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US 12,066,812 B2Granted
Information processing method, information processing system, and program
AssigneeLinkwiz Incorporated
InventorHeev Ayade
Life of this patent
Estimating the term…
Abstract
The easy and quick detection of a contour shape of an object from three dimensional point group data, and control a robotic arm and a tool using it. An information processing method comprising: a step of acquiring three-dimensional point group data by a sensor from an object, a step of specifying a contour point group data that constitutes a contour of the object from the three-dimensional point group data, a step of acquiring tool control information including tool position information and tool posture information for specifying a tool trajectory of the tool connected to the arm of the working robot from the contour point group data, and a step of controlling the tool based on the tool control information.
Claims11
An information processing method comprising:
- acquiring first three-dimensional point group data by a sensor from a first object;
- specifying first contour point group data that constitutes an entire contour of the first object from the first three-dimensional point group data, based on a mutual positional relationship of point data within the first three-dimensional point group data;
- specifying predetermined point data among the first contour point group data as point data of a reference point in a comparative object setting range that defines a predetermined range including at least the reference point;
- storing the first contour point group data belonging to the predetermined range as feature point data of the first object;
- acquiring a second three-dimensional point group data by a sensor from a second object;
- storing second contour point group data belonging to the predetermined range as feature point data of the second object;
- and
- comparing the feature point data of the first object with the feature point data of the second object to calculate a deviation amount,
- wherein the reference point is a center point of the comparative object setting range;
- and
- the comparative object setting range is a range constituted of a spherical body having a predetermined radius from point data of the center point, and
- wherein the method further comprises:
- acquiring tool control information including tool position information and tool posture information for specifying a tool trajectory of a tool connected to an arm of a working robot based on at least the first contour point group data;
- and
- controlling the tool based on the tool control information,
- wherein the acquiring of the tool control information comprises setting a moving range of the tool.
13 more elements
An information processing method comprising:
- acquiring three-dimensional point group data by a sensor from an object;
- specifying contour point group data that constitutes a contour of the object from the three-dimensional point group data;
- acquiring tool control information including tool position information and tool posture information for specifying a tool trajectory of a tool connected to an arm of a working robot from the contour point group data;
- controlling the tool based on the tool control information;
- storing feature point data in the contour point group data,
- wherein the object is a first object, and an object different from the first object is a second object,
- wherein the method further comprises acquiring three-dimensional point group data from the second object, specifying contour point group data, and storing feature point data,
- wherein the feature point data of the first object is compared with the feature point data of the second object to calculate an amount of deviation, and a positional deviation of coordinate data relating to the first object is corrected based on the amount of deviation, and
- wherein the storing of the feature point data comprises:
- specifying predetermined point data of the contour point group data of the first object as point data of a center point of a comparative object setting range that defines a predetermined range including at least the center point;
- storing the contour point group data of the first object belonging to the predetermined range as the feature point data of the first object;
- and
- storing the point group data of the second object belonging to the predetermined range as the feature point data of the second object.
10 more elements
An information processing system, comprising:
- a three-dimensional point group data acquisition unit that acquires first three-dimensional point group data by a sensor from a first object and acquires second three-dimensional point group data by a sensor from a second object;
- a boundary processing unit that specifies first contour point group data that constitutes a contour of the entire first object from the first three-dimensional point group data, based on a mutual positional relationship of point data within the first three-dimensional point group data;
- a correction control unit, which:
- specifies predetermined point data among the first contour point group data as point data of a reference point in a comparative object setting range that defines a predetermined range including at least the reference point;
- stores the first contour point group data belonging to the predetermined range as feature point data of the first object;
- stores the second three-dimensional point group data belonging to the predetermined range as feature point data of the second object;
- and
- calculates an amount of deviation by comparing the feature point data of the first object with the feature point data of the second object;
- a tool control unit that acquires tool control information including tool position information and tool posture information for specifying a tool trajectory of a tool connected to an arm of a working robot based on at least the first contour point group data,
- wherein the tool control unit controls the tool based on the tool control information.
7 more elements
An information processing system, comprising:
- a three dimensional point group data acquisition unit that acquires three dimensional point group data by a sensor from an object;
- a boundary processing unit that specifies contour point group data that constitutes a contour of the object from the three-dimensional point group data;
- and
- a tool control unit that acquires tool control information including tool position information and tool posture information for specifying a tool trajectory of a tool connected to an arm of a working robot from the contour point group data, and controls the tool based on the tool control information,
- wherein the object includes a first object and a second object which is different from the first object,
- wherein the system further comprises a contour point group data storage unit which:
- specifies predetermined point data of contour point group data of the first object as point data of a center point of a comparative object setting range that defines a predetermined range including at least the center point;
- stores the contour point group data of the first object belonging to the predetermined range as feature point data of the first object;
- and
- stores point group data of the second object belonging to the predetermined range as feature point data of the second object,
- wherein the feature point data of the first object is compared with the feature point data of the second object to calculate an amount of deviation, and a positional deviation of coordinate data relating to the first object is corrected based on the amount of deviation.
8 more elements
Dependencies are inferred from the claim text.