation variations, then the detection accuracy for varied orientations is improved, but the memory capacity and processing time increase
Solution Approach 1:
The patent changes the parameter representation by transforming continuous orientation variations into discrete orientation categories. Instead of using a relaxed collation limit value that requires complex continuous matching, the system categorizes orientations into discrete bins, reducing recognizer complexity while maintaining the ability to detect varied orientations accurately
Solution Approach 2:
The patent segments the orientation space into discrete categories, allowing the system to handle orientation variations through categorical matching rather than continuous parameter matching. This segmentation reduces the complexity of the collation process while maintaining detection accuracy for objects with varied orientations
Data Source
AI summary
An information processing apparatus for performing recognition processing by a recognizer for a position and orientation of a work subject to undergo work by a working unit of a robot arm. The information processing apparatus including an obtaining unit adapted to obtain, for each of a plurality of positions and orientations of the work subject, a position and an orientation of the working unit in which the working unit can perform the work, and a restriction unit adapted to restrict a position and an orientation of the work subject used in the recognition processing by the recognizer to a position and an orientation of the work subject corresponding to the position and the orientation of the working unit that have been obtained by the obtaining unit.