Injection apparatus, injection method, and injection program
AssigneeSony Corporation
InventorsToshimitsu Tsuboi, Ryo Terasawa
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Abstract
An apparatus capable of smoothly injecting contents in an object into another object, an injection method, and an injection program. The apparatus includes a robotic arm device configured to grip a first container, and circuitry configured to recognize a flowrate of contents while injecting an amount of the contents from the first container into a second container, and control a tilt of the first container using the robotic arm device to inject the contents into the second container according to the recognized flowrate of the contents.
Claims17
An apparatus comprising:
- a robotic arm device configured to grip a first container from which contents are injected into a second container based on driving of the robotic arm device;
- and
- circuitry configured to
- recognize a flowrate of the contents while injecting an amount of the contents from the first container into the second container, and
- control a tilt of the first container based on a determined flowrate plan for injecting the amount of the contents using the driving of the robotic arm device to inject the contents into the second container according to the recognized flowrate of the contents,
- wherein the flowrate of the contents is recognized by a vision sensor as the contents flow out from an outlet of the first container, and
- wherein the flowrate plan for controlling the tilt of the first container is changed according to a speed of the contents recognized by the vision sensor at a time when the contents initially flow out from the outlet of the first container.
A method of controlling a tilt using a robotic arm device, the method comprising:
- causing the robotic arm device to grip a first container from which contents are injected into a second container based on driving of the robotic arm device;
- recognizing a flowrate of the contents while injecting an amount of the contents from the first container into the second container;
- and
- controlling a tilt of the first container based on a determined flowrate plan for injecting the amount of the contents using the driving of the robotic arm device to inject the contents into the second container according to the recognized flowrate of the contents,
- wherein the flowrate of the contents is recognized by a vision sensor as the contents flow out from an outlet of the first container, and
- wherein the flowrate plan for controlling the tilt of the first container is changed according to a speed of the contents recognized by the vision sensor at a time when the contents initially flow out from the outlet of the first container.
A non-transitory computer-readable storage medium having embodied thereon a program, which when executed by a computer causes the computer to execute a method, the method comprising:
- causing a robotic arm device to grip a first container from which contents are injected into a second container based on driving of the robotic arm device;
- recognizing a flowrate of the contents while injecting an amount of the contents from the first container into the second container;
- and
- controlling a tilt of the first container based on a determined flowrate plan for injecting the amount of the contents using the driving of the robotic arm device to inject the contents into the second container according to the recognized flowrate of the contents,
- wherein the flowrate of the contents is recognized by a vision sensor as the contents flow out from an outlet of the first container, and
- wherein the flowrate plan for controlling the tilt of the first container is changed according to a speed of the contents recognized by the vision sensor at a time when the contents initially flow out from the outlet of the first container.
Dependencies are inferred from the claim text.