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公开(公告)号：US11865720B2
公开(公告)日：2024-01-09
申请号：US17004094
申请日：2020-08-27
发明人： Haruna Eto , Seiji Tokura , Kazuma Komoda , Ping Jiang , Akihito Ogawa
CPC分类号： B25J9/1653 , B25J9/1612 , B25J9/1664 , B25J15/00 , G05B2219/39504 , G05B2219/39505
摘要： According to one embodiment, a handling device includes: a holding part that includes two or more supporting parts and is capable of holding an object by gripping the object with the two or more supporting parts; a calculation part configured to calculate a safety factor indicating safety of a state of the holding part holding the object; and a controller configured to cause the holding part to hold the object according to the safety factor.
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公开(公告)号：US11529743B2
公开(公告)日：2022-12-20
申请号：US17004183
申请日：2020-08-27
发明人： Kazuma Komoda , Seiji Tokura , Haruna Eto , Ping Jiang , Atsushi Sugahara , Akihito Ogawa
摘要： A handling apparatus has an arm having a joint; a holding portion attached to the arm and configured to hold an object; a sensor configured to detect a plurality of the objects; and a control apparatus configured to control the arm and the holding portion, wherein the control apparatus is configured to calculate an ease of holding the object by the holding portion as a score based on information acquired by the sensor with respect to each object and each holding method, select the object to hold and the holding method according to the score, and calculate a position for holding the selected object and an orientation of the arm.
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公开(公告)号：US11745337B2
公开(公告)日：2023-09-05
申请号：US16798562
申请日：2020-02-24
发明人： Haruna Eto , Seiji Tokura , Kazuma Komoda , Ping Jiang , Akihito Ogawa
CPC分类号： B25J9/1612 , B25J9/1664 , B25J15/00 , B65G61/00
摘要： A handling device according to an embodiment has a holder, a calculator, and a controller. The holder is capable of holding an object. The calculator calculates an estimated holding safety factor when the holder holds an object. The controller causes the holder to hold the object on the basis of the estimated holding safety factor calculated by the calculator.
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公开(公告)号：US11565408B2
公开(公告)日：2023-01-31
申请号：US16803536
申请日：2020-02-27
发明人： Ping Jiang , Seiji Tokura , Yoshiyuki Ishihara , Akihito Ogawa , Atsushi Sugahara , Haruna Eto , Kazuma Komoda
摘要： An object manipulation apparatus according to an embodiment of the present disclosure includes a memory and a hardware processor coupled to the memory. The hardware processor is configured to: calculate, based on an image in which one or more objects to be grasped are contained, an evaluation value of a first behavior manner of grasping the one or more objects; generate information representing a second behavior manner based on the image and a plurality of evaluation values of the first behavior manner; and control actuation of grasping the object to be grasped in accordance with the information being generated.
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公开(公告)号：US11518625B2
公开(公告)日：2022-12-06
申请号：US16802723
申请日：2020-02-27
发明人： Kazuma Komoda , Seiji Tokura , Haruna Eto , Ping Jiang , Atsushi Sugahara , Akihito Ogawa
摘要： A handling device according to an embodiment has an arm, a holder, a storage, and a controller. The arm includes at least one joint. The holder is attached to the arm and is configured to hold an object. The storage stores a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder. The detector is configured to detect information about the object. The controller is configured to generate holdable candidate points on the basis of the information detected by the detector, to search the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points, and to determine a holding posture of the holder on the basis of the searched position. The function map associates a manipulability with each position in the environment in which the object is present. The manipulability is a parameter calculated from at least one joint angle of the holder.
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公开(公告)号：US11691275B2
公开(公告)日：2023-07-04
申请号：US17191447
申请日：2021-03-03
发明人： Ping Jiang , Yoshiyuki Ishihara , Akihito Ogawa , Atsushi Sugahara , Seiji Tokura , Haruna Eto , Kazuma Komoda
CPC分类号： B25J9/1612 , B25J9/161 , B25J9/1697 , B25J13/088 , B25J15/0616
摘要： A handling device according to an embodiment includes a manipulator, a normal grid generation unit, a hand kernel generation unit, a calculation unit, and a control unit. The normal grid generation unit converts a depth image into a point cloud, generates spatial data including an object to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates. The hand kernel generation unit generates a hand kernel of each suction pad. The calculation unit calculates ease of grasping the object to be grasped by a plurality of suction pads based on a 3D convolution calculation using a grid including the spatial data and the hand kernel. The control unit controls a grasping operation of the manipulator based on the ease of grasping the object to be grasped by the plurality of suction pads.
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公开(公告)号：US20210078811A1
公开(公告)日：2021-03-18
申请号：US16802723
申请日：2020-02-27
发明人： Kazuma KOMODA , Seiji Tokura , Haruna Eto , Ping Jiang , Atsushi Sugahara , Akihito Ogawa
摘要： A handling device according to an embodiment has an arm, a holder, a storage, and a controller. The arm includes at least one joint. The holder is attached to the arm and is configured to hold an object. The storage stores a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder. The detector is configured to detect information about the object. The controller is configured to generate holdable candidate points on the basis of the information detected by the detector, to search the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points, and to determine a holding posture of the holder on the basis of the searched position. The function map associates a manipulability with each position in the environment in which the object is present. The manipulability is a parameter calculated from at least one joint angle of the holder.
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