WO2009028489A1 - Object detecting method, object detecting device, and robot system - Google Patents

Object detecting method, object detecting device, and robot system Download PDF

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Publication number
WO2009028489A1
WO2009028489A1 PCT/JP2008/065175 JP2008065175W WO2009028489A1 WO 2009028489 A1 WO2009028489 A1 WO 2009028489A1 JP 2008065175 W JP2008065175 W JP 2008065175W WO 2009028489 A1 WO2009028489 A1 WO 2009028489A1
Authority
WO
WIPO (PCT)
Prior art keywords
edge
posture
object detecting
determined
parts
Prior art date
Application number
PCT/JP2008/065175
Other languages
French (fr)
Japanese (ja)
Inventor
Kazunari Shiraishi
Original Assignee
Kabushiki Kaisha Yaskawa Denki
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Priority to JP2009530123A priority Critical patent/JP5458885B2/en
Publication of WO2009028489A1 publication Critical patent/WO2009028489A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)

Abstract

An object detecting method and device for detecting the position and posture of an object with low computational complexity and small storage area and a robot mounted with the device are provided. Flat parts and edge parts of an object are extracted from distance data (101) on the object (102), a given flat part is selected from the extracted flat parts and its equation is determined by calculation (103), edge parts are projected onto the calculated flat part to create an edge image (104), a reference edge image preliminarily stored in a database (105) is sequentially rotated (106), edge points having gray-scale values approximate to one another in the edge images are associated, and the difference between the positions are voted into a position space (107), the highest part of the votes is determined (108), the position and posture of the object are identified (109), and thus the position and posture are determined as those of the object.
PCT/JP2008/065175 2007-08-30 2008-08-26 Object detecting method, object detecting device, and robot system WO2009028489A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2009530123A JP5458885B2 (en) 2007-08-30 2008-08-26 Object detection method, object detection apparatus, and robot system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-224383 2007-08-30
JP2007224383 2007-08-30

Publications (1)

Publication Number Publication Date
WO2009028489A1 true WO2009028489A1 (en) 2009-03-05

Family

ID=40387209

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/065175 WO2009028489A1 (en) 2007-08-30 2008-08-26 Object detecting method, object detecting device, and robot system

Country Status (2)

Country Link
JP (1) JP5458885B2 (en)
WO (1) WO2009028489A1 (en)

Cited By (22)

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JP2010247959A (en) * 2009-04-16 2010-11-04 Ihi Corp Box-shaped work recognizing device and method
JP2011013220A (en) * 2009-07-03 2011-01-20 Koh Young Technology Inc Inspection method of object to be measured
JP2011159042A (en) * 2010-01-29 2011-08-18 Ihi Corp Object recognition method and object recognition device
JP2011167815A (en) * 2010-02-19 2011-09-01 Ihi Corp Object recognizing robot system
JP2014039983A (en) * 2012-08-23 2014-03-06 Toyota Motor Corp Robot hand, control method, and control program
JP2014056464A (en) * 2012-09-13 2014-03-27 Univ Of Tokyo Object recognition device, object recognition method and object recognition program
WO2014061372A1 (en) * 2012-10-18 2014-04-24 コニカミノルタ株式会社 Image-processing device, image-processing method, and image-processing program
CN103970136A (en) * 2014-04-23 2014-08-06 汕头市快畅计算机有限公司 Grayscale sensor and tracking control method based on grayscale sensor
WO2014147863A1 (en) * 2013-03-21 2014-09-25 日本電気株式会社 Three-dimensional information measuring/displaying device, three-dimensional information measuring/displaying method, and program
JP2015079374A (en) * 2013-10-17 2015-04-23 セイコーエプソン株式会社 Object recognition device, object recognition method, object recognition program, robot system, and robot
JP2015201192A (en) * 2014-04-03 2015-11-12 エアバス デーエス ゲゼルシャフト ミット ベシュレンクテル ハフツング Detection of object position and direction
KR20160076271A (en) * 2014-12-22 2016-06-30 현대모비스 주식회사 Apparatus and method for detecting obstacle
JP2017087317A (en) * 2015-11-04 2017-05-25 トヨタ自動車株式会社 Operation object state estimation device
JP2018097889A (en) * 2018-01-17 2018-06-21 セイコーエプソン株式会社 Object recognition device, object recognition method, object recognition program, robot system, and robot
CN110716210A (en) * 2018-07-12 2020-01-21 发那科株式会社 Distance measuring device with distance correction function
CN111127548A (en) * 2019-12-25 2020-05-08 深圳市商汤科技有限公司 Grabbing position detection model training method, grabbing position detection method and grabbing position detection device
CN112330738A (en) * 2020-01-08 2021-02-05 沈阳和研科技有限公司 Method for detecting workpiece angle and stepping by scribing machine
JPWO2021177236A1 (en) * 2020-03-05 2021-09-10
JPWO2021193236A1 (en) * 2020-03-23 2021-09-30
JPWO2020105679A1 (en) * 2018-11-21 2021-10-07 ソニーグループ株式会社 Work discrimination system, work discrimination device and work discrimination method
WO2021246476A1 (en) * 2020-06-04 2021-12-09 Mujin, Inc. Method and computing system for performing or facilitating physical edge detection
US12062182B2 (en) 2020-06-04 2024-08-13 Mujin, Inc. Method and computing system for performing or facilitating physical edge detection

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JPH10124677A (en) * 1996-10-25 1998-05-15 Nippon Telegr & Teleph Corp <Ntt> Method for estimating attitude of object and device therefor
JP2003271975A (en) * 2002-03-15 2003-09-26 Sony Corp Method of extracting plane, extractor therefor, program therefor, recording medium therefor, and robot system mounted with plane extractor
JP2007183908A (en) * 2005-12-05 2007-07-19 Yaskawa Electric Corp Method for detecting object
JP2008217544A (en) * 2007-03-06 2008-09-18 Yaskawa Electric Corp Object detection method, object detector, and robot provided with the same

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JP2919284B2 (en) * 1994-02-23 1999-07-12 松下電工株式会社 Object recognition method
JP2001143073A (en) * 1999-11-10 2001-05-25 Nippon Telegr & Teleph Corp <Ntt> Method for deciding position and attitude of object

Patent Citations (5)

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JPS6015780A (en) * 1983-07-08 1985-01-26 Hitachi Ltd Robot
JPH10124677A (en) * 1996-10-25 1998-05-15 Nippon Telegr & Teleph Corp <Ntt> Method for estimating attitude of object and device therefor
JP2003271975A (en) * 2002-03-15 2003-09-26 Sony Corp Method of extracting plane, extractor therefor, program therefor, recording medium therefor, and robot system mounted with plane extractor
JP2007183908A (en) * 2005-12-05 2007-07-19 Yaskawa Electric Corp Method for detecting object
JP2008217544A (en) * 2007-03-06 2008-09-18 Yaskawa Electric Corp Object detection method, object detector, and robot provided with the same

Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010247959A (en) * 2009-04-16 2010-11-04 Ihi Corp Box-shaped work recognizing device and method
US8724883B2 (en) * 2009-07-03 2014-05-13 Koh Young Technology Inc. Method for inspecting measurement object
JP2011013220A (en) * 2009-07-03 2011-01-20 Koh Young Technology Inc Inspection method of object to be measured
US8369603B2 (en) 2009-07-03 2013-02-05 Koh Young Technology Inc. Method for inspecting measurement object
US20130294679A1 (en) * 2009-07-03 2013-11-07 Koh Young Technology Inc. Method for inspecting measurement object
JP2011159042A (en) * 2010-01-29 2011-08-18 Ihi Corp Object recognition method and object recognition device
JP2011167815A (en) * 2010-02-19 2011-09-01 Ihi Corp Object recognizing robot system
JP2014039983A (en) * 2012-08-23 2014-03-06 Toyota Motor Corp Robot hand, control method, and control program
JP2014056464A (en) * 2012-09-13 2014-03-27 Univ Of Tokyo Object recognition device, object recognition method and object recognition program
WO2014061372A1 (en) * 2012-10-18 2014-04-24 コニカミノルタ株式会社 Image-processing device, image-processing method, and image-processing program
JPWO2014061372A1 (en) * 2012-10-18 2016-09-05 コニカミノルタ株式会社 Image processing apparatus, image processing method, and image processing program
WO2014147863A1 (en) * 2013-03-21 2014-09-25 日本電気株式会社 Three-dimensional information measuring/displaying device, three-dimensional information measuring/displaying method, and program
JP2015079374A (en) * 2013-10-17 2015-04-23 セイコーエプソン株式会社 Object recognition device, object recognition method, object recognition program, robot system, and robot
JP2015201192A (en) * 2014-04-03 2015-11-12 エアバス デーエス ゲゼルシャフト ミット ベシュレンクテル ハフツング Detection of object position and direction
CN103970136A (en) * 2014-04-23 2014-08-06 汕头市快畅计算机有限公司 Grayscale sensor and tracking control method based on grayscale sensor
US9665782B2 (en) 2014-12-22 2017-05-30 Hyundai Mobis Co., Ltd. Obstacle detecting apparatus and obstacle detecting method
KR20160076271A (en) * 2014-12-22 2016-06-30 현대모비스 주식회사 Apparatus and method for detecting obstacle
KR101676656B1 (en) 2014-12-22 2016-11-16 현대모비스 주식회사 Apparatus and method for detecting obstacle
JP2017087317A (en) * 2015-11-04 2017-05-25 トヨタ自動車株式会社 Operation object state estimation device
JP2018097889A (en) * 2018-01-17 2018-06-21 セイコーエプソン株式会社 Object recognition device, object recognition method, object recognition program, robot system, and robot
CN110716210A (en) * 2018-07-12 2020-01-21 发那科株式会社 Distance measuring device with distance correction function
CN110716210B (en) * 2018-07-12 2024-01-30 发那科株式会社 Distance measuring device with distance correction function
JPWO2020105679A1 (en) * 2018-11-21 2021-10-07 ソニーグループ株式会社 Work discrimination system, work discrimination device and work discrimination method
JP7435464B2 (en) 2018-11-21 2024-02-21 ソニーグループ株式会社 Workpiece discrimination system, workpiece discrimination device, and workpiece discrimination method
CN111127548A (en) * 2019-12-25 2020-05-08 深圳市商汤科技有限公司 Grabbing position detection model training method, grabbing position detection method and grabbing position detection device
CN111127548B (en) * 2019-12-25 2023-11-24 深圳市商汤科技有限公司 Grabbing position detection model training method, grabbing position detection method and grabbing position detection device
CN112330738A (en) * 2020-01-08 2021-02-05 沈阳和研科技有限公司 Method for detecting workpiece angle and stepping by scribing machine
JP7401648B2 (en) 2020-03-05 2023-12-19 ファナック株式会社 3D measurement device and 3D measurement method
JPWO2021177236A1 (en) * 2020-03-05 2021-09-10
WO2021193236A1 (en) * 2020-03-23 2021-09-30 ファナック株式会社 Image processing device and image processing method
JPWO2021193236A1 (en) * 2020-03-23 2021-09-30
JP7436633B2 (en) 2020-03-23 2024-02-21 ファナック株式会社 Image processing device and image processing method
WO2021246476A1 (en) * 2020-06-04 2021-12-09 Mujin, Inc. Method and computing system for performing or facilitating physical edge detection
JP2022534342A (en) * 2020-06-04 2022-07-29 株式会社Mujin Method and computational system for performing or facilitating physical edge detection
JP7118382B2 (en) 2020-06-04 2022-08-16 株式会社Mujin Method and computational system for performing or facilitating physical edge detection
US12062182B2 (en) 2020-06-04 2024-08-13 Mujin, Inc. Method and computing system for performing or facilitating physical edge detection

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JP5458885B2 (en) 2014-04-02
JPWO2009028489A1 (en) 2010-12-02

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