JP2013111696A - Gripping robot, control device, control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To determine a gripping position and a gripping attitude for gripping an object to be gripped without contacting an obstacle etc.SOLUTION: A gripping robot which grips the object to be gripped by a gripping mechanism has information on a gripped object contact surface group as a combination of surfaces to come into contact with the gripping mechanism when the object to be gripped is gripped and obstacle information specifying a region of an obstacle in a work space of the gripping robot. The gripping robot specifies the position and attitude of the object to be gripped through image recognition, and selects a gripped object contact surface group which is not in contact with the region of the obstacle at the specified position of the object to be gripped and in the specified attitude of the object to be gripped.

Description

  The present invention relates to a gripping robot, a control device, a control method, and a program.

  2. Description of the Related Art A robot (hereinafter also referred to as “grip robot”) capable of gripping a gripping object (hereinafter also referred to as “work”) such as a component or a tool by a gripping mechanism such as a robot hand is known. Further, by using one or more gripping robots, for example, parts transportation and product assembly can be performed, and the production line can be automated.

  In general, a series of operations, positions, and postures of a gripping robot performed for gripping a gripping object need to be safely realized within a predetermined movable range. That is, it is necessary to perform control so that the robot does not collide with or come in contact with an obstacle or a gripping target object during a series of operations of the robot that grips the gripping target object. In such a gripping robot control, it is necessary to determine the operation, position, and posture of the gripping mechanism in consideration of the shape, position, and posture of the gripping object itself.

  For example, in Patent Document 1, when the grip position and grip posture taught or calculated in advance are outside the movable range of the arm and robot, the grip position and grip posture are shifted. It is described that whether or not there is a gripping position and a gripping posture within the movable range.

JP 2009-56513 A

  By the way, if a part of the object to be grasped is covered or hidden by an obstacle or the like, the grasping operation is not determined even if the grasping robot is actually operated unless the grasping operation is determined in consideration of the obstacle or the like. There may be a problem that the object cannot be gripped. In addition, even if an obstacle is taken into account, there is a problem that the gripping position and the gripping posture cannot be determined without a means for determining a gripping operation that avoids the obstacle.

  In the above-mentioned Patent Document 1, it is assumed that the object to be grasped can be grasped by shifting the grasping position and the grasping posture. However, a case where a part of the grasped object is covered or hidden by an obstacle is not considered. Therefore, the above problem can occur.

  Therefore, an object of the present invention is to determine a gripping position and a gripping posture at which a gripping target can be gripped without contacting an obstacle or the like.

  The present application includes a plurality of means for solving the above-described problems, and examples thereof are as follows.

  A first aspect of the present invention for solving the above problem is a gripping robot that grips a gripping object by a gripping mechanism, and a surface of the surface that contacts the gripping mechanism when the gripping object is gripped. A gripping object contact surface group that associates a gripping object contact surface group that is a combination with a gripping mechanism contact surface group that is a combination of the surfaces of the gripping mechanism that come into contact when gripping the gripping object contact surface group A storage unit for storing information and obstacle information for specifying an obstacle area in the work space of the gripping robot; and gripping for specifying the position of the gripping object and the posture of the gripping object by image recognition A gripping object contact surface group that is not in contact with the obstacle in the position of the gripping object and the posture of the gripping object specified by the gripping object position and orientation specification unit; Previous It has a gripping target contact surface group selection unit that selects from the grasped object contact surface group information, and wherein the.

  According to the above configuration, since the gripping object contact surface group that is not in contact with the obstacle is selected, the gripping position and the gripping posture of the robot that can grip the gripping object without contacting the obstacle are determined. be able to.

  Here, the gripping robot, for each gripping object contact surface group selected by the gripping object contact surface group selection unit, about the gripping mechanism contact surface group associated with the gripping object contact surface group, When a predetermined posture is set at a predetermined position and the gripping mechanism contact surface group is moved to a position for gripping the gripping object contact surface group in the posture, whether or not the obstacle is contacted is determined. A gripping mechanism position / posture specifying unit that determines and specifies the position of the gripping mechanism that does not contact the obstacle and the posture of the gripping mechanism may be provided.

  According to the above configuration, since the position and posture of the gripping mechanism that can be gripped without contacting the obstacle are specified for the gripping object contact surface group that is not in contact with the obstacle, the contact with the obstacle is avoided. The gripping position and gripping posture of the robot that can grip the gripping object can be determined.

  Further, the gripping mechanism position / posture specifying unit includes a gripping mechanism contact surface group associated with the gripping object contact surface group for each gripping object contact surface group selected by the gripping object contact surface group selection unit. When a plurality of different postures are set at the predetermined position and the gripping mechanism contact surface group is moved to a position for gripping the gripping object contact surface group in the posture for each posture, the obstacle It may be determined whether or not to contact an object, and the position of the gripping mechanism that does not contact the obstacle and the attitude of the gripping mechanism may be specified.

  According to said structure, the position and attitude | position of the several holding | grip mechanism which can be hold | gripped without contacting an obstruction can be pinpointed about the grasping target object contact surface group which is not in contact with an obstruction.

  The storage unit stores gripping mechanism operating range information indicating an operating range of the gripping mechanism, and the gripping robot is selected by the gripping target object contact surface group selection unit based on the gripping mechanism operating range information. For each selected gripping object contact surface group, whether or not the gripping object contact surface group can be gripped within the operation range of the gripping mechanism contact surface group associated with the gripping object contact surface group is determined. A gripping mechanism operation amount calculation unit, and the gripping mechanism position / orientation specifying unit determines the position of the gripping mechanism and the gripping mechanism for the gripping mechanism contact surface group determined to be gripped by the gripping mechanism operation amount calculation unit. You may make it specify the attitude | position of.

  According to the above configuration, since the gripping mechanism contact surface group capable of gripping the gripping target object contact surface group in the operation range is extracted before specifying the position of the gripping mechanism and the posture of the gripping mechanism, the processing load is reduced. It is reduced.

  In addition, the storage unit identifies a contact surface group that is a combination of gripping object shape information that represents the gripping object by a surface and a surface that contacts the gripping object when the gripping mechanism grips the gripping object. Mechanism contact surface group information, and the gripping robot includes a gripping mechanism contact surface group included in the gripping mechanism contact surface group information based on the gripping object shape information and the gripping mechanism contact surface group information. For each, a combination of surfaces of the gripping object that can be gripped by the gripping mechanism contact surface group is specified as a gripping object contact surface group, and the gripping object contact surface group and the gripping mechanism contact surface group are By associating, a gripping object contact surface group generation unit that generates the gripping object contact surface group information may be provided.

  According to the above configuration, the gripping object contact surface group is associated with the gripping mechanism contact surface group that can grip the gripping object contact surface group based on the gripping object shape information and the gripping mechanism contact surface group information. Can do.

  Further, the gripping object contact surface group generation unit, for each gripping mechanism contact surface group included in the gripping mechanism contact surface group information, performs the gripping that faces one gripping mechanism contact surface constituting the gripping mechanism contact surface group. The first surface of the object is specified, and the grip that faces the other gripping mechanism contact surface constituting the gripping mechanism contact surface group in a state where the one gripping mechanism contact surface and the first surface face each other A second surface of the object may be specified, and a combination of the first surface and the second surface may be specified as a gripping object contact surface group.

  According to the above configuration, the gripping mechanism contact capable of gripping the gripping object contact surface group and the gripping object contact surface group in a simpler manner based on the gripping object shape information and the gripping mechanism contact surface group information. A group of faces can be associated.

  In addition, the storage unit stores gripping mechanism shape information representing the gripping mechanism as a surface, and the gripping robot is configured to combine the surfaces of the gripping mechanism that face each other based on the gripping mechanism shape information. And a gripping mechanism contact surface group generating unit that generates the gripping mechanism contact surface group information.

  According to the above configuration, it is possible to generate a gripping mechanism contact surface group capable of gripping a gripping object based on the gripping mechanism shape information.

  The gripping object shape information and the gripping mechanism shape information may be data that approximates the gripping object and the gripping mechanism in a plane.

  According to said structure, the data given to a robot can be simplified and the processing load of a robot can be suppressed.

  A second aspect of the present invention for solving the above-described problem is a control device for controlling a gripping robot that grips a gripping object by a gripping mechanism, wherein the gripping mechanism is used when the gripping object is gripped. A gripping object contact surface group that is a combination of surfaces that come into contact with a gripping mechanism contact surface group that is a combination of surfaces of the gripping mechanism that come into contact when gripping the gripping object contact surface group A storage unit for storing object contact surface group information and obstacle information for specifying an obstacle area in the work space of the gripping robot, and an image of the position of the gripping object and the posture of the gripping object A gripping object position / posture specifying unit specified by recognition, and a gripping pair that is not in contact with the obstacle in the position of the gripping target and the posture of the gripping target specified by the gripping target position / posture specifying unit An object contact surface group having a grasped object contact surface group selection unit that selects from the grasped object contact surface group information, and wherein the.

  A third aspect of the present invention for solving the above-described problem is a gripping control method of a gripping robot that grips a gripping object by a gripping mechanism, and the gripping mechanism and the gripping mechanism when the gripping object is gripped. A gripping object in which a gripping object contact surface group that is a combination of surfaces to be contacted and a gripping mechanism contact surface group that is a combination of the surfaces of the gripping mechanism that are in contact when gripping the gripping object contact surface group Acquiring object contact surface group information and obstacle information for specifying an obstacle area in the work space of the gripping robot; and image recognition of the position of the gripping object and the posture of the gripping object. The gripping object position / posture specifying step to be specified, and the position of the gripping target specified in the gripping target object position / posture specifying step and the posture of the gripping target are not in contact with the obstacle. The lifting object contact surface group comprises a grasped object contact surface group selection step of selecting from said gripping target contact surface group information, it is characterized.

  A fourth aspect of the present invention for solving the above-described problem is a program of a control device that controls a gripping robot that grips a gripping object by a gripping mechanism, and the program is performed when the gripping object is gripped. Associating a gripping object contact surface group that is a combination of surfaces that come into contact with the gripping mechanism with a gripping mechanism contact surface group that is a combination of the surfaces of the gripping mechanism that come into contact when gripping the gripping object contact surface group A storage unit for storing the gripping object contact surface group information and obstacle information for specifying an obstacle area in the work space of the gripping robot, the position of the gripping object, and the posture of the gripping object A gripping object position / posture specifying unit that identifies the object by image recognition, and the position of the gripping target specified by the gripping target object position / posture specifying unit and the posture of the gripping target are in contact with the obstacle Without gripping target contact surface group, as grasped object contact surface group selection unit that selects from the grasped object contact surface group information, to function the control device, characterized in that.

  According to the second to fourth aspects of the present invention described above, since the gripping object contact surface group that is not in contact with the obstacle is selected, the robot that can grip the gripping object without contacting the obstacle is selected. A gripping position and a gripping posture can be determined.

  Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

The figure which shows an example of the external appearance of the robot which concerns on one Embodiment of this invention. The figure explaining an example of operation | movement of the hand (gripping mechanism) of a robot. The block diagram which shows an example of schematic structure regarding control of a robot. The block diagram which shows an example of the function structure regarding control of a robot. The flowchart which shows an example of a holding | grip target object shape approximate data generation process. The figure explaining an example of the production | generation method of holding | grip target object shape approximate data. The figure which shows an example of a structure of holding | grip target object shape approximate data. The flowchart which shows an example of a holding | grip mechanism contact surface group data generation process. The figure explaining an example of grip mechanism shape approximate data. The figure explaining the contact surface of gripping mechanism shape approximate data. The figure which shows an example of a structure of the contact surface data of holding | grip mechanism shape approximate data. The flowchart which shows an example of the process which specifies a holding | grip mechanism contact surface group. The figure explaining an example of the usage of the normal vector at the time of specifying a holding | grip mechanism contact surface group. The figure which shows an example of a structure of holding | grip mechanism contact surface group data. The flowchart which shows an example of a holding | grip target object contact surface group data generation process. The flowchart which shows an example of the process which links | relates a holding | grip target object contact surface group and a holding mechanism contact surface group. The figure which shows an example of a structure of holding | grip target object contact surface group data. The flowchart which shows an example of a holding | grip target object contact surface group selection process. The figure explaining an example of the relationship between a holding | grip target object and an obstruction. The flowchart which shows an example of the process which selects the gripping target contact surface group which does not interfere with an obstruction. The figure which shows an example of a structure of the selected holding | grip target object contact surface group data. The flowchart which shows an example of a holding | grip mechanism operation amount calculation process. The figure explaining the relationship between a holding | grip mechanism contact surface group and a holding | grip target object contact surface group. The flowchart which shows an example of the process which specifies a holding | grip mechanism operation amount. The flowchart which shows an example of a holding | grip mechanism position and orientation setting process. The flowchart (the 1) which shows an example of the process which specifies the position and attitude | position of the holding | grip mechanism which does not interfere with an obstruction. FIG. 9 is a flowchart (part 2) illustrating an example of a process for specifying a position and posture of a gripping mechanism that does not interfere with an obstacle. The figure explaining the relationship between the axis | shaft of a holding | grip target object contact surface group, and the axis | shaft of a holding mechanism contact surface group. The figure explaining an example of rotation and translation for specifying the position and attitude | position of a holding | grip mechanism.

  Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram showing an example of the appearance of a robot according to an embodiment of the present invention.

  The robot 1 is a gripping robot including a head 2, a body portion 3, a leg portion 4, an arm 5, and a hand (grip mechanism) 8. The robot 1 grips an object to be gripped with a hand 8 attached to one end of the arm 5. In the example of this figure, the robot 1 includes two left and right arms.

  The arm 5 includes a plurality of joints (joints) 6 and a plurality of links 7. Each joint 6 connects the links 7, the body 3 and the link 7, and the hand 8 and the link 7 so as to be rotatable (but rotatable within a predetermined movable range). Each joint 6 is, for example, a rotary joint, and is provided so that the angle between the links 7 can be changed or the links 7 can be rotated about the axis. Therefore, by driving each joint 6 in conjunction with each other, the hand 8 can be moved freely (within a predetermined movable range) and can be directed in a free direction. In the example of this figure, the arm 5 is a 6-axis arm provided with 6 joints.

  FIG. 2 is a diagram illustrating an example of the operation of the robot hand (gripping mechanism).

  As shown in the perspective view of FIG. 2A, the hand 8 includes four fingers 9. Further, as shown in the bottom view of FIG. 2B, each finger 9 moves so as to approach an adjacent finger, for example, and can hold a gripping object with at least two fingers. It has become.

  FIG. 3 is a block diagram illustrating an example of a schematic configuration related to the control of the robot.

  The robot 1 includes a controller 10, an imaging unit 20, and a movable unit 30.

  The imaging unit 20 is a unit that captures an external environment of the robot 1 and generates image data. The imaging unit 20 includes, for example, a camera and is provided on the head 2 of the robot 1. Under the control of the controller 10, the imaging unit 20 captures an external environment including a gripping target and an obstacle, generates image data, and outputs the image data to the controller 10.

  The movable part 30 is a movable part of the robot 1. The movable part 30 includes, for example, the head 2, the body part 3, the leg part 4, the arm 5, and the hand 8. Each movable unit 30 includes, for example, an actuator 31 and various sensors 32 such as a force sensor. The actuator 31 is provided, for example, on each joint 6 of the arm 5 and each finger of the hand 8 and operates them. The actuator 31 includes, for example, a motor, a drive circuit for the motor, an encoder, and the like. The encoder value output by the encoder and the sensor value output by the sensor 32 are used by the controller 10 to grasp the position, moving direction, moving amount, speed, acceleration, contact with the grasped object, etc. of the movable part. .

  The controller 10 performs processing for controlling the entire robot 1. The controller 10 includes a CPU 11 that is an arithmetic device, a RAM 12 that is a volatile storage device, a ROM 13 that is a nonvolatile storage device, an interface (I / F) circuit 14 that connects the controller 10 and other units, A communication device 15 that communicates with a device external to the robot 1.

  For example, the controller 10 recognizes the shape, position, and orientation of the grasped object from the output image of the imaging unit 20 by image recognition. Further, the controller 10 calculates, for example, a series of operations of the robot 1 for gripping the recognized gripping object, a gripping position, and a gripping posture. For example, the controller 10 controls the actuator 31 so that each movable part 30 becomes a target position and posture based on output signals of various sensors and encoders, and operates the movable part 30.

  The position of the gripping object is, for example, the position coordinate in the reference coordinate system of a predetermined reference point (for example, the center of gravity) of the gripping object when the work space of the robot is used as the reference coordinate system. be able to. In addition, the posture of the gripping object can be, for example, the orientation of a predetermined reference vector (for example, a vector heading in a predetermined direction from the center of gravity) of the gripping object in the reference coordinate system. The position and posture of the gripping mechanism and robot can be defined in the same way. Of course, the definition of the position and orientation is not limited to this, and may be defined by other methods.

  The configuration of the robot 1 described above is not limited to the above-described configuration because the main configuration has been described in describing the features of the present embodiment. Any structure may be used as long as the object to be grasped can be grasped by the hand. In addition, the configuration of a general gripping robot is not excluded.

  For example, although a 6-axis arm is shown in FIG. 1, the number of axes (number of joints) may be further increased or decreased. The number of links may be increased or decreased. In addition, the shape, size, arrangement, structure, and the like of various members such as the arm, hand, link, and joint may be appropriately changed. The controller 10 may not be built in the main body of the robot 1 and may be provided in a device that remotely operates the robot 1.

  Next, a gripping operation and a method for controlling the position and orientation in the robot 1 will be specifically described.

  In the present embodiment, the motion, position and orientation are simulated in advance before actually operating the robot 1.

  FIG. 4 is a block diagram illustrating an example of a functional configuration related to robot control.

  As shown in the figure, the robot 1 includes a shape approximating unit 101, a gripping mechanism contact surface group generation unit 102, a gripping object contact surface group generation unit 103, a gripping object position / posture acquisition unit 104, and a gripping target. An object contact surface group selection unit 105, a gripping mechanism operation amount calculation unit 106, and a gripping mechanism position / posture setting unit 107 are provided. In addition, the robot 1 includes a storage unit that stores various data 111 to 123.

  The storage unit includes gripping mechanism shape data 111, gripping object shape data 112, gripping mechanism shape approximation data 113, gripping object shape approximation data 114, gripping mechanism contact surface group data 115, and gripping object contact. Surface group data 116, gripping object recognition processing data 117, gripping object position and orientation data 118, obstacle data 119, selected gripping object contact surface group data 120, gripping mechanism operation range data 121, , Gripping mechanism operation amount data 122 and gripping mechanism position / posture data 123 are stored.

  Each functional unit other than the storage unit described above is realized, for example, when the CPU 11 reads a predetermined program stored in the ROM 13 into the RAM 12 and executes it. The storage unit is realized by, for example, the RAM 12 or the ROM 13. For example, the predetermined program may be installed in the ROM 13 in advance, or may be downloaded from the network via the communication device 15 and installed or updated.

  The gripping mechanism shape data 111 is data indicating the shape and dimensions of the hand. The gripping mechanism shape data 111 is, for example, three-dimensional CAD data that faithfully represents the shape of the gripping mechanism. The gripping mechanism shape data 111 is prepared in advance and stored in the storage unit.

  Although not shown, the shape data of the entire robot may be prepared in advance and stored in the storage unit.

  The gripping object shape data 112 is data indicating the shape and dimensions of the gripping object. The gripping object shape data 112 is, for example, three-dimensional CAD data that faithfully represents the shape of the gripping object. The gripping object shape data 112 is prepared in advance and stored in the storage unit.

  The gripping mechanism shape approximation data 113 is data that approximates the shape and dimensions of the hand. The gripping mechanism shape approximation data 113 is, for example, three-dimensional CAD data, and is data obtained by approximating a curve or a curved surface with a straight line or a plane. The gripping mechanism shape approximate data 113 may be prepared in advance and stored in the storage unit, or the shape approximating unit 101 may generate based on the gripping mechanism shape data 111.

  Although not shown, shape approximation data for the entire robot may be prepared in advance and stored in the storage unit, or may be generated by the shape approximation unit 101 based on the shape data for the entire robot. Good.

  The gripping object shape approximate data 114 is data that approximates the shape and dimensions of the gripping object. The grasped object shape approximate data 114 is, for example, three-dimensional CAD data, and is data obtained by approximating a curve or a curved surface with a straight line or a plane. The gripping object shape approximation data 114 may be prepared in advance and stored in the storage unit, or the shape approximation unit 101 may be generated based on the gripping object shape data 112.

  The gripping mechanism contact surface group data 115 is a plane (plane element) that constitutes an approximate gripping mechanism shape (gripping mechanism shape approximate data 113) that comes into contact with the gripping object when gripping the gripping object ( This is data for specifying a combination (group) of (contact surface). That is, the data specifies the combination of the surfaces of the gripping mechanism that grips the gripping object. The gripping mechanism contact surface group data 115 may be prepared in advance and stored in the storage unit, or may be generated by the gripping mechanism contact surface group generation unit 102.

  The gripping object contact surface group data 116 is in contact with the gripping mechanism when gripped by the gripping mechanism among the planes (planar elements) constituting the approximate gripping object shape (gripping target object shape approximation data 114). This is data for specifying a combination (group) of flat surfaces (contact surfaces). That is, the data specifies the combination of surfaces gripped by the gripping mechanism. The gripping object contact surface group data 116 may be prepared in advance and stored in the storage unit, or may be generated by the gripping object contact surface group generation unit 103.

  The gripping object recognition processing data 117 is data indicating the shape and dimensions of the gripping object viewed from various directions. The gripping object recognition processing data 117 is, for example, three-dimensional CAD data. The gripping object recognition processing data 117 is collated with, for example, image data of the external environment photographed by the imaging unit 20, and is used for recognizing the position and orientation of the gripping object existing in the external environment. The gripping object recognition processing data 117 is prepared in advance and stored in the storage unit.

  The gripping object position / orientation data 118 is data indicating the position and orientation of the gripping object. The gripping object position / orientation data 118 is data for specifying the position and orientation of the gripping object recognized as a result of image recognition in the work space. If there are a plurality of gripping objects, position and orientation data for each gripping object is recorded. The gripping object position / posture data 118 is generated by the gripping object position / posture acquisition unit 104.

  The obstacle data 119 is data indicating an obstacle that may become an obstacle of the robot 1. The obstacle data 119 is, for example, data indicating the shape, size, position, and posture of an external environment area that may collide with a hand or an arm when the robot 1 performs a gripping operation with the robot 1 as a reference position. It is. An object such as a floor on which the object to be grasped is placed, parts around the object to be grasped, another robot, and the like can be obstacles. The obstacle data 119 may be prepared in advance and stored in a storage unit, or may be generated by image recognition based on photographed image data.

  The physical range in which the obstacle data should be prepared is, for example, a movable range that can be gripped by the hand with reference to the robot 1, and other parts such as an arm when the hand moves in the movable range. Can be set to a minimum work range (work space) that does not collide with an obstacle.

  The selected gripping object contact surface group data 120 is data of a contact surface group selected according to a predetermined condition from among the contact surface groups included in the gripping object contact surface group data 116. The gripping object contact surface group data 116 is generated by the gripping object contact surface group selection unit 105.

  The gripping mechanism operation range data 121 is data for specifying the operation range (movable range) of the hand. The gripping mechanism operation range data 121 includes, for example, data for specifying the moving direction and moving amount of a hand, a finger, and the like. Data for specifying the moving direction and moving amount of the arm and other movable parts may be included. The gripping mechanism operation range data 121 is prepared in advance and stored in the storage unit.

  The gripping mechanism operation amount data 122 is data that specifies the operation amount of the hand that holds the object to be grasped. The gripping mechanism operation amount data 122 includes, for example, data for specifying the moving direction and the moving amount of each finger corresponding to the contact surface group of the gripping mechanism that grips the contact surface group for each contact surface group of the gripping object. is there. The gripping mechanism motion amount data 122 is generated by the gripping mechanism motion amount calculation unit 106.

  The gripping mechanism position / orientation data 123 is data for specifying the position and orientation of the gripping mechanism when gripping a gripping object. The gripping mechanism position and orientation data 123 is generated by the gripping mechanism position and orientation setting unit 107.

  The shape approximating unit 101 generates gripping mechanism shape approximate data 113 based on the gripping mechanism shape data 111. In addition, the shape approximating unit 101 generates gripping object shape approximation data 114 based on the gripping object shape data 112. If approximate data is prepared in advance, the shape approximating unit 101 may be omitted.

  The gripping mechanism contact surface group generation unit 102 specifies the contact surface group of the gripping mechanism that grips the gripping object based on the gripping mechanism shape approximation data 113, and generates gripping mechanism contact surface group data 115. When the gripping mechanism contact surface group data 115 is prepared in advance, the gripping mechanism contact surface group generation unit 102 may be omitted.

  The gripping object contact surface group generation unit 103 specifies a contact surface group of gripping objects that can be gripped by the gripping mechanism contact surface group based on the gripping object shape approximation data 114 and the gripping mechanism contact surface group data 115. Then, the gripping object contact surface group data 116 is generated. Note that when the gripping object contact surface group data 116 is prepared in advance, the gripping object contact surface group generation unit 103 may be omitted.

  The gripping object position / posture acquisition unit 104 performs image recognition processing based on the image data captured by the imaging unit 20 and the gripping object recognition processing data 117, and determines the shape of the gripping object included in the image data. The dimensions, position, and orientation are specified, and the gripping object position / posture data 118 is generated.

  The gripping object contact surface group selection unit 105 is not obstructed by an obstacle in the work space based on the gripping object contact surface group data 116, the gripping object position / posture data 118, and the obstacle data 119. A gripping object contact surface group is selected, and the selected gripping object contact surface group data 120 is generated.

  The gripping mechanism motion amount calculation unit 106 performs the gripping mechanism motion range data 121, the gripping mechanism contact surface group data 115, and the selected gripping target object contact surface group data 120 for each gripping target object contact surface group. Then, the movement direction and movement amount of each finger corresponding to the contact surface group of the gripping mechanism that grips the contact surface group are calculated, and gripping mechanism operation amount data 122 is generated.

  The gripping mechanism position / orientation setting unit 107 includes gripping mechanism shape approximation data 113, gripping object shape approximation data 114, gripping object position / posture data 118, obstacle data 119, and a selected gripping object contact surface group. Based on the data 120 and the gripping mechanism operation amount data 122, the position and posture of the gripping mechanism that can grip the gripping object without being obstructed by the obstacle in the work space are calculated, and the gripping mechanism position / posture data 123 is obtained. Generate.

  The above functional configuration is classified according to the main processing contents in order to facilitate understanding of the configuration related to the operation of the robot 1 and the position and orientation control. The present invention is not limited by the way of classification and names of the constituent elements. The configuration of the robot 1 can be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes. Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware.

  Next, processing realized by the various functions will be described with reference to the drawings. Hereinafter, a case where a cylindrical gripping target is gripped will be described as an example.

  FIG. 5 is a flowchart showing an example of the gripping object shape approximate data generation process.

  S10: The shape approximating unit 101 acquires gripping object shape data 112 from the storage unit. The grasped object shape data 112 is data represented by a coordinate system having XYZ axes, for example, as shown in FIG.

  S20: The shape approximating unit 101 sets a node on the surface of the shape of the gripping object represented by the gripping object shape data acquired in S10. In the present embodiment, a node means a point that joins surfaces. For example, as shown in FIG. 6B, the shape approximating unit 101 has a plurality of nodes (approximately equal to each other) at substantially equal (including even) intervals between the surfaces so that the shape of the grasped object can be approximated. a to x).

  S30: The shape approximating unit 101 sets a straight line connecting the nodes set in S20. In the present embodiment, the shape approximating unit 101 connects the nodes with straight lines so that a plane that approximates the shape of the grasped object is formed (see FIG. 6C).

  S40: The shape approximating unit 101 identifies the area surrounded by the straight line between the nodes set in S30 as a plane element that approximates the shape of the grasped object. For example, as shown in FIG. 6C, the grasped object is approximated by 14 plane elements (outer 6 surfaces, inner 6 surfaces, upper and lower 2 surfaces).

  In addition, the shape approximating unit 101 is a normal vector (vector perpendicular to the plane) for each identified plane element, and faces outward from the gripping object (not on the region side occupied by the shape of the gripping object) A normal vector (of direction) is calculated (see FIG. 6D). In FIG. 6D, only the planar element abnm and the planar element ghts are illustrated.

  Then, the shape approximating unit 101 generates gripping object shape approximating data 114 as shown in FIG. 7, for example. The grasped object shape approximate data 114 includes, for each plane element number that identifies a plane element, the coordinates of the nodes constituting the plane element and the normal vector of the plane element.

  As described above, the gripping object shape approximation data 114 is generated.

  FIG. 8 is a flowchart illustrating an example of the gripping mechanism contact surface group data generation process.

  S110: The gripping mechanism contact surface group generation unit 102 acquires gripping mechanism shape approximation data 113 prepared or generated in advance from the storage unit. The gripping mechanism shape approximate data 113 is, for example, data obtained by approximating each finger 9 of the hand 8 with a plane element as shown in FIG. That is, the gripping mechanism shape approximation data 113 includes, for example, for each plane element number that identifies a plane element, identification information that identifies the finger to which the plane element belongs, the coordinates of the nodes that constitute the plane element, and the plane element Normal vectors (normal vectors facing outward from the gripping mechanism (in a direction not occupied by the region occupied by the shape of the gripping mechanism)). Since the generation method of the gripping mechanism shape approximate data 113 is the same as that of the gripping object shape approximate data 114, description thereof is omitted.

  S120: The gripping mechanism contact surface group generation unit 102 extracts a planar element (contact surface) to be brought into contact with the gripping object from the gripping mechanism shape approximate data 113 acquired in S110. For example, as illustrated in FIG. 10, the gripping mechanism contact surface group generation unit 102 extracts a planar element having a finger on the opposite side (grip mechanism contact surface) as a planar element (contact surface) to be brought into contact with the gripping object. . Further, the normal vector of each extracted planar element is acquired from the gripping mechanism shape approximation data 113. For example, as shown in FIG. 11, the extracted plane element data includes, for each plane element number that identifies a plane element, identification information that identifies the finger to which the plane element belongs, and the nodes that constitute the plane element. The coordinates and the normal vector of the plane element are included.

  S130: The gripping mechanism contact surface group generation unit 102 identifies a combination of planar elements (contact surface group) for gripping the gripping object from the planar elements extracted in S120.

  Details of S130 will be described with reference to FIG. FIG. 12 is a flowchart illustrating an example of processing for specifying a gripping mechanism contact surface group.

  S1301: The gripping mechanism contact surface group generation unit 102 sets a variable count indicating the number of gripping mechanism contact surface groups to 0.

  S1302: The gripping mechanism contact surface group generation unit 102 sets an index i indicating each planar element number included in the planar element data extracted in S120 to 0.

  S1303: The gripping mechanism contact surface group generation unit 102 determines whether the index i is smaller than the total number N of planar elements extracted in S120. If smaller than N (S1303: YES), the process proceeds to S1304. If N or more (S1303: NO), the process proceeds to C (S1318).

  S1304: The gripping mechanism contact surface group generation unit 102 sets the index j indicating each planar element number included in the planar element data extracted in S120 to 0.

  S1305: The gripping mechanism contact surface group generation unit 102 determines whether or not the index j is smaller than N. If it is smaller than N (S1305: YES), the process proceeds to S1307. If N or more (S1305: NO), the process proceeds to S1306).

  S1306: The gripping mechanism contact surface group generation unit 102 increments the index i by one. Then, the process returns to S1303.

  S1307: The gripping mechanism contact surface group generation unit 102 determines whether or not the index j is equal to the index i. If they are not equal (S1307: YES), the process proceeds to S1309. If equal (S1307: NO), the process proceeds to B (S1308).

  S1308: The gripping mechanism contact surface group generation unit 102 increments the index j by one. Then, the process returns to S1305.

  S1309: The gripping mechanism contact surface group generation unit 102 calculates a plane element (hereinafter, referred to as “plane element i”) indicated by the index i and a plane element indicated by the index j (hereinafter, referred to as “plane element j”). It is determined whether or not the combination has been specified as the gripping mechanism contact surface group. That is, it is determined whether or not it is included in the gripping mechanism contact surface group data 115. If not specified (S1309: NO), the process proceeds to S1310. If it has been identified (S1309: YES), the process proceeds to B (S1308).

  S1310: The gripping-mechanism contact surface group generation unit 102 calculates the inner product of the normal vector of the plane element i (provided that it is normalized) and the normal vector of the plane element j (provided that it is normalized). Calculate As shown on the left side of FIG. 13, when the normal vectors NA and NB of the two planes are opposite to each other, the inner product of the normalized normal vectors NA and NB is -1.

  S1311: The gripping mechanism contact surface group generation unit 102 determines whether or not the planar element i and the planar element j face each other based on the calculation result of S1310. Here, “opposite” means that the inner product of the mutual normal vectors is −1. When facing each other (S1311: YES), the process proceeds to S1312. If not facing each other (S1311: NO), the process proceeds to B (S1308).

  S1312: The gripping mechanism contact surface group generation unit 102 calculates the intersection of the planar element i with respect to the planar element j. Here, “intersection” means that, as shown on the right side of FIG. 13, all straight lines extending in the normal vector direction of the plane element from each node constituting one plane element (plane element i) are the other plane. Crossing (passing through) an element (plane element j).

  S1313: The gripping mechanism contact surface group generation unit 102 determines whether or not the planar element i intersects with the planar element j based on the calculation result of S1312. When intersecting (S1313: YES), the process proceeds to S1314. If not intersecting (S1313: NO), the process proceeds to B (S1308).

  S1314: The gripping mechanism contact surface group generation unit 102 calculates the intersection of the planar element j with respect to the planar element i.

  S1315: The gripping mechanism contact surface group generation unit 102 determines whether the planar element j intersects the planar element i based on the calculation result of S1314. When intersecting (S1315: YES), the process proceeds to S1316. If not intersecting (S1315: NO), the process proceeds to B (S1308).

  S1316: The gripping mechanism contact surface group generation unit 102 records, in the gripping mechanism contact surface group data 115, a combination of the planar elements i and j that face each other and intersect each other. For example, as illustrated in FIG. 14, the gripping mechanism contact surface group data 115 includes a planar element number of a planar element constituting the contact surface group for each gripping mechanism contact surface group number that identifies the gripping mechanism contact surface group.

  S1317: The gripping mechanism contact surface group generation unit 102 increments a variable count indicating the number of gripping mechanism contact surface groups by one. Then, the process proceeds to B (S1308).

  S1318: The gripping mechanism contact surface group generation unit 102 determines whether or not the variable count is greater than zero. If it is greater than 0 (S1318: YES), the process proceeds to S1319. If it is 0 or less (S1318: NO), the process proceeds to S1320.

  S1319: The gripping mechanism contact surface group generation unit 102 notifies other functional units using the gripping mechanism contact surface group data 115 that there is a gripping mechanism contact surface group. Then, this flow ends.

  S1320: The gripping mechanism contact surface group generation unit 102 notifies other functional units using the gripping mechanism contact surface group data 115 that there is no gripping mechanism contact surface group. Then, this flow ends.

  As described above, the gripping mechanism contact surface group data 115 is generated.

  FIG. 15 is a flowchart illustrating an example of the gripping object contact surface group data generation process.

  S210: The gripping object contact surface group generation unit 103 acquires gripping object shape approximation data 114 prepared or generated in advance from the storage unit.

  S220: The gripping object contact surface group generation unit 103 acquires gripping mechanism contact surface group data 115 prepared or generated in advance from the storage unit.

  S230: The gripping object contact surface group generation unit 103 identifies the combination of the contact surfaces of the gripping object that can be gripped by each contact surface group of the hand, and generates gripping object contact surface group data 116.

  Details of S230 will be described with reference to FIG. FIG. 16 is a flowchart illustrating an example of processing for associating a gripping object contact surface group with a gripping mechanism contact surface group.

  S2301: The gripping object contact surface group generation unit 103 sets the index i indicating each gripping mechanism contact surface group included in the gripping mechanism contact surface group data 115 to 0.

  S2302: The gripping object contact surface group generation unit 103 determines whether the index i is smaller than the total number N of gripping mechanism contact surface groups included in the gripping mechanism contact surface group data 115. If smaller than N (S2302: YES), the process proceeds to S2303. If N or more (S2302: NO), this flow ends.

  S2303: The gripping object contact surface group generation unit 103 indicates the total number of gripping object contact surface groups associated with the gripping mechanism contact surface group indicated by the index i (hereinafter referred to as “gripping mechanism contact surface group i”). Set variable count [i] to 0.

  S2304: The gripping object contact surface group generation unit 103 sets the index j indicating each planar element number included in the gripping object shape approximate data 114 to 0.

  S2305: The gripping object contact surface group generation unit 103 determines whether or not the index j is smaller than the total number M of plane elements included in the gripping object shape approximation data 114. If smaller than M (S2305: YES), the process proceeds to S2307. If it is M or more (S2305: NO), the process proceeds to S2306.

  S2306: The gripping object contact surface group generation unit 103 increments the index i by one. Then, the process returns to S2302.

  S2307: The gripping object contact surface group generation unit 103 performs rotation conversion so that one planar element of the gripping mechanism contact surface group i faces the planar element j of the gripping object shape approximate data. That is, one or both of the inner vectors of the normal vector of one plane element of the gripping mechanism contact surface group i and the normal vector of the plane element j of the gripping object shape approximation data is -1. Conversion processing for rotating the position and orientation of the planar element is performed.

  S2308: The gripping object contact surface group generation unit 103 sets the index k indicating each planar element number included in the gripping object shape approximate data 114 to 0.

  S2309: The gripping object contact surface group generation unit 103 determines whether or not the index k is smaller than the total number M of planar elements included in the gripping object shape approximation data 114. If smaller than M (S2309: YES), the process proceeds to S2311. If it is M or more (S2309: NO), the process proceeds to A (S2310).

  S2310: The gripping object contact surface group generation unit 103 increments the index j by one. Then, the process returns to S2305.

  S2311: The gripping object contact surface group generation unit 103 determines whether the index j is not equal to the index k. If not equal (S2311: YES), the process proceeds to S2312. If equal (S2311: NO), the process proceeds to S2314.

  S2312: The gripping object contact surface group generation unit 103 determines whether the combination of the planar element j and the planar element k of the gripping object shape approximate data has been specified as the gripping object contact surface group. That is, it is determined whether or not it is included in the gripping object contact surface group data 116. If not specified (S2312: NO), the process proceeds to S2313. If it has been identified (S2312: YES), the process proceeds to S2314.

  S2313: The gripping object contact surface group generation unit 103 determines whether the other planar element of the gripping mechanism contact surface group i faces the planar element k of the gripping object shape approximate data. That is, it is determined whether or not the inner product of the normal vector of the other planar element of the gripping mechanism contact surface group i and the normal vector of the planar element k is -1. When facing each other (S2313: YES), the process proceeds to S2315. If not facing each other (S2313: NO), the process proceeds to S2314.

  S2314: The gripping object contact surface group generation unit 103 increments the index k by one. Then, the process returns to S2309.

  S2315: The gripping object contact surface group generation unit 103 records the combination of the planar element i and the planar element k in the gripping object contact surface group data 116 in association with the gripping mechanism contact surface group i. For example, as shown in FIG. 17, the gripping object contact surface group data 116 is a plane element constituting the gripping object contact surface group for each gripping object contact surface group number that identifies the gripping object contact surface group. And a gripping mechanism contact surface group number of a gripping mechanism contact surface group capable of gripping the gripping object contact surface group.

  S2316: The gripping object contact surface group generation unit 103 increments a variable count [i] indicating the total number of gripping object contact surface groups associated with the gripping mechanism contact surface group i by 1. Then, the process returns to B (S2314).

  As described above, gripping object contact surface group data is generated.

  FIG. 18 is a flowchart illustrating an example of the gripping object contact surface group selection process.

  S310: The gripping object contact surface group selection unit 105 acquires the obstacle data 119 from the storage unit.

  S320: The gripping object contact surface group selection unit 105 acquires the gripping object contact surface group data 116 from the storage unit.

  S330: The gripping target object contact surface group selection unit 105 acquires gripping target object position / posture data 118 from the storage unit.

  S340: The gripping object contact surface group selection unit 105 determines the position and posture of the gripping object specified from the gripping object position / posture data 118 (the position and posture of a state placed on a reference surface such as a floor on the work space). ) To calculate the position and orientation of each gripping object contact surface group.

  S350: The gripping object contact surface group selection unit 105 identifies the gripping object contact surface group that does not interfere with the obstacle (not hidden or covered by the obstacle) in the position and posture calculated in S340. Here, the contact surface group that does not interfere with the obstacle is, for example, as shown in FIG. 19, when the object to be grasped is placed on the floor, the contact surface group other than the contact surface group including the surface afmr in contact with the floor. It is a contact surface group.

  Details of S340 to S350 will be described with reference to FIG. FIG. 20 is a flowchart illustrating an example of a process of selecting a gripping target contact surface group that does not interfere with an obstacle.

  S3501: The gripping object contact surface group selection unit 105 sets the index k indicating the number of the gripping object contact surface group recorded in the selected gripping object contact surface group data 120 to 0.

  S3502: The gripping object contact surface group selection unit 105 sets an index i indicating each gripping object contact surface group included in the gripping object contact surface group data 116 to 0.

  S3503: The gripping object contact surface group selection unit 105 determines whether the index i is smaller than the total number N of gripping object contact surface groups included in the gripping object contact surface group data 116. If smaller than N (S3503: YES), the process proceeds to S3504. If it is N or more (S3503: NO), this flow ends.

  S3504: The gripping object contact surface group selection unit 105 performs rotational translation so that the planar elements constituting the gripping object contact surface group i are in the position and orientation of the gripping object. That is, gripping is performed so that the position and posture of the gripping object specified from the gripping object position / posture data 118 acquired in S330 (position and posture in a state of being placed on a reference surface such as a floor in the work space) are obtained. A conversion process for rotating or translating the object contact surface group i is performed.

  S3505: The gripping target object contact surface group selection unit 105 determines that the distance between each plane element constituting the gripping target object contact surface group i subjected to rotational translation and the floor on which the gripping target object is placed is sufficiently large. It is determined whether or not. For example, when at least one of the planar elements constituting the gripping object contact surface group i faces the floor (it may not be opposed), and the distance between the planar element and the floor is smaller than a predetermined distance It can be determined that it is not far enough. The floor area can be identified from the obstacle data 119. If it is sufficiently away from the floor (S3505: YES), the process proceeds to S3506. If it is not sufficiently separated from the floor (S3505: NO), the process proceeds to A (S3510).

  S3506: The gripping object contact surface group selecting unit 105 determines whether or not the distance between each planar element constituting the gripping object contact surface group i subjected to the rotational translation and the peripheral device is sufficiently large. . The peripheral device is, for example, a device for processing a grasped object. For example, at least one of the planar elements constituting the gripping object contact surface group i faces the peripheral device (may not be opposed), and the distance between the planar element and the peripheral device is a predetermined distance. If smaller, it can be determined that the distance is not enough. The peripheral device area can be identified from the obstacle data 119. If it is sufficiently distant from the peripheral device (S3506: YES), the process proceeds to S3507. If it is not sufficiently separated from the peripheral device (S3506: NO), the process proceeds to A (S3510).

  S3507: The gripping object contact surface group selection unit 105 determines whether or not the distance between each planar element constituting the gripping object contact surface group i subjected to the rotation / translation conversion and the other members is sufficiently large. To do. The other members are, for example, other gripping objects placed around the gripping object or the robot 1 itself. For example, at least one of the planar elements constituting the gripping object contact surface group i faces the direction of the other member (it may not be opposed), and the distance between the planar element and the other member is When the distance is smaller than the predetermined distance, it can be determined that the distance is not enough. Other member regions can be identified from the obstacle data 119. If it is sufficiently separated from other members (S3507: YES), the process proceeds to S3508. If it is not sufficiently separated from other members (S3507: NO), the process proceeds to A (S3510).

  S3508: The gripping object contact surface group selection unit 105 records the gripping object contact surface group i in the selected gripping object contact surface group data 120 as the selected gripping object contact surface group k. For example, as shown in FIG. 21, the selected gripping object contact surface group data 120 configures the gripping object contact surface group for each gripping object contact surface group number that identifies the gripping object contact surface group. A plane element number of the plane element to be gripped, and a gripping mechanism contact surface group number of a gripping mechanism contact surface group capable of gripping the gripping object contact surface group. Compared to FIG. 17, it can be seen that data other than the gripping object contact surface group including the planar element that interferes with the obstacle is selected.

  S3509: The gripping object contact surface group selection unit 105 increments the index k by one. Then, the process proceeds to A (S3510).

  S3510: The gripping object contact surface group selection unit 105 increments the index i by one. Then, the process returns to S3503.

  As described above, the selected gripping object contact surface group data is generated.

  FIG. 22 is a flowchart illustrating an example of a gripping mechanism operation amount calculation process.

  S410: The gripping mechanism operation amount calculation unit 106 acquires the selected gripping object contact surface group data 120 from the storage unit.

  S420: The gripping mechanism motion amount calculation unit 106 acquires gripping mechanism motion range data 121 from the storage unit.

  S430: The gripping mechanism operation amount calculation unit 106 acquires the gripping mechanism contact surface group data 115 from the storage unit.

  S440: The gripping mechanism motion amount calculation unit 106 calculates the motion amount of the gripping mechanism in which the planar element interval δ configuring each gripping mechanism contact surface group and the planar element interval Δ configuring each gripping object contact surface group match. calculate. For example, as shown in FIG. 23, the gripping mechanism contact surface group is composed of the planar elements of the finger A (nodes 1, 2, 6, 5) and the planar elements of the finger B (nodes 0, 3, 7, 4). The plane element interval δ is a linear distance (shortest distance) between the plane elements when these plane elements are opposed to each other. Further, when the gripping object contact surface group is composed of a plane element (node abnm) and a plane element (node decp), the plane element interval Δ is a linear distance between the plane elements when facing each other ( Shortest distance). The movement amount is, for example, a movement amount for opening or closing the interval δ from a predetermined reference interval to the interval Δ.

  Details of S440 will be described with reference to FIG. FIG. 24 is a flowchart illustrating an example of processing for specifying the gripping mechanism operation amount.

  S4401: The gripping mechanism operation amount calculation unit 106 sets an index i indicating each gripping object contact surface group included in the selected gripping object contact surface group data 120 to 0.

  S4402: The gripping mechanism operation amount calculation unit 106 determines whether or not the index i is smaller than the total number N of gripping object contact surface groups included in the selected gripping object contact surface group data 120. If smaller than N (S4402: YES), the process proceeds to S4403. If it is N or more (S4402: NO), this flow ends.

  S4403: The gripping mechanism operation amount calculation unit 106 calculates the planar element interval Δ of the gripping object contact surface group i.

  S4404: The gripping mechanism operation amount calculation unit 106 determines that the plane element interval Δ is the movable range of the gripping mechanism contact surface group associated with the gripping object contact surface group i based on the gripping mechanism operation range data 121 acquired in S420. It is determined whether or not it can be gripped inside. For example, when the minimum interval of the planar elements of the gripping mechanism contact surface group associated with the gripping object contact surface group i is δmin and the maximum interval is δmax, if δmin <interval Δ <δmax, It can be determined that it can be gripped. If it is within the movable range (S4404: YES), the process proceeds to S4405. If not within the movable range (S4404: NO), the process proceeds to S4406.

  S4405: The gripping mechanism motion amount calculation unit 106 sets the motion amount that is the interval Δ as the motion amount of the gripping mechanism contact surface group associated with the gripping object contact surface group i, and gripping mechanism motion amount data 122. To record. For example, for each gripping object contact surface group number that identifies the gripping object contact surface group, the gripping mechanism operation amount data 122 includes the plane element number of the plane element that constitutes the gripping object contact surface group, and the gripping object. It includes the gripping mechanism contact surface group number of the gripping mechanism contact surface group that grips the object contact surface group and the operation amount of the gripping mechanism contact surface group.

  S4406: The gripping mechanism motion amount calculation unit 106 sets invalidity (information indicating that gripping cannot be performed) as the motion amount of the gripping mechanism contact surface group associated with the gripping object contact surface group i, and gripping mechanism motion amount data 122 To record.

  S4407: The gripping mechanism operation amount calculation unit 106 increments the index i by 1. Then, the process returns to S4402.

  As described above, gripping mechanism operation amount data is generated. In the above description, the distance between the planar elements of the gripping mechanism contact surface group is exemplified as the operation amount, but is not limited thereto.

  FIG. 25 is a flowchart illustrating an example of the gripping mechanism position / orientation setting process.

  S510: The gripping mechanism position / orientation setting unit 107 acquires gripping mechanism shape approximation data 113 prepared or generated in advance from the storage unit.

  S520: The gripping mechanism position / orientation setting unit 107 acquires gripping object shape approximation data 114 prepared or generated in advance from the storage unit.

  S530: The gripping mechanism position / orientation setting unit 107 acquires the obstacle data 119 from the storage unit.

  S540: The gripping mechanism position / orientation setting unit 107 acquires the selected gripping object contact surface group data 120 from the storage unit.

  S550: The gripping mechanism position / orientation setting unit 107 acquires gripping object position / orientation data 118 from the storage unit.

  S560: The gripping mechanism position / orientation setting unit 107 acquires the gripping mechanism operation amount data 122 from the storage unit.

  S570: The gripping mechanism position / orientation setting unit 107 calculates the position and orientation of the gripping mechanism at which the robot 1 and the gripping mechanism do not interfere with others.

  Details of S570 will be described with reference to FIGS. FIG. 26 is a flowchart (part 1) illustrating an example of a process of specifying the position and posture of the gripping mechanism that does not interfere with the obstacle. FIG. 27 is a flowchart (part 2) illustrating an example of a process for specifying the position and orientation of the gripping mechanism that does not interfere with the obstacle.

  S5701: The gripping mechanism position / orientation setting unit 107 determines the gripping target included in the selected gripping target object contact surface group data 120 based on the selected gripping target object contact surface group data 120 and the gripping mechanism operation amount data 122. An index i indicating each gripping object contact surface group in which the operation amount of the associated gripping mechanism contact surface group is not invalid is set to 0 among the object contact surface groups.

  S5702: The gripping mechanism position / orientation setting unit 107 determines that the index i has an operation amount of the associated gripping mechanism contact surface group among the gripping object contact surface groups included in the selected gripping object contact surface group data 120. It is determined whether it is smaller than the total number N of gripping object contact surface groups that are not invalid. If smaller than N (S5702: YES), the process proceeds to S5703. If it is N or more (S5702: NO), this flow ends.

  S5703: The gripping mechanism position / orientation setting unit 107 determines the gripping object contact surface group i as a gripping mechanism contact surface group associated with the gripping object contact surface group i (hereinafter referred to as “grip mechanism contact surface group i”). A variable count [i] indicating the total number of gripping positions and postures is set to zero.

  S5704: The gripping mechanism position / orientation setting unit 107 calculates the initial position and the initial posture of the gripping mechanism in which the reference axis of the gripping object contact surface group i and the reference axis of the gripping mechanism contact surface group i are parallel to each other. To do.

  Here, the axis of the gripping object contact surface group i is, for example, an axis A parallel to the linear distance (shortest distance) Δ1 between the planar elements constituting the gripping object contact surface group i as shown in FIG. is there. The position of the axis A is not particularly limited. For example, the position of the axis A can be at least one of the plane elements or the position passing through the center of gravity of the plane elements. The axis of the gripping mechanism contact surface group i is an axis a parallel to the linear distance (shortest distance) δ1 between the planar elements constituting the gripping mechanism contact surface group i. The position of the axis a is not particularly limited, and can be, for example, at least one of the planar elements or a position passing through the center of gravity of the planar element. In this flow, processing is performed with δ1 = Δ1.

  In addition, for example, as shown in FIG. 28, parallel means that the axis A and the axis a are parallel, and the straight line connecting the nodes on the corresponding side of the axis A and the axis a is orthogonal to each axis. It shall be said. That is, the four corners of the rectangle forming the sides where the axis A and the axis a face each other are 90 degrees.

  Note that the relative distance between the axis A and the axis a and the relative positional relationship between the axis A and the axis a in the initial position and the initial posture are not particularly limited, but are specified from, for example, the gripping object position / posture data 118. The position of the axis A at the current position of the gripping object and the position of the axis a at the current position of the hand of the robot 1 can be used.

  S5705: The gripping mechanism position / orientation setting unit 107 sets the angle θ of the hand 8 to zero. Here, for example, as shown in FIG. 29 (when the gripping object and the gripping mechanism are viewed from the side), the angle θ is set to the gripping mechanism contact surface group i with respect to the axis a as an initial angle (θ = 0). The angle to rotate from. The initial angle is not particularly limited. For example, the initial angle may be an angle at which the hand is horizontal with respect to the floor.

  S5706: The gripping mechanism position / orientation setting unit 107 determines whether the angle θ is smaller than a predetermined angle (for example, 360 degrees). If smaller than the predetermined angle (S5706: YES), the process proceeds to S5707. If the angle is equal to or greater than the predetermined angle (S5706: NO), the process proceeds to D (S5726 in FIG. 27).

  S5707: The gripping mechanism position and orientation setting unit 107 calculates a gripping mechanism shape when the gripping mechanism contact surface group i is rotated by an angle θ. That is, the shape of the area occupied by the hand 8 in the work space when the planar element constituting the gripping mechanism contact surface group i is rotated by the angle θ is calculated.

  S5708: The gripping mechanism position / orientation setting unit 107 sets the index j indicating the direction and distance to translate the gripping mechanism shape at the position and orientation of the gripping mechanism contact surface group i rotated in the angle θ calculated in S5707 to 0. .

  S5709: The gripping mechanism position / orientation setting unit 107 determines whether the index j is smaller than the total number M of directions and distances in which the gripping mechanism shape is translated. If smaller than M (S5709: YES), the process proceeds to S5711. If it is M or more (S5709: NO), the process proceeds to C (S5710).

Here, the direction and distance in which the shape of the gripping mechanism is translated are the direction and distance in which the gripping mechanism is moved (translated) from the initial position and orientation toward the gripping object while keeping the gripping mechanism and the gripping object parallel. is there. For example, as shown in FIG. 29, the direction and distance (X _j , Y _j , Z _j ) are the direction in which the axis a moves to an arbitrary point P _j in the area of the planar element of the gripping object contact surface group. Distance. In the figure, the point P ₀ and the direction and distance (X ₀ , Y ₀ , Z ₀ ) toward the point, the point P ₁ and the direction and distance (X ₁ , Y ₁ , Z ₁ ) toward the point, and the point P _2. And the direction and distance (X ₂ , Y ₂ , Z ₂ ) toward the point. The position where the point P is set in the area of the planar element is not particularly limited. For example, a position where the grasped object does not become unstable as much as possible when actually grasped, such as around the center of gravity of the planar element. You may set more than one.

  S5710: The gripping mechanism position / orientation setting unit 107 sets a value obtained by adding a predetermined angle dθ (for example, 10 degrees) to the angle θ as a new angle θ. Then, the process returns to S5706.

S5711: gripping mechanism position and orientation setting unit 107, the direction and distance to translate the grasping mechanism shape calculated in S5707 (X, Y, Z) and corresponding to the point _{P j (X j, Y j} , Z j) the Set.

  S5712: The gripping mechanism position / orientation setting unit 107 translates the gripping mechanism shape calculated in S5707 from the position of the axis a by (X, Y, Z).

  S5713: The gripping mechanism position / posture setting unit 107 specifies the positions and postures of the gripping mechanism and the entire robot in the state translated by (X, Y, Z) in S5712, and the gripping mechanism and robot at that time An area on the space occupied by the entire shape is specified, and it is determined whether or not the area does not interfere with an obstacle (for example, an object around the robot other than the grasped object such as a floor or a peripheral device).

  From the start to the end of translation of the gripping mechanism shape, specify the position and posture taken by the gripping mechanism and the robot as a whole, and a series of areas occupied by the shape, and identify obstacles (for example, floors, peripheral devices, etc.) It may be determined whether or not it interferes with any other object around the robot other than the object.

  If the gripping mechanism shape does not interfere with the obstacle (S5713: YES), the gripping mechanism position / orientation setting unit 107 advances the process to S5714. If there is interference (S5713: NO), the process proceeds to S5715.

  S5714: The gripping mechanism position / orientation setting unit 107 determines whether or not each planar element constituting the gripping mechanism contact surface group i and each planar element constituting the gripping object contact surface group i intersect each other. . If they intersect (S5714: YES), the process proceeds to S5716. If not intersecting (S5714: NO), the process proceeds to S5715.

  S5715: The gripping mechanism position / orientation setting unit 107 increments the index j by 1.

  S5716: The gripping mechanism position / orientation setting unit 107 sets the index k to 0. The index k is the same as the index i.

  S5717: The gripping mechanism position / orientation setting unit 107 determines whether or not the index k is smaller than N. If smaller than N (S5717: YES), the process proceeds to S5718. If N or more (S5717: NO), the process proceeds to B (S5724 in FIG. 27).

  S5718: The gripping mechanism position / orientation setting unit 107 determines whether the index k is not equal to the index i. If not equal to index i (S5718: YES), the process proceeds to S5720. If it is equal to the index i (S5718: NO), the process proceeds to S5719.

  S5719: The gripping mechanism position / orientation setting unit 107 increments the index k by one. Then, the process returns to S5717.

  S5720: The gripping mechanism position / orientation setting unit 107 determines whether or not the planar elements constituting the gripping object contact surface group k and the planar elements constituting the gripping object contact surface group i match. If they match (S5720: YES), the process proceeds to S5721. If they do not match (S5720: NO), the process returns to S5719.

  S5721: The gripping mechanism position / orientation setting unit 107 makes contact with each planar element constituting the gripping mechanism contact surface group k and the gripping target object in the gripping mechanism shape translated by (X, Y, Z) in S5712. It is determined whether or not the planar elements constituting the surface group i intersect each other. If they intersect (S5721: YES), the process proceeds to A (S5722 in FIG. 27). If not intersecting (S5721: NO), the process returns to S5719.

S5722: The gripping mechanism position and orientation setting unit 107 determines the gripping mechanism contact surface groups i and k and the position and orientation of the gripping mechanism (X _j , Y _j , Z _j , θ) for the gripping object contact surface group i. The information is recorded in the gripping mechanism position and orientation data 123 in association with each other. The gripping mechanism position / orientation data 123 includes, for example, for each gripping object contact surface group number that identifies the gripping object contact surface group, the plane element number of the plane element constituting the gripping object contact surface group, and the gripping object The gripping mechanism contact surface group number of the gripping mechanism contact surface group capable of gripping the object contact surface group, and the position and posture ( _Xj , _Yj , _Zj , θ) of the gripping mechanism are included.

  S5723: The gripping mechanism position / orientation setting unit 107 increments a variable count [i] indicating the total number of positions and orientations of the gripping mechanism contact surface group i capable of gripping the gripping object contact surface group i by one. Then, the process returns to C (S5710).

S5724: The gripping mechanism position / orientation setting unit 107 associates the gripping mechanism contact surface group i with the position and orientation of the gripping mechanism (X _j , Y _j , Z _j , θ) for the gripping object contact surface group i. Then, it is recorded in the gripping mechanism position / orientation data 123.

  S5725: The gripping mechanism position / orientation setting unit 107 increments a variable count [i] indicating the total number of positions and orientations of the gripping mechanism contact surface group i that can grip the gripping object contact surface group i by one. Then, the process returns to C (S5710).

  S5726: The gripping mechanism position / orientation setting unit 107 determines whether count [i] is greater than zero. If larger than 0 (S5726: YES), the process proceeds to S5727. If 0 (S5726: NO), the process proceeds to S5728.

  S5727: The gripping mechanism position / orientation setting unit 107 records information indicating that the gripping object contact surface group i is invalid (cannot be gripped). Then, the process proceeds to S5728.

  S5728: The gripping mechanism position / orientation setting unit 107 increments the index i by one. Then, the process returns to E (S5702).

  As described above, gripping mechanism position and orientation data is generated. In the above flow, the angle θ is changed with respect to the position of one axis a to search for the position and posture of the gripping mechanism. However, the position of the axis a is changed to a plurality of positions, and the position of each axis a is changed. The angle θ may be changed every time and the position and posture of the gripping mechanism may be searched. The position of the axis a can be set to an arbitrary position in the work space, for example.

Note that the controller 10 determines, based on the generated gripping mechanism position and orientation data, the position and orientation (X _j , Y) of any gripping target object contact surface group and the gripping mechanism contact surface group and gripping mechanism associated therewith. _j , Z _j , θ) are selected, and the hand 8 is actually operated so that the hand 8 is in this gripping position and gripping posture.

  Each processing unit of the above flow is divided according to main processing contents in order to facilitate understanding of the processing of the robot 1. The present invention is not limited by the way of dividing the processing unit or the name. The processing of the robot 1 can be divided into more processing units according to the processing content. Moreover, it can also divide | segment so that one process unit may contain many processes.

  Heretofore, an example of an embodiment of the present invention has been described. According to this embodiment, it is possible to determine a gripping position and a gripping posture at which a gripping target can be gripped without contacting an obstacle or the like.

  For example, in this embodiment, a gripping object contact surface group that does not interfere with an obstacle is selected. Further, the gripping object contact surface group that can be gripped within the operation range of the gripping mechanism is identified from the selected gripping object contact surface group. In addition, when the gripping mechanism grips the specified gripping object contact surface group, the position and posture of the gripping mechanism where the robot or the gripping mechanism does not interfere with the obstacle among the various positions and postures that the gripping mechanism can take. Identified. With such a configuration, it is possible to determine a gripping position and a gripping posture at which the robot can grip a gripping object without contacting an obstacle or the like. In addition, even when the gripping object interferes with the obstacle or is hidden behind the obstacle, the gripping position and the gripping posture at which the gripping object can be gripped can be determined.

  Further, for example, in the present embodiment, before specifying the gripping position and the gripping posture, among the gripping object contact surface groups, those that do not interfere with the obstacle and can be gripped within the operating range of the gripping mechanism. , Extracted as a candidate. With such a configuration, the number of times of processing when specifying the gripping position and the gripping posture is reduced, and the calculation load is reduced. In addition, if at least one object that does not interfere with an obstacle is found for each position and posture of the gripping mechanism at each angle, the processing for specifying the position and posture at that angle is completed, so the number of processing times is reduced and the computation load is reduced. Is reduced.

  The above-described embodiments of the present invention are intended to illustrate the gist and scope of the present invention and are not intended to be limiting. Many alternatives, modifications, and variations will be apparent to those skilled in the art.

  Further, for example, in the above embodiment, the robot itself autonomously determines the gripping position and gripping posture, but at least part of the function of the controller 10 is performed in an external device or system with which the robot can communicate. Also good. That is, the robot may be controlled by distributing functions and cooperating between the robot and the system.

1: Robot, 2: Head, 3: Body, 4: Leg, 5: Arm, 6: Joint, 7: Link, 8: Hand, 9: Finger, 10: Controller, 11: CPU, 12: RAM , 13: ROM, 14: I / F circuit, 15: communication device, 20: imaging unit, 30: movable unit, 31: actuator, 32: sensor, 101: shape approximation unit, 102: gripping mechanism contact surface group generation unit , 103: gripping object contact surface group generation unit, 104: gripping object position / posture acquisition unit, 105: gripping object contact surface group selection unit, 106: gripping mechanism operation amount calculation unit, 107: gripping mechanism position / posture setting unit 111: Grasping mechanism shape data, 112: Grasping object shape data, 113: Grasping mechanism shape approximation data, 114: Grasping object shape approximation data, 115: Grasping mechanism contact surface group data, 116: Grasping object contact Group data, 117: Grasping object recognition processing data, 118: Grasping object position and orientation data, 119: Obstacle data, 120: Selected gripping object contact surface group data, 121: Grasping mechanism operation range data, 122: Grip mechanism operation amount data, 123: Grip mechanism position / orientation data

Claims (11)

A gripping robot that grips an object to be gripped by a gripping mechanism,
A combination of a gripping object contact surface group that is a combination of surfaces that come into contact with the gripping mechanism when the gripping object is gripped, and a surface of the gripping mechanism that contacts when the gripping object contact surface group is gripped Gripping object contact surface group information associated with a gripping mechanism contact surface group, and
Obstacle information that identifies the area of the obstacle in the workspace of the gripping robot,
A storage unit for storing
A gripping object position / posture specifying unit that specifies the position of the gripping object and the posture of the gripping object by image recognition;
The gripping object contact surface group information is a gripping object contact surface group that is not in contact with the obstacle in the position of the gripping object and the posture of the gripping object specified by the gripping object position / posture specifying unit. A gripping object contact surface group selection unit to select from,
A gripping robot characterized by that. The gripping robot according to claim 1,
For each gripping object contact surface group selected by the gripping object contact surface group selection unit, the gripping mechanism contact surface group associated with the gripping object contact surface group has a predetermined posture at a predetermined position. When it is set and the gripping mechanism contact surface group is moved to a position for gripping the gripping object contact surface group in the posture, it is determined whether or not the obstacle is contacted, and the obstacle is contacted. A gripping mechanism position / posture specifying unit for specifying the position of the gripping mechanism and the posture of the gripping mechanism;
A gripping robot characterized by that. The gripping robot according to claim 2,
For each gripping object contact surface group selected by the gripping object contact surface group selection unit, the gripping mechanism position / orientation specifying unit is related to the gripping mechanism contact surface group associated with the gripping object contact surface group. When a plurality of different postures are set at the predetermined position, and the gripping mechanism contact surface group is moved to a position for gripping the gripping object contact surface group in the posture, the obstacle and It is determined whether or not to contact, and the position of the gripping mechanism that does not contact the obstacle and the posture of the gripping mechanism are specified.
A gripping robot characterized by that. A gripping robot according to claim 2 or 3,
The storage unit stores gripping mechanism operating range information indicating an operating range of the gripping mechanism,
The gripping robot is
For each selected gripping object contact surface group selected by the gripping object contact surface group selection unit based on the gripping mechanism operation range information, the gripping object contact surface group is set as the gripping object contact surface group. A gripping mechanism motion amount calculation unit that determines whether or not gripping can be performed within the motion range of the gripping mechanism contact surface group associated with
The gripping mechanism position and orientation specifying unit specifies the position of the gripping mechanism and the posture of the gripping mechanism with respect to the gripping mechanism contact surface group determined to be gripped by the gripping mechanism operation amount calculation unit.
A gripping robot characterized by that. A gripping robot according to any one of claims 1 to 4,
The storage unit is a gripping mechanism contact that identifies a contact surface group that is a combination of gripping target object shape information representing the gripping target object as a surface and a surface that contacts the gripping target object when the gripping mechanism grips the gripping target object. The face group information,
The gripping robot is
The gripping mechanism contact surface group can be gripped for each gripping mechanism contact surface group included in the gripping mechanism contact surface group information based on the gripping object shape information and the gripping mechanism contact surface group information. A grip for generating the gripping object contact surface group information by specifying a combination of gripping object surface as a gripping object contact surface group and associating the gripping object contact surface group with the gripping mechanism contact surface group An object contact surface group generation unit;
A gripping robot characterized by that. The gripping robot according to claim 5,
The gripping object contact surface group generation unit, for each gripping mechanism contact surface group included in the gripping mechanism contact surface group information, the gripping object that faces one gripping mechanism contact surface constituting the gripping mechanism contact surface group. The gripping object facing the other gripping mechanism contact surface constituting the gripping mechanism contact surface group in a state where the first gripping mechanism contact surface and the first surface face each other Identifying the second surface, and identifying the combination of the first surface and the second surface as a gripping object contact surface group,
A gripping robot characterized by that. The gripping robot according to claim 5 or 6,
The storage unit stores gripping mechanism shape information representing the gripping mechanism by a surface,
The gripping robot is
Based on the gripping mechanism shape information, a gripping mechanism contact surface group generation unit that identifies a combination of surfaces facing each other among the surfaces of the gripping mechanism and generates the gripping mechanism contact surface group information,
A gripping robot characterized by that. The gripping robot according to claim 7,
The gripping object shape information and the gripping mechanism shape information are data obtained by approximating the gripping object and the gripping mechanism in a plane.
A gripping robot characterized by that. A control device for controlling a gripping robot that grips a gripping object by a gripping mechanism,
A combination of a gripping object contact surface group that is a combination of surfaces that come into contact with the gripping mechanism when the gripping object is gripped, and a surface of the gripping mechanism that contacts when the gripping object contact surface group is gripped Gripping object contact surface group information associated with a gripping mechanism contact surface group, and
Obstacle information that identifies the area of the obstacle in the workspace of the gripping robot,
A storage unit for storing
A gripping object position / posture specifying unit that specifies the position of the gripping object and the posture of the gripping object by image recognition;
The gripping object contact surface group information is a gripping object contact surface group that is not in contact with the obstacle in the position of the gripping object and the posture of the gripping object specified by the gripping object position / posture specifying unit. A gripping object contact surface group selection unit to select from,
A control device characterized by that. A gripping control method for a gripping robot that grips a gripping object by a gripping mechanism,
A combination of a gripping object contact surface group that is a combination of surfaces that come into contact with the gripping mechanism when the gripping object is gripped, and a surface of the gripping mechanism that contacts when the gripping object contact surface group is gripped Gripping object contact surface group information associated with a gripping mechanism contact surface group, and
Obstacle information that identifies the area of the obstacle in the workspace of the gripping robot,
Step to get the
A gripping object position / posture specifying step for specifying the position of the gripping object and the posture of the gripping object by image recognition;
The gripping object contact surface group information is a gripping object contact surface group that is not in contact with the obstacle in the position of the gripping object specified in the gripping object position / posture specifying step and the posture of the gripping object. A gripping object contact surface group selection step to select from, and
A gripping control method characterized by the above. A program of a control device that controls a gripping robot that grips a gripping object by a gripping mechanism,
A combination of a gripping object contact surface group that is a combination of surfaces that come into contact with the gripping mechanism when the gripping object is gripped, and a surface of the gripping mechanism that contacts when the gripping object contact surface group is gripped Gripping object contact surface group information associated with a gripping mechanism contact surface group, and
Obstacle information that identifies the area of the obstacle in the workspace of the gripping robot,
A storage unit for storing
A gripping object position / posture specifying unit that specifies the position of the gripping object and the posture of the gripping object by image recognition;
The gripping object contact surface group information is a gripping object contact surface group that is not in contact with the obstacle in the position of the gripping object and the posture of the gripping object specified by the gripping object position / posture specifying unit. The control device is caused to function as a gripping object contact surface group selection unit to be selected from
A program characterized by that.

Images