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US 12,715,126 B2Granted
Determination device, determination method, and storage medium
AssigneeNEC Corporation
InventorsMasatsugu Ogawa, Nobuharu Kami, Hisaya Wakayama, Hiroyuki Oyama, Masumi Ichien
Life of this patent
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Abstract
A determination device 1X mainly includes a proposition determination means 18X. The proposition determination means 18X performs a completion determination of a task based on a first proposition representing a current state of the task and a second proposition representing a completion state of the task, in which the first proposition and the second proposition are detected by a sensor, when an operation sequence concerning the task has completed or when a predetermined time length has lapsed from a start of the task.
Claims15
A determination device comprising
- a memory storing instructions;
- and
- one or more processors configured to execute the instructions to:
- perform a completion determination of an objective task by a robot based on a first proposition representing a current state of the objective task and a second proposition representing a completion state of the objective task, wherein the first proposition and the second proposition are different,
- in a case where an operation sequence concerning the objective task has completed or in a case a predetermined time length has lapsed from a start of the objective task,
- wherein
- the robot includes at least one arm, and
- the objective task is achieved by subtask sequence and completed by the robot handling one or more target objects in a workplace, and
- the one or more processors
- recognize a position of the at least one arm and a position of each object based on a recognition result concerning each object which is acquired from a measurement device that detects a state in a workspace,
- generate the first proposition that-represents the current state of each object necessary for the completion determination of the objective task based on the recognition result,
- generate the second proposition that represents the completion state of each object necessary for the completion determination of the objective task, and
- generate the operation sequence using two or more functions each of defining an operation of a hand at an end of the at least one arm.
10 more elements
A determination method performed by a computer and comprising:
- performing a completion determination of an objective task by a robot based on a first proposition representing a current state of the objective task and a second proposition representing a completion state of the objective task, wherein the first proposition and the second proposition are different,
- in a case where an operation sequence concerning the objective task has completed or in a case a predetermined time length has lapsed from a start of the objective task,
- wherein
- the robot includes at least one arm, and
- the objective task is achieved by subtask sequence and completed by the robot handling one or more target objects in a workplace;
- recognizing a position of the at least one arm and a position of each object based on a recognition result concerning each object which is acquired from a measurement device that detects a state in a workspace;
- generating the first proposition that-represents the current state of each object necessary for the completion determination of the objective task based on the recognition result,
- generate the second proposition that represents the completion state of each object necessary for the completion determination of the objective task, and
- generating the operation sequence using two or more functions each of defining an operation of a hand at an end of the at least one arm.
6 more elements
A non-transitory computer-readable recording medium storing a program executable by a computer to perform processing comprising:
- performing a completion determination of an objective task by a robot based on a first proposition representing a current state of the objective task and a second proposition representing a completion state of the objective task, wherein the first proposition and the second proposition are different,
- in a case where an operation sequence concerning the objective task has completed or in a case a predetermined time length has lapsed from a start of the objective task,
- wherein
- the robot includes at least one arm, and
- the objective task is achieved by subtask sequence and completed by the robot handling one or more target objects in a workplace;
- recognizing a position of the at least one arm and a position of each object based on a recognition result concerning each object which is acquired from a measurement device that detects a state in a workspace;
- generating the first proposition that-represents the current state of each object necessary for the completion determination of the objective task based on the recognition result,
- generating the second proposition that represents the completion state of each object necessary for the completion determination of the objective task, and
- generating the operation sequence using two or more functions each of defining an operation of a hand at an end of the at least one arm.
6 more elements
Dependencies are inferred from the claim text.