Information processing apparatus, measuring apparatus, system, interference determination method, and article manufacturing method

A measuring apparatus that performs measurement of a position and a posture of an object, the apparatus comprising:

• an imaging device configured to image an object;
• and
• an information processing apparatus,
• wherein the information processing apparatus includes:
• a decision unit configured to decide an object to be gripped by a gripping device among a plurality of objects on the basis of a first image of the imaged object obtained by capturing a first area;
• a specifying unit configured to specify an attention area including the gripping device when the gripping device grips the decided object to be gripped and to determine whether the specified attention area is included within the first image;
• a controller configured to obtain, when the specifying unit determines at least part of the specified attention area is not included within the first image, a second image obtained by capturing a second area including the specified attention area that is not included within the first image;
• a determination unit configured to determine, when the gripping device grips the decided object to be gripped, whether the gripping device brings into contact with an object other than the decided object to be gripped on the basis of the second image;
• and
• a measuring unit configured to measure a position and a posture of the decided object to be gripped on the basis of an image captured by the imaging device.

A system comprising:

• a measuring apparatus configured to measure a position and a posture of an object;
• and
• a gripping device configured to grip and move the object,
• wherein the measuring apparatus includes an imaging device configured to image the object and an information processing apparatus,
• wherein the information processing apparatus includes:
• a decision unit configured to decide an object to be gripped by the gripping device among a plurality of objects on the basis of a first image of the imaged object obtained by capturing a first area;
• a specifying unit configured to specify an attention area including the gripping device when the gripping device grips the decided object to be gripped and to determine whether the specified attention area is included within the first image;
• a controller configured to obtain, when the specifying unit determines at least part of the specified attention area is not included within the first image, a second image obtained by capturing a second area including the specified attention area that is not included within the first image;
• a determination unit configured to determine, when the gripping device grips the decided object to be gripped, whether the gripping device brings into contact with an object other than the decided object to be gripped on the basis of the second image;
• and
• a measuring unit configured to measure a position and a posture of the decided object to be gripped on the basis of an image captured by the imaging device,
• wherein the measuring apparatus outputs the position and posture of the decided object to be gripped to the gripping device if it is determined that the gripping device does not bring into contact with an object other than the decided object to be gripped, and
• wherein the gripping device grips the decided object to be gripped on the basis of the output position and posture of the decided object to be gripped.

A determination method for determining whether a gripping device brings into contact with an object other than a decided object to be gripped when the decided object to be gripped is gripped, the method comprising:

• deciding the object to be gripped by the gripping device among a plurality of objects on the basis of a first image obtained by capturing a first area including the plurality of objects;
• specifying an attention area including the gripping device when the gripping device grips the decided object to be gripped and determining whether the specified attention area is included within the first image;
• obtaining, when it is determined that at least part of the specified attention area is not included within the first image, a second image obtained by capturing a second area including the specified attention area that is not included within the first image;
• and
• determining, when the gripping device grips the decided object to be gripped, whether the gripping device brings into contact with an object other than the decided object to be gripped on the basis of the second image.

A method for manufacturing an article, the method comprising:

• measuring a plurality of objects;
• determining whether a gripping device brings into contact with an object other than a decided object to be gripped when the decided object to be gripped is gripped using an information processing apparatus;
• and
• processing the decided object to be gripped on the basis of a result of the determination,
• wherein the information processing apparatus includes:
• a decision unit configured to decide the object to be gripped by the gripping device among the plurality of objects on the basis of a first image of imaged objects obtained by capturing a first area;
• a specifying unit configured to specify an attention area including the gripping device when the gripping device grips the decided object to be gripped and to determine whether the specified attention area is included within the first image;
• a controller configured to obtain, when the specifying unit determines at least part of the specified attention area is not included within the first image, a second image obtained by capturing a second area including the specified attention area that is not included within the first image;
• and a determination unit
• configured to determine, when the gripping device grips the decided object to be gripped, whether the gripping device brings into contact with an object other than the decided object to be gripped on the basis of the second image.