JP2014240110A5 - - Google Patents
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- JP2014240110A5 JP2014240110A5 JP2013123833A JP2013123833A JP2014240110A5 JP 2014240110 A5 JP2014240110 A5 JP 2014240110A5 JP 2013123833 A JP2013123833 A JP 2013123833A JP 2013123833 A JP2013123833 A JP 2013123833A JP 2014240110 A5 JP2014240110 A5 JP 2014240110A5
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- 238000011156 evaluation Methods 0.000 claims 32
- 238000002955 isolation Methods 0.000 claims 8
- 230000036544 posture Effects 0.000 claims 2
- 230000000007 visual effect Effects 0.000 claims 2
- 230000002452 interceptive Effects 0.000 claims 1
Claims (14)
上記ビンピッキング性能評価装置は記憶手段及び演算手段を備え、
上記記憶手段は、
上記ワークの形状を表すワーク形状モデルと、
上記ロボットハンドの形状を表すロボットハンド形状モデルと、
１回の試行で上記ワークの取り出しに成功するときの単位サイクルタイムとを格納し、
上記演算手段は、
上記ワーク形状モデルに基づいて、上記ワークを複数の方向から模擬的に撮影して複数のワーク画像を生成する画像生成手段と、
上記複数のワーク画像及び上記ロボットハンド形状モデルに基づいて、上記ワークを取り出す成功率を評価する成功率評価手段と、
上記成功率及び上記単位サイクルタイムに基づいて、上記ワークを取り出す推定サイクルタイムを計算する推定サイクルタイム計算手段とを備えたことを特徴とするビンピッキング性能評価装置。 In a bin picking performance evaluation apparatus that evaluates a cycle time in which a bin picking apparatus including a visual sensor and a robot hand takes out a workpiece in a simulated manner,
The bin picking performance evaluation apparatus includes a storage unit and a calculation unit,
The storage means is
A workpiece shape model representing the shape of the workpiece,
A robot hand shape model representing the shape of the robot hand;
Stores the unit cycle time when the work is successfully taken out in one trial,
The computing means is
Based on the workpiece shape model, image generating means for capturing a plurality of workpiece images by simulating the workpiece from a plurality of directions;
Success rate evaluation means for evaluating the success rate of taking out the workpiece based on the plurality of workpiece images and the robot hand shape model,
An binning picking performance evaluation apparatus comprising: an estimated cycle time calculating means for calculating an estimated cycle time for taking out the workpiece based on the success rate and the unit cycle time.
上記複数のワーク画像に基づいて、異なる姿勢のワークを区別する認識率を評価する認識率評価手段と、
上記複数のワーク画像及び上記ロボットハンド形状モデルに基づいて、上記ロボットハンドが上記ワークを取り出す把持率を評価する把持率評価手段と、
上記複数のワーク画像に基づいて、上記ワークを取り出すときの単離率を評価する単離率評価手段とのうち、少なくとも１つを備えたことを特徴とする請求項１記載のビンピッキング性能評価装置。 The success rate evaluation means is:
A recognition rate evaluation means for evaluating a recognition rate for distinguishing workpieces of different postures based on the plurality of workpiece images;
Based on the plurality of workpiece images and the robot hand shape model, a gripping rate evaluating means for evaluating a gripping rate at which the robot hand takes out the workpiece;
The bin picking performance evaluation according to claim 1, further comprising at least one of an isolation rate evaluation means for evaluating an isolation rate when the workpiece is taken out based on the plurality of workpiece images. apparatus.
上記画像生成手段は、上記ワーク形状モデル及び上記ワーク表面モデルに基づいて上記複数のワーク画像を生成することを特徴とした請求項１から５のうちのいずれか１つに記載のビンピッキング性能評価装置。 The storage means further stores a workpiece surface model representing the diffuse reflectance of the workpiece,
6. The bin picking performance evaluation according to claim 1, wherein the image generation unit generates the plurality of workpiece images based on the workpiece shape model and the workpiece surface model. apparatus.
上記ワークの形状を表すワーク形状モデルと、上記ロボットハンドの形状を表すロボットハンド形状モデルと、１回の試行で上記ワークの取り出しに成功するときの単位サイクルタイムとを記憶手段に格納するステップと、
上記ワーク形状モデルに基づいて、上記ワークを複数の方向から模擬的に撮影して複数のワーク画像を生成する画像生成ステップと、
上記複数のワーク画像及び上記ロボットハンド形状モデルに基づいて、上記ワークを取り出す成功率を評価する成功率評価ステップと、
上記成功率及び上記単位サイクルタイムに基づいて、上記ワークを取り出す推定サイクルタイムを計算する推定サイクルタイム計算ステップとを含むことを特徴とするビンピッキング性能評価方法。 In a bin picking performance evaluation method in which a bin picking device including a visual sensor and a robot hand evaluates a cycle time for taking out a workpiece in a simulated manner,
Storing in a storage means a workpiece shape model representing the shape of the workpiece, a robot hand shape model representing the shape of the robot hand, and a unit cycle time when the workpiece is successfully taken out in one trial; ,
Based on the workpiece shape model, an image generating step of generating a plurality of workpiece images by simulating the workpiece from a plurality of directions;
A success rate evaluation step of evaluating a success rate of taking out the workpiece based on the plurality of workpiece images and the robot hand shape model;
An estimated cycle time calculating step for calculating an estimated cycle time for taking out the workpiece based on the success rate and the unit cycle time.
上記複数のワーク画像に基づいて、異なる姿勢のワークを区別する認識率を評価する認識率評価ステップと、
上記複数のワーク画像及び上記ロボットハンド形状モデルに基づいて、上記ロボットハンドが上記ワークを取り出す把持率を評価する把持率評価ステップと、
上記複数のワーク画像に基づいて、上記ワークを取り出すときの単離率を評価する単離率評価ステップとのうち、少なくとも１つを含むことを特徴とする請求項８記載のビンピッキング性能評価方法。 The success rate evaluation step
A recognition rate evaluation step for evaluating a recognition rate for distinguishing workpieces of different postures based on the plurality of workpiece images;
Based on the plurality of workpiece images and the robot hand shape model, a gripping rate evaluation step for evaluating a gripping rate at which the robot hand takes out the workpiece;
The bin picking performance evaluation method according to claim 8, further comprising at least one of an isolation rate evaluation step for evaluating an isolation rate when the workpiece is taken out based on the plurality of workpiece images. .
上記画像生成ステップは、上記ワーク形状モデル及び上記ワーク表面モデルに基づいて上記複数のワーク画像を生成するステップを含むことを特徴とした請求項８から１２のうちのいずれか１つに記載のビンピッキング性能評価方法。 The bin picking performance evaluation method includes a step of further storing a workpiece surface model representing the diffuse reflectance of the workpiece in the storage means,
The bin according to any one of claims 8 to 12, wherein the image generation step includes a step of generating the plurality of workpiece images based on the workpiece shape model and the workpiece surface model. Picking performance evaluation method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| JP2013123833A JP6016716B2 (en) | 2013-06-12 | 2013-06-12 | Bin picking performance evaluation apparatus and method |
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| JP2013123833A JP6016716B2 (en) | 2013-06-12 | 2013-06-12 | Bin picking performance evaluation apparatus and method |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2014240110A JP2014240110A (en) | 2014-12-25 |
| JP2014240110A5 true JP2014240110A5 (en) | 2015-12-24 |
| JP6016716B2 JP6016716B2 (en) | 2016-10-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7124509B2 (en) | 2018-07-19 | 2022-08-24 | オムロン株式会社 | SIMULATION DEVICE, SIMULATION PROGRAM AND SIMULATION METHOD |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6516663B2 (en) * | 2015-12-10 | 2019-05-22 | 学校法人立命館 | Production performance evaluation device for mechanical system and production performance evaluation method for mechanical system |
| WO2018094590A1 (en) * | 2016-11-23 | 2018-05-31 | Abb Schweiz Ag | Method and apparatus for optimizing a target working line |
| JP6571723B2 (en) | 2017-07-11 | 2019-09-04 | ファナック株式会社 | PROGRAMMING DEVICE FOR GENERATING OPERATION PROGRAM AND PROGRAM GENERATION METHOD |
| JP6857101B2 (en) * | 2017-07-31 | 2021-04-14 | 株式会社キーエンス | Robot simulation device and robot simulation method |
| JP6919987B2 (en) * | 2017-07-31 | 2021-08-18 | 株式会社キーエンス | Image processing device |
| JP6822929B2 (en) * | 2017-09-19 | 2021-01-27 | 株式会社東芝 | Information processing equipment, image recognition method and image recognition program |
| GB201719058D0 (en) * | 2017-11-17 | 2018-01-03 | Ocado Innovation Ltd | Control device and method for a robot system |
| JP6911798B2 (en) * | 2018-03-15 | 2021-07-28 | オムロン株式会社 | Robot motion control device |
| CN112584986A (en) * | 2019-03-15 | 2021-03-30 | 欧姆龙株式会社 | Parameter adjustment device, parameter adjustment method, and program |
| EP4023397A4 (en) * | 2019-08-30 | 2022-09-14 | NEC Corporation | Information processing device, control method, and storage medium |
| EP4023396A4 (en) * | 2019-08-30 | 2022-09-07 | NEC Corporation | Information processing device, control method, and storage medium |
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| JP2555823B2 (en) * | 1991-10-30 | 1996-11-20 | 日本電装株式会社 | High-speed picking device for piled parts |
| JP3434976B2 (en) * | 1996-06-28 | 2003-08-11 | 三菱電機株式会社 | Image processing device |
| JP2006026790A (en) * | 2004-07-15 | 2006-02-02 | Fanuc Ltd | Teaching model production device |
| JP4153528B2 (en) * | 2006-03-10 | 2008-09-24 | ファナック株式会社 | Apparatus, program, recording medium and method for robot simulation |
| JP5265296B2 (en) * | 2008-10-10 | 2013-08-14 | 本田技研工業株式会社 | Work removal method |
| JP5586445B2 (en) * | 2010-12-15 | 2014-09-10 | 三菱電機株式会社 | Robot control setting support device |
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| JP7124509B2 (en) | 2018-07-19 | 2022-08-24 | オムロン株式会社 | SIMULATION DEVICE, SIMULATION PROGRAM AND SIMULATION METHOD |
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