公开(公告)号：US20100256818A1

公开(公告)日：2010-10-07

申请号：US12682242

申请日：2008-09-26

申请人： Masato Aoba ,  Masakazu Matsugu ,  Masafumi Takimoto

发明人： Masato Aoba ,  Masakazu Matsugu ,  Masafumi Takimoto

IPC分类号： G05B15/00

CPC分类号： B25J9/1612 ,  B25J9/1697 ,  G05B2219/39391 ,  G05B2219/39568 ,  G05B2219/40032 ,  G05B2219/40087

摘要： A gripping apparatus comprises an information acquisition unit (A 311, A315, A301) configured to acquire information about a position and orientation of an object (23) to be gripped by a gripper (12), a movement path generating unit (A610) configured to acquire a target state suitable for gripping the object, based on the acquired information, and generate a movement path of the gripper toward the target state, and a controller configured to move the gripper along the generated movement path and cause the gripper to grip the object.

摘要翻译： 夹持装置包括：信息获取单元（A 311，A315，A301），被配置为获取关于被夹持器（12）夹持的物体（23）的位置和方向的信息;移动路径生成单元（A610） 基于所获取的信息获取适于夹持物体的目标状态，并且生成夹持器朝向目标状态的移动路径，以及控制器，其构造成沿着所产生的移动路径移动夹持器，并使夹持器夹持 目的。

公开(公告)号：US08862267B2

公开(公告)日：2014-10-14

申请号：US12682242

申请日：2008-09-26

申请人： Masato Aoba ,  Masakazu Matsugu ,  Masafumi Takimoto

发明人： Masato Aoba ,  Masakazu Matsugu ,  Masafumi Takimoto

IPC分类号： G06F19/00 ,  B25J9/16

CPC分类号： B25J9/1612 ,  B25J9/1697 ,  G05B2219/39391 ,  G05B2219/39568 ,  G05B2219/40032 ,  G05B2219/40087

摘要： A gripping apparatus comprises an information acquisition unit (A 311, A315, A301) configured to acquire information about a position and orientation of an object (23) to be gripped by a gripper (12), a movement path generating unit (A610) configured to acquire a target state suitable for gripping the object, based on the acquired information, and generate a movement path of the gripper toward the target state, and a controller configured to move the gripper along the generated movement path and cause the gripper to grip the object.

摘要翻译： 夹持装置包括：信息获取单元（A 311，A315，A301），被配置为获取关于被夹持器（12）夹持的物体（23）的位置和方向的信息;移动路径生成单元（A610） 基于所获取的信息获取适于夹持物体的目标状态，并且生成夹持器朝向目标状态的移动路径，以及控制器，其构造成沿着所产生的移动路径移动夹持器，并使夹持器夹持 目的。

公开(公告)号：US20120099798A1

公开(公告)日：2012-04-26

申请号：US13379413

申请日：2010-06-21

申请人： Takayuki Saruta ,  Masato Aoba ,  Masakazu Matsugu

发明人： Takayuki Saruta ,  Masato Aoba ,  Masakazu Matsugu

IPC分类号： G06K9/46 ,  H04N13/02 ,  H04N7/18

CPC分类号： G01B11/002

摘要： An information processing apparatus for matching a position and/or orientation of a measurement object with that of a model of the measurement object includes an acquisition unit configured to acquire a captured image of the measurement object, a calculation unit configured to calculate information indicating a surface shape of the measurement object based on the captured image, and a limitation unit configured to limit a position and/or orientation of the model based on the information indicating the surface shape.

摘要翻译： 一种用于将测量对象的位置和/或取向与测量对象的模型进行匹配的信息处理设备包括：获取单元，被配置为获取测量对象的拍摄图像;计算单元，被配置为计算指示表面的信息 基于捕获图像的测量对象的形状;以及限制单元，被配置为基于指示表面形状的信息来限制模型的位置和/或取向。

公开(公告)号：US08917942B2

公开(公告)日：2014-12-23

申请号：US13379413

申请日：2010-06-21

申请人： Takayuki Saruta ,  Masato Aoba ,  Masakazu Matsugu

发明人： Takayuki Saruta ,  Masato Aoba ,  Masakazu Matsugu

IPC分类号： G06K9/46 ,  G01B11/00

CPC分类号： G01B11/002

摘要： An information processing apparatus for matching a position and/or orientation of a measurement object with that of a model of the measurement object includes an acquisition unit configured to acquire a captured image of the measurement object, a calculation unit configured to calculate information indicating a surface shape of the measurement object based on the captured image, and a limitation unit configured to limit a position and/or orientation of the model based on the information indicating the surface shape.

摘要翻译： 一种用于将测量对象的位置和/或取向与测量对象的模型进行匹配的信息处理设备包括：获取单元，被配置为获取测量对象的拍摄图像;计算单元，被配置为计算指示表面的信息 基于捕获图像的测量对象的形状;以及限制单元，被配置为基于指示表面形状的信息来限制模型的位置和/或取向。

公开(公告)号：US20110206237A1

公开(公告)日：2011-08-25

申请号：US13030956

申请日：2011-02-18

申请人： Takayuki Saruta ,  Masakazu Matsugu ,  Masato Aoba

发明人： Takayuki Saruta ,  Masakazu Matsugu ,  Masato Aoba

IPC分类号： G06K9/00

CPC分类号： G06K9/4661 ,  G01B11/00

摘要： A recognition apparatus for recognizing a position and an orientation of a target object, inputs a captured image of the target object captured by an image capturing apparatus; detects a plurality of feature portions from the captured image, and to extract a plurality of feature amounts indicating image characteristics in each of the plurality of feature portions; inputs property information indicating respective physical properties in the plurality of feature portions on the target object; inputs illumination information indicating an illumination condition at the time of capturing the captured image; determines respective degrees of importance of the plurality of extracted feature amounts based on the respective physical properties indicated by the property information and the illumination condition indicated by the illumination information; and recognizes the position and the orientation of the target object based on the plurality of feature amounts and the respective degrees of importance thereof.

摘要翻译： 用于识别目标对象的位置和取向的识别装置输入由图像捕获装置捕获的目标对象的拍摄图像; 从捕获的图像中检测多个特征部分，并且提取指示多个特征部分中的每一个中的图像特征的多个特征量; 输入表示所述目标物体上的所述多个特征部中的各物理属性的属性信息; 输入指示拍摄图像时的照明条件的照明信息; 基于由所述属性信息和由所述照明信息指示的照明条件指示的各个物理属性来确定所述多个提取的特征量的各自的重要程度; 并且基于多个特征量及其各自的重要程度来识别目标对象的位置和取向。

公开(公告)号：US09087265B2

公开(公告)日：2015-07-21

申请号：US13030956

申请日：2011-02-18

申请人： Takayuki Saruta ,  Masakazu Matsugu ,  Masato Aoba

发明人： Takayuki Saruta ,  Masakazu Matsugu ,  Masato Aoba

IPC分类号： G06K9/00 ,  G06K9/46 ,  G01B11/00

CPC分类号： G06K9/4661 ,  G01B11/00

摘要： A recognition apparatus for recognizing a position and an orientation of a target object, inputs a captured image of the target object captured by an image capturing apparatus; detects a plurality of feature portions from the captured image, and to extract a plurality of feature amounts indicating image characteristics in each of the plurality of feature portions; inputs property information indicating respective physical properties in the plurality of feature portions on the target object; inputs illumination information indicating an illumination condition at the time of capturing the captured image; determines respective degrees of importance of the plurality of extracted feature amounts based on the respective physical properties indicated by the property information and the illumination condition indicated by the illumination information; and recognizes the position and the orientation of the target object based on the plurality of feature amounts and the respective degrees of importance thereof.

摘要翻译： 用于识别目标对象的位置和取向的识别装置输入由图像捕获装置捕获的目标对象的拍摄图像; 从捕获的图像中检测多个特征部分，并且提取指示多个特征部分中的每一个中的图像特征的多个特征量; 输入表示所述目标物体上的所述多个特征部中的各物理属性的属性信息; 输入指示拍摄图像时的照明条件的照明信息; 基于由所述属性信息和由所述照明信息指示的照明条件指示的各个物理属性来确定所述多个提取的特征量的各自的重要程度; 并且基于多个特征量及其各自的重要程度来识别目标对象的位置和取向。

公开(公告)号：US09239234B2

公开(公告)日：2016-01-19

申请号：US12620886

申请日：2009-11-18

申请人： Masato Aoba

发明人： Masato Aoba

IPC分类号： G06F15/00 ,  G01B11/14 ,  G01B11/25 ,  G01B11/24 ,  G06T7/00 ,  B25J9/16

CPC分类号： G01B11/2518 ,  B25J9/1697 ,  G01B11/24 ,  G01B11/25 ,  G01B11/2504 ,  G06T7/70

摘要： A work system includes an arm mechanism, a position and an orientation of which are configured to be changed so as to process an object placed on a work area, a member arranged at a distal end portion of the arm mechanism to receive a light projection pattern for calculating a position and an orientation of the distal end portion of the arm mechanism, and an irradiation unit configured to form the light projection pattern on the member and on the object by irradiating the member and the object with pattern light. In addition, an image sensing unit senses an image of the object and is fixed at a position independent of the arm mechanism, and a first calculation unit calculates a position and an orientation of the distal end portion of the arm mechanism and an irradiation plane of the pattern light based on the light projection pattern formed on the member. A second calculation unit calculates a position and an orientation of the object based on the calculated irradiation plane and the light projection pattern formed on the object.

摘要翻译： 工作系统包括臂机构，其位置和取向被配置为改变以便处理放置在工作区域上的物体;布置在臂机构的远端部分处的部件，以接收光投影图案 用于计算臂机构的远端部分的位置和取向;以及照射单元，被配置为通过用图案光照射构件和物体来在构件和物体上形成光投射图案。 此外，图像感测单元感测物体的图像并且固定在与臂机构无关的位置处，并且第一计算单元计算臂机构的远端部分的位置和取向以及臂机构的照射平面 基于形成在该构件上的光投射图案的图案光。 第二计算单元基于计算出的照射平面和形成在物体上的光投影图案来计算物体的位置和取向。

公开(公告)号：US08705795B2

公开(公告)日：2014-04-22

申请号：US13291655

申请日：2011-11-08

申请人： Masato Aoba

发明人： Masato Aoba

IPC分类号： G06T7/00 ,  G06K9/62

CPC分类号： G06K9/6255 ,  G06K9/00208 ,  G06K9/6228 ,  G06T7/77 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20076 ,  G06T2207/20081

摘要： An information processing apparatus includes a selection unit configured to select a plurality of specific areas of a target object, a learning unit configured to learn a detection model that relates to each of the plurality of specific areas, a generation unit configured to generate an area combination as a combination of specific areas selected from the plurality of specific areas, a recognition unit configured to recognize the target object based on the detection model and the area combination, and an addition unit configured to add a new specific area based on a recognition result obtained by the recognition unit. If the new specific area is added by the addition unit, the learning unit further learns a detection model that relates to the new specific area.

摘要翻译： 一种信息处理装置，包括：选择单元，被配置为选择目标对象的多个特定区域;学习单元，被配置为学习与所述多个特定区域中的每一个相关的检测模型;生成单元，被配置为生成区域组合 作为从所述多个特定区域中选择的特定区域的组合，基于所述检测模型和所述区域组合来识别所述目标对象的识别单元，以及基于所获得的识别结果来添加新的特定区域的加法单元 由识别单元。 如果通过加法单元添加新的特定区域，则学习单元进一步学习与新的特定区域相关的检测模型。

公开(公告)号：US08588974B2

公开(公告)日：2013-11-19

申请号：US12641246

申请日：2009-12-17

申请人： Masato Aoba ,  Shunta Tate

发明人： Masato Aoba ,  Shunta Tate

IPC分类号： G05B19/418 ,  G05B19/04 ,  G05B19/00

CPC分类号： B25J9/1692 ,  G05B19/401 ,  G05B2219/37009 ,  G05B2219/37423 ,  G06T1/00

摘要： A work apparatus sets a virtual target point on an image plane in an imaging apparatus, and obtains a plurality of coordinate values of a moving unit at which a work reference point of a work unit and the virtual target point are caused to match in an image captured by the imaging apparatus. Further, the work apparatus obtains, in the image, coordinate values of the moving unit at which a position of light projection by a distance information obtaining unit and the virtual target point are caused to match, and a plurality of pieces of distance information obtained from the distance information obtaining unit at those coordinate positions. Then, the work apparatus calculates, based on the plurality of coordinate values and the plurality of pieces of distance information obtained through the above processing, a calibration parameter for the moving unit and the distance information obtaining unit.

摘要翻译： 作业装置在成像装置中在图像平面上设置虚拟目标点，并且获得在图像中使工作单元的工作参考点和虚拟目标点相匹配的移动单元的多个坐标值 由成像装置拍摄。 此外，作业装置在图像中获得由距离信息获取单元和虚拟目标点进行的光投射的位置匹配的移动单元的坐标值，以及从多个距离信息获得单元获得的多条距离信息 在这些坐标位置处的距离信息获取单元。 然后，作业装置基于通过上述处理获得的多个坐标值和多个距离信息，计算移动单元和距离信息获取单元的校准参数。

公开(公告)号：US20120259462A1

公开(公告)日：2012-10-11

申请号：US13428372

申请日：2012-03-23

申请人： Masato Aoba

发明人： Masato Aoba

IPC分类号： G06F19/00

CPC分类号： B25J9/1697 ,  G05B2219/40004 ,  G05B2219/40053

摘要： 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, comprising: an obtaining unit adapted to obtain, for each of a plurality of positions and orientations of the work subject, a position and orientation of the working unit in which the working unit can perform the work; and a restriction unit adapted to restrict a position and orientation of the work subject used in the recognition processing by the recognizer to a position and orientation of the work subject corresponding to the position and orientation of the working unit that have been obtained by the obtaining unit.

摘要翻译： 一种信息处理装置，用于执行由识别器对作业对象的位置和取向进行的识别处理，以通过机器人手臂的工作单元进行工作，所述信息处理装置包括：获取单元，适于为多个位置和取向中的每一个获得 工作单位的工作单位的位置和方向，工作单位可以在其中进行工作; 以及限制单元，其适于将由所述识别器进行的所述识别处理中使用的作业对象的位置和取向限制为与由所述获取单元获得的所述作业单元的位置和取向相对应的所述作业对象的位置和方向 。