WO2019181213A1 - Detecting device, gripping mechanism control program, and gripping mechanism control method - Google Patents

Detecting device, gripping mechanism control program, and gripping mechanism control method Download PDF

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Publication number
WO2019181213A1
WO2019181213A1 PCT/JP2019/002863 JP2019002863W WO2019181213A1 WO 2019181213 A1 WO2019181213 A1 WO 2019181213A1 JP 2019002863 W JP2019002863 W JP 2019002863W WO 2019181213 A1 WO2019181213 A1 WO 2019181213A1
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WO
WIPO (PCT)
Prior art keywords
gripping
laser light
flexible member
speckle pattern
gripping mechanism
Prior art date
Application number
PCT/JP2019/002863
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French (fr)
Japanese (ja)
Inventor
健 宮下
Original Assignee
ソニー株式会社
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Publication date
Application filed by ソニー株式会社 filed Critical ソニー株式会社
Publication of WO2019181213A1 publication Critical patent/WO2019181213A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge

Definitions

  • the present technology relates to a detection device, a detection device, a gripping mechanism control program, and a gripping mechanism control method capable of detecting a gripping state in a gripping mechanism that can grip various objects.
  • a gripping device having a gripping mechanism capable of gripping an object is often used for industrial purposes, and in recent years it is also being used for home use.
  • industrial gripping devices such as robots that move specific parts in a factory production line
  • applications and gripping objects are limited, and gripping force set in advance according to the hardness and weight of the gripping object Can be gripped without any problem.
  • the gripping force in the process of lifting the object to be grasped Need to be adjusted. If the gripping force is insufficient, the gripping object may fall, and if the gripping force is excessive, the gripping object may be damaged.
  • Patent Literature 1 discloses a robot control device that acquires a force sense acting on a grasped object using a force sensor such as a pressure sensor.
  • Patent Document 2 discloses a gripping device that detects interference fringes generated in a robot arm by gripping a gripping target and controls the gripping force.
  • Patent Document 3 discloses a gripping mechanism that mounts a rotating plate at the tip of a robot arm and detects a shift of a gripping object.
  • Patent Document 4 discloses a gripping device that brings an elastic body into contact with a gripping object, photographs deformation of the elastic body with a camera, estimates a slip margin between the gripping object and the elastic body, and adjusts a gripping force. Is disclosed.
  • the robot control apparatus described in the cited document 1 cannot stably detect the minute deformation of the flexible part at the tip of the robot arm by the force sensor. Further, in the gripping device described in Patent Document 2, it is necessary to install a camera outside to capture the interference fringes, and there is no problem when used in a factory or the like, but the gripping target is unspecified. In case it becomes a problem.
  • an object of the present technology is to provide a detection device, a gripping mechanism control program, and a gripping mechanism control method that are suitable for gripping an unspecified gripping object without impairing the shape freedom of the gripping mechanism. There is to do.
  • a detection device includes a flexible member, a laser light source, and an imaging device.
  • the flexible member has light transmittance and flexibility.
  • the laser light source emits laser light to the flexible member.
  • the imaging device images the speckle pattern of the laser light.
  • the detection device includes a gripping mechanism including a gripping contact portion that contacts a gripping object, the flexible member, the laser light source, and the imaging device are provided in the gripping contact portion, and the flexible member is A gripping force applied from the mechanism to the gripping object may be transmitted to the gripping object.
  • the gripping force pressing force on the gripping object by the gripping mechanism
  • the gripping object does not move due to gravity even if the gripping mechanism lifts the gripping object, and the relative displacement of the gripping object with respect to the gripping contact portion
  • the flexible member is deformed. According to the above configuration, it is possible to determine the lack of gripping force based on the presence or absence of deformation of the flexible member.
  • the detection apparatus further includes a deformation determination unit that determines deformation of the flexible member based on a change in the speckle pattern, and a control unit that controls the gripping force according to a determination result by the deformation determination unit. May be.
  • the deformation determination unit determines the deformation of the flexible member due to insufficient gripping force, and the control unit can control the gripping force according to the determination result.
  • the control unit may increase the gripping force when the deformation determination unit determines that the flexible member is deformed.
  • the gripping mechanism can reliably grip the gripping target. It becomes possible.
  • the detection device further includes a reflection member that is provided on the opposite side of the flexible member from the laser light source and the imaging device and reflects the laser light.
  • the speckle pattern includes the laser light that reflects the reflection member. The speckle pattern generated by being reflected by may be used.
  • the speckle pattern may be a speckle pattern generated by reflecting the laser beam by an object to be grasped.
  • the speckle pattern generated by the reflection by the object to be grasped can be used for determining the deformation of the flexible member. This is effective when a gripping object is specified as in a production line of a factory.
  • a plurality of the laser light sources and a plurality of the imaging devices may be provided for one flexible member.
  • the detection device may include a plurality of the flexible members, and one of the laser light sources and one of the imaging devices may be provided for each of the flexible members.
  • the flexible members are easily deformed, and it is possible to determine the presence or absence of deformation for each flexible member.
  • a gripping mechanism control program includes a flexible member having optical transparency and flexibility, a laser light source that emits laser light to the flexible member, and speckles of the laser light.
  • a gripping mechanism control program for controlling a gripping mechanism including a gripping contact unit including an imaging device that captures a pattern, and causes an information processing apparatus to operate as a deformation determination unit and a control unit.
  • a gripping mechanism control method includes a flexible member having light transmittance and flexibility, a laser light source that emits laser light to the flexible member, and speckles of the laser light.
  • a gripping mechanism control method for controlling a gripping mechanism including a gripping contact unit including an imaging device that captures a pattern.
  • transformation determination part determines the deformation
  • the control unit controls the gripping force according to the determination result by the deformation determination unit.
  • a detection device As described above, according to the present technology, it is possible to provide a detection device, a gripping mechanism control program, and a gripping mechanism control method that are suitable for gripping an unspecified gripping object without impairing the shape freedom of the gripping mechanism. it can.
  • a detection device according to an embodiment of the present technology will be described.
  • FIG. 1 is a schematic diagram illustrating a configuration of a detection device 100 according to the present embodiment
  • FIG. 2 is a schematic diagram illustrating a manner of gripping a gripping target object S of the detection device 100.
  • the detection apparatus 100 includes a gripping mechanism 110, a gripping mechanism driving unit 120, and a control unit 130.
  • the gripping mechanism 110 includes two gripping arms 111 as shown in FIG.
  • the grip arm 111 is configured to be adjustable in its position and grip force (pressing force applied to the grip target S) by the grip mechanism driving unit 120. Further, the gripping mechanism 110 may include one or three or more gripping arms 111.
  • the gripping arm 111 includes an arm portion 112 and a gripping contact portion 113.
  • the arm unit 112 is connected to the gripping mechanism driving unit 120 and transmits power from the gripping mechanism structure driving unit 120 to the gripping contact unit 113.
  • the gripping contact unit 113 contacts the gripping object S and grips the gripping object S.
  • the gripping contact portion 113 includes a support member 114, a flexible member 115, a reflection member 116, a laser light source 117, and an imaging device 118.
  • the support member 114 is connected to the arm portion 112 and supports the flexible member 115.
  • the support member 114 is provided with a laser light source 117 and an imaging device 118.
  • the flexible member 115 is a member that is fixed to the support member 114 and has light permeability and flexibility, and transmits the gripping force applied to the gripping object S from the gripping mechanism 110 to the gripping object S.
  • the flexible member 115 transmits at least the wavelength band of the laser light emitted from the laser light source 117. Further, the flexible member 115 is flexible enough to cause minute deformation due to the weight of the grasped object S.
  • the flexible member 115 can be made of epoxy rubber.
  • the flexible member 115 may be a bag-shaped member filled with liquid or gas.
  • the reflection member 116 is provided on the opposite side of the flexible member 115 from the support member 114, that is, the opposite side from the laser light source 117 and the imaging device 118, and is a member having light reflectivity.
  • the reflecting member 116 reflects at least the wavelength band of the laser light emitted from the laser light source 117.
  • the reflecting member 116 is a member that comes into contact with the grasped object S as shown in FIG. 2 and preferably has flexibility. Further, the reflecting member 116 does not necessarily have flexibility.
  • the reflection member 116 can be made of, for example, epoxy rubber having a composition different from that of the flexible member 115.
  • the flexible member 115 and the reflective member 116 are collectively referred to as a flexible portion 119.
  • the flexible portion 119 is deformed by the weight of the grasped object S, but only the flexible member 115 may be deformed, and both the flexible member 115 and the reflecting member 116 may be deformed.
  • the laser light source 117 is provided on the support member 114 and emits laser light to the flexible member 115.
  • the configuration of the laser light source 117 is not particularly limited as long as it can emit a laser having a specific wavelength.
  • the laser emitted to the flexible member 115 passes through the flexible member 115 and reaches the reflecting member 116, and is reflected by the reflecting member 116 to generate a speckle pattern described later.
  • the imaging device 118 is provided on the support member 114 and images the speckle pattern.
  • the imaging device 118 only needs to be capable of imaging a speckle pattern, and includes an imaging device such as a CCD (Charge Coupled Device) image sensor, a CMOS (complementary metal oxide semiconductor) image sensor, or a photodetector array, and an imaging optical system. It can be.
  • the imaging device 118 outputs the captured speckle pattern to the control unit 130.
  • the gripping mechanism drive unit 120 is controlled by the control unit 130 to drive the gripping mechanism 110 and cause the gripping mechanism 110 to grip the gripping object S.
  • the gripping mechanism driving unit 120 includes a driving source such as a motor and a power transmission mechanism, and the configuration thereof is not particularly limited.
  • the control unit 130 acquires a speckle pattern from the imaging device 118 and controls the gripping mechanism driving unit 120 based on the speckle pattern.
  • the configuration of the control unit 130 will be described later.
  • FIG. 3 is a schematic diagram illustrating the operation of the detection apparatus 100.
  • laser light L ⁇ b> 1 is emitted from the laser light source 117 to the flexible member 115.
  • the laser light L1 passes through the flexible member 115, reaches the reflecting member 116, and is reflected by the reflecting member 116.
  • the reflected light L 2 passes through the flexible member 115 and enters the imaging device 118.
  • the reflected light L2 forms a speckle pattern.
  • FIG. 4 is a schematic diagram showing the principle of the speckle pattern. As shown in the figure, when the laser beam L is incident on an object (hereinafter, target T), the laser beam L is scattered by the target T, and a pattern (speckle pattern) is formed by interference between the scattered reflected lights. The When scattered light enters the imaging device F, this speckle pattern is imaged.
  • FIG. 5 is an example of a speckle pattern.
  • FIG. 6 is a schematic diagram showing the movement of the speckle pattern. As shown in FIG. 6A, when the angle of the object T changes, the speckle pattern moves from the position P1 to the position P2 accordingly. Further, as shown in FIG. 6B, when the position of the object T moves, the speckle pattern moves from the position P1 to the position P2 accordingly.
  • FIG. 7 is a schematic diagram showing a gripping state of the gripping object S by the gripping mechanism 110.
  • FIG. 7A shows a state where the gripping contact portion 113 is in contact with the gripping object S.
  • the laser light L is emitted from the laser light source 117 in this state, a certain speckle pattern is imaged by the imaging device 118.
  • FIG. 7B shows a state where the gripping force by the gripping mechanism 110 is insufficient.
  • the gripping mechanism 110 is raised in a state where the gripping force is insufficient and the gripping object S is lifted, the gripping object S is displaced in the gravitational direction with respect to the gripping contact portion 113 and the flexible portion 119 is slightly deformed. Arise. As a result, the speckle pattern moves.
  • the gripping object S When the gripping force by the gripping mechanism 110 is sufficiently increased, the gripping object S does not shift with respect to the gripping contact portion 113, and the speckle pattern position returns to the original position.
  • FIG. 8 is a block diagram showing an overall system image of the detection apparatus 100.
  • the drive system of the detection device 100 is realized by an imaging device 118, a control unit 130, a gripping mechanism driving unit 120, and a gripping mechanism 110.
  • the control unit 130 includes a deformation determination unit 131 and a control unit 132.
  • the deformation determination unit 131 acquires a speckle pattern from the imaging device 118, and determines whether the flexible unit 119 is deformed based on the speckle pattern. Specifically, the deformation determination unit 131 determines that the flexible part 119 is deformed if the speckle pattern has moved from a position before the start of gripping (hereinafter referred to as an initial position), and the speckle pattern is determined as the initial position. If it exists in the same position, it will determine with the flexible part 119 not deform
  • the control unit 132 controls the gripping mechanism driving unit 120 based on the determination result by the deformation determining unit 131. Specifically, the gripping mechanism drive unit 120 is controlled so that the gripping force is increased when the flexible portion 119 is deformed and the gripping force is maintained when the flexible portion 119 is not deformed.
  • the gripping mechanism driving unit 120 drives the gripping mechanism 110 under the control of the control unit 132.
  • the gripping mechanism driving unit 120 drives the gripping mechanism 110 so as to grip the gripping object S with a gripping force instructed by the control unit 132.
  • the detection apparatus 100 has the above-described overall image of the system.
  • the control unit 130 is not necessarily provided integrally with the gripping mechanism 110 and the gripping mechanism driving unit 120, and may be provided on an information processing apparatus or a cloud other than these.
  • control unit 130 may include an object recognition processing unit that recognizes a grasped object by object recognition processing.
  • the object recognition processing unit recognizes the shape of the object to be grasped based on the output of an imaging device or a depth sensor (not shown), and supplies the recognition processing result to the control unit 132.
  • the control unit 132 adjusts the position of the gripping arm 111 based on the recognition processing result by the object recognition processing unit, and brings the gripping contact unit 113 into contact with the gripping object S. Thereafter, the gripping force can be adjusted based on the spectrum pattern as described above.
  • control unit 130 includes the object recognition processing unit, it is possible to grip various objects. Further, when the detection apparatus 100 is used for an application in which a gripping target is specified in advance like a factory production line, the object recognition processing unit may not be provided.
  • FIG. 9 is a flowchart illustrating an algorithm of a gripping operation performed by the detection apparatus 100.
  • the algorithm of the gripping operation is executed in a state where the gripping contact unit 113 is in contact with the gripping object S.
  • Laser light is emitted from the laser light source 117 (St101), and the speckle pattern is imaged by the imaging device 118 (St102).
  • the deformation determination unit 131 determines whether or not the flexible member 115 is deformed based on the speckle pattern (St103), and supplies the determination result to the control unit 132.
  • the control unit 132 controls the driving unit 123 to increase the gripping force by the gripping mechanism 110 (St105).
  • the gripping object S is gripped by the gripping mechanism 110.
  • the gripping force of the gripping mechanism 110 is gradually increased until the deformation of the flexible portion 119 due to the weight of the gripping object S is eliminated, and is maintained when the deformation of the flexible portion 119 is resolved.
  • the gripping force becomes the minimum force with which the gripping object S can be gripped, and damage to the gripping object due to an excessive gripping force is prevented.
  • the detection device 100 automatically adjusts the gripping force to the minimum gripping force that can be gripped in the process of gripping the gripping target object, it is a gripping target object whose hardness, shape, weight, etc. are unknown. Can be reliably gripped.
  • the gripping mechanism 110 includes a plurality of gripping arms 111
  • the above algorithm can be executed for each gripping arm 111.
  • FIG. 10 is a schematic diagram illustrating variations in the shape of a gripping target that can be gripped by the gripping mechanism 110.
  • the gripping mechanism 110 includes four gripping arms 111, but the number is not limited to four.
  • FIG. 10A shows a gripping mode when the gripping object S is relatively small with respect to the gripping mechanism 110.
  • the gripping object S can be gripped by the four gripping arms 111.
  • FIG. 10B shows a gripping mode when the gripping object S is relatively long with respect to the gripping mechanism 110.
  • the gripping object S can be gripped by the two gripping arms 111, and the other two can be bent to the side opposite to the gripping target object S so as not to interfere.
  • FIG. 10C shows a gripping mode when the gripping object S is relatively large with respect to the gripping mechanism 110.
  • the gripping object S can be gripped by one gripping arm 111 of each of the two gripping mechanisms 110.
  • FIG. 10D shows a gripping mode when the gripping object S is relatively thin with respect to the gripping mechanism 110 and has a large area.
  • the gripping object S can be gripped by the two gripping arms 111, and the other two can be bent to the side opposite to the gripping target object S so as not to interfere.
  • FIG. 10E shows a gripping mode when the gripping object S is relatively heavy.
  • the side surface of the grasped object S can be supported by the two grasping arms 111, and the bottom surface of the grasped object S can be supported by the one grasping arm 111.
  • the other one can be bent to the opposite side of the grasped object S so as not to interfere.
  • the gripping arm 111 can be prevented from interfering with the gripping target object S by being bent to the opposite side of the gripping target object S.
  • the gripping mechanism 110 it is necessary to make the gripping mechanism 110 freely deformable, and it is important that there is no projecting structure other than the gripping arm 111. is there. From this point of view, a configuration in which the gripping arm is imaged with a camera from the outside is not desirable.
  • FIG. 11 is a table showing examples of objects to be grasped by the grasping mechanism 110. The following scenes are assumed as usage scenes of the detection apparatus 100.
  • FIGS. 12 to 14 are schematic views showing the structure of the gripping contact portion 113, in which (a) is a side view (b) is a front view.
  • the gripping contact portion 113 can be composed of one laser light source 117, one imaging device 118, and one flexible portion 119.
  • the gripping contact portion 113 can be composed of one flexible portion 119, two laser light sources 117, and two imaging devices 118.
  • two laser light sources 117 and two imaging devices 118 it is possible to improve the detection accuracy of deformation of the flexible portion 119. Note that a larger number of laser light sources 117 and imaging devices 118 may be provided.
  • the gripping contact portion 113 may include two flexible portions 119, and each flexible portion 119 may be provided with a laser light source 117 and an imaging device 118.
  • Each laser light source 117 causes laser light to be incident on each flexible member 115, and each imaging device 118 images a speckle pattern incident from each flexible member 115.
  • the flexible portion 119 can be easily deformed.
  • the number of flexible portions 119 is not limited to two, and the number of laser light sources 117 and imaging devices 118 provided for each flexible portion 119 is not limited to one.
  • FIG. 15 is a schematic diagram illustrating a hardware configuration of the control unit 130.
  • the control unit 130 includes a CPU 1001, a memory 1002, a storage 1003, and an input / output unit (I / O) 1004 as hardware configurations. These are connected to each other by a bus 1005.
  • I / O input / output unit
  • a CPU (Central Processing Unit) 1001 controls other configurations according to a program stored in the memory 1002, performs data processing according to the program, and stores a processing result in the memory 1002.
  • the CPU 1001 can be a microprocessor.
  • the memory 1002 stores programs and data executed by the CPU 1001.
  • the memory 1002 can be a RAM (Random Access Memory).
  • the storage 1003 stores programs and data.
  • the storage 1003 can be an HDD (hard disk drive) or an SSD (solid state drive).
  • the input / output unit 1004 receives input to the control unit 130 and supplies the output of the control unit 130 to the outside.
  • the input / output unit 1004 acquires a speckle pattern from the imaging device 108 and supplies a control signal to the gripping mechanism driving unit 120.
  • the deformation determination unit 131 and the control unit 132 are realized by the cooperation of the hardware configuration and the program as described above.
  • the hardware configuration of the control unit 130 is not limited to that described above, and any hardware configuration that can realize the functional configuration of the control unit 130 may be used. A part or all of the hardware configuration may exist on the network.
  • the grip contact portion 113 has the flexible portion 119 composed of the flexible member 115 and the reflective member 116, but the flexible portion 119 does not include the reflective member 116 but includes only the flexible member 115. There may be.
  • the laser light emitted from the laser light source 117 is reflected by the gripping object S, and the speckle pattern is imaged by the imaging device 118.
  • the gripping object S is not specified, the speckle pattern cannot be obtained when the laser beam is not reflected, such as when the gripping object S has light transparency, and the reflection object 116 is provided when the gripping object S is unspecified. Is preferred.
  • the gripping mechanism 110 lifts the gripping object S, that is, grips the gripping object S against gravity, but is not limited thereto.
  • the gripping mechanism 110 can also be used to grip a gripping object to which some force is applied against the force.
  • a flexible member having optical transparency and flexibility;
  • a laser light source for emitting laser light to the flexible member;
  • An imaging device comprising: an imaging device that images the speckle pattern of the laser beam.
  • a gripping mechanism including a gripping contact portion that touches a gripping object is provided,
  • the flexible member, the laser light source, and the imaging device are provided in the grip contact portion,
  • the flexible member detects a gripping force applied to the gripping object from the gripping mechanism to the gripping object.
  • a deformation determination unit that determines the deformation of the flexible member based on a change in the speckle pattern;
  • the detection apparatus which further comprises the control part which controls the said grip force according to the determination result by the said deformation
  • the control unit increases the gripping force when the deformation determination unit determines that the flexible member is deformed.
  • the detection device is provided on the opposite side of the laser light source and the imaging device, and further includes a reflective member that reflects the laser light,
  • the speckle pattern is a speckle pattern generated by reflecting the laser beam by the reflecting member.
  • the detection device is a speckle pattern generated by reflecting the laser beam by an object to be grasped.
  • a plurality of the laser light sources and a plurality of the imaging devices are provided for one flexible member.
  • the detection device Comprising a plurality of the flexible members, One detection apparatus in which one laser light source and one imaging device are provided for each of the flexible members.
  • a gripping mechanism including a gripping contact portion including a flexible member having light permeability and flexibility, a laser light source that emits laser light to the flexible member, and an imaging device that images a speckle pattern of the laser light
  • a gripping mechanism control program for controlling A deformation determination unit that determines the deformation of the flexible member based on a change in the speckle pattern;
  • a gripping mechanism control program that operates the information processing apparatus as a control unit that controls the gripping force according to a determination result by the deformation determination unit.
  • a gripping mechanism including a gripping contact portion including a flexible member having light permeability and flexibility, a laser light source that emits laser light to the flexible member, and an imaging device that images a speckle pattern of the laser light
  • a gripping mechanism control method for controlling The deformation determination unit determines the deformation of the flexible member based on the change in the speckle pattern, A gripping mechanism control method, wherein the control unit controls the gripping force according to a determination result by the deformation determination unit.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

[Problem] To provide a detecting device, a gripping mechanism control program, and a gripping mechanism control method suitable for gripping an unspecified object to be gripped, without impairing freedom in the shape of a gripping mechanism. [Solution] A detecting device according to the present technology is provided with a flexible member, a laser light source, and an image capturing device. The flexible member is light transmissive and flexible. The laser light source emits laser light to the flexible member. The image capturing device captures an image of a speckle pattern of the laser light.

Description

検出装置、把持機構制御プログラム及び把持機構制御方法Detection device, gripping mechanism control program, and gripping mechanism control method
　本技術は、多様な物体を把持することが可能な把持機構において把持状態の検出が可能な検出装置、検出装置、把持機構制御プログラム及び把持機構制御方法に関する。 The present technology relates to a detection device, a detection device, a gripping mechanism control program, and a gripping mechanism control method capable of detecting a gripping state in a gripping mechanism that can grip various objects.
　物体を把持することが可能な把持機構を備える把持装置は、産業用として多く用いられ、近年では家庭用としても利用が進んでいる。産業用の把持装置、例えば工場の製造ラインにおいて特定の部品を移動させるロボット等では、用途や把持対象物が限定されており、把持対象物の硬さや重量に応じて事前に設定された把持力で問題なく把持が可能である。 A gripping device having a gripping mechanism capable of gripping an object is often used for industrial purposes, and in recent years it is also being used for home use. In industrial gripping devices, such as robots that move specific parts in a factory production line, applications and gripping objects are limited, and gripping force set in advance according to the hardness and weight of the gripping object Can be gripped without any problem.
　一方で、家庭用ロボットが家の中で雑多なものを移動させる場合等、事前に硬さや形状、重量が分からない物体を把持対象物とする場合には、把持対象物を持ち上げる過程で把持力を調整する必要がある。把持力が不足すれば把持対象物が落下し、把持力が過大であれば把持対象物が損傷するおそれがある。 On the other hand, when the home robot moves various objects in the house, etc., when the object whose hardness, shape, and weight are not known in advance is the object to be grasped, the gripping force in the process of lifting the object to be grasped Need to be adjusted. If the gripping force is insufficient, the gripping object may fall, and if the gripping force is excessive, the gripping object may be damaged.
　以下の各文献には、把持対象物に応じて把持力を調整可能な把持装置について開示されている。例えば特許文献１には、圧力センサー等の力覚センサーによって把持対象物に作用する力覚を取得するロボット制御装置が開示されている。また、特許文献２には、把持対象物を把持することによってロボットアームに生じる干渉縞を検出し、把持力を制御する把持装置が開示されている。 The following documents disclose a gripping device that can adjust the gripping force according to the gripping object. For example, Patent Literature 1 discloses a robot control device that acquires a force sense acting on a grasped object using a force sensor such as a pressure sensor. Patent Document 2 discloses a gripping device that detects interference fringes generated in a robot arm by gripping a gripping target and controls the gripping force.
　さらに、特許文献３にはロボットアームの先端に回転板を搭載し、把持対象物のずれを検出する把持機構が開示されている。また、特許文献４には、弾性体を把持対象物に接触させ、弾性体の変形をカメラによって撮影し、把持対象物と弾性体の間の滑り余裕を推定し、把持力を調整する把持装置が開示されている。 Further, Patent Document 3 discloses a gripping mechanism that mounts a rotating plate at the tip of a robot arm and detects a shift of a gripping object. Further, Patent Document 4 discloses a gripping device that brings an elastic body into contact with a gripping object, photographs deformation of the elastic body with a camera, estimates a slip margin between the gripping object and the elastic body, and adjusts a gripping force. Is disclosed.
特開２０１７－８７３２５号公報JP 2017-87325 A 特開２０１１－１１５９２４号公報JP 2011-115924 A 特開平６－２３６８８号公報JP-A-6-23688 国際公開第２００６／０３０５７０号International Publication No. 2006/030570
　しかしながら、引用文献１に記載のロボット制御装置では、力覚センサーによってロボットアーム先端の柔軟部の微小変形を安定して検出することができない。また、特許文献２に記載の把持装置では、干渉縞を撮影するために外部にカメラを設置する必要があり、工場等で利用する場合には問題は生じないが、把持対象物が不特定の場合には問題となる。 However, the robot control apparatus described in the cited document 1 cannot stably detect the minute deformation of the flexible part at the tip of the robot arm by the force sensor. Further, in the gripping device described in Patent Document 2, it is necessary to install a camera outside to capture the interference fringes, and there is no problem when used in a factory or the like, but the gripping target is unspecified. In case it becomes a problem.
　さらに、引用文献３に記載の把持機構では、把持対象物が回転板と接触しない限りずれを検出することが不可能であり、把持対象物が不特定の場合には問題となる。また、引用文献４に記載の把持装置では、弾性体の変形を撮影するためには外部にカメラを設置する必要があり、これも把持対象物が不特定の場合には問題となる。 Furthermore, in the gripping mechanism described in the cited document 3, it is impossible to detect the deviation unless the gripping object comes into contact with the rotating plate, and this causes a problem when the gripping object is unspecified. Further, in the gripping device described in the cited document 4, it is necessary to install a camera outside in order to photograph the deformation of the elastic body, which also becomes a problem when the gripping target is unspecified.
　以上のような事情に鑑み、本技術の目的は、把持機構の形状自由度を損なうことなく、不特定の把持対象物の把持に適した検出装置、把持機構制御プログラム及び把持機構制御方法を提供することにある。 In view of the circumstances as described above, an object of the present technology is to provide a detection device, a gripping mechanism control program, and a gripping mechanism control method that are suitable for gripping an unspecified gripping object without impairing the shape freedom of the gripping mechanism. There is to do.
　上記目的を達成するため、本技術に係る検出装置は、柔軟部材と、レーザー光源と、撮像装置とを具備する。
　上記柔軟部材は、光透過性及び柔軟性を有する。
　上記レーザー光源は、上記柔軟部材に対してレーザー光を出射する。
　上記撮像装置は、上記レーザー光のスペックルパターンを撮像する。 In order to achieve the above object, a detection device according to the present technology includes a flexible member, a laser light source, and an imaging device.
The flexible member has light transmittance and flexibility.
The laser light source emits laser light to the flexible member.
The imaging device images the speckle pattern of the laser light.
　この構成によれば、柔軟部材が変形するとスペックルパターンに変化が生じるため、撮像装置によって撮像されるスペックルパターンに基づいて柔軟部材の変形の有無を検出することが可能となる。 According to this configuration, since the speckle pattern changes when the flexible member is deformed, it is possible to detect the presence or absence of deformation of the flexible member based on the speckle pattern imaged by the imaging device.
　上記検出装置は、把持対象物に接触する把持接触部を備える把持機構を具備し、上記柔軟部材、上記レーザー光源及び上記撮像装置は、上記把持接触部に設けられ、上記柔軟部材は、上記把持機構から上記把持対象物に印加される把持力を上記把持対象物に伝達してもよい。 The detection device includes a gripping mechanism including a gripping contact portion that contacts a gripping object, the flexible member, the laser light source, and the imaging device are provided in the gripping contact portion, and the flexible member is A gripping force applied from the mechanism to the gripping object may be transmitted to the gripping object.
　把持力（把持機構による把持対象物への押圧力）が不足すると、把持機構によって把持対象物を持ち上げようとしても重力によって把持対象物は動かず、把持接触部に対する把持対象物の相対的なずれによって柔軟部材に変形が生じる。上記構成によれば、柔軟部材の変形の有無に基づいて把持力の不足を判定することが可能となる。 If the gripping force (pressing force on the gripping object by the gripping mechanism) is insufficient, the gripping object does not move due to gravity even if the gripping mechanism lifts the gripping object, and the relative displacement of the gripping object with respect to the gripping contact portion As a result, the flexible member is deformed. According to the above configuration, it is possible to determine the lack of gripping force based on the presence or absence of deformation of the flexible member.
　上記検出装置は、上記スペックルパターンの変化に基づいて上記柔軟部材の変形を判定する変形判定部と、上記変形判定部による判定結果に応じて上記把持力を制御する制御部とをさらに具備してもよい。 The detection apparatus further includes a deformation determination unit that determines deformation of the flexible member based on a change in the speckle pattern, and a control unit that controls the gripping force according to a determination result by the deformation determination unit. May be.
　この構成によれば、変形判定部が把持力の不足による柔軟部材の変形を判定し、制御部はその判定結果に応じて把持力を制御することが可能となる。 According to this configuration, the deformation determination unit determines the deformation of the flexible member due to insufficient gripping force, and the control unit can control the gripping force according to the determination result.
　上記制御部は、上記変形判定部によって上記柔軟部材が変形していると判定された場合には上記把持力を増加させてもよい。 The control unit may increase the gripping force when the deformation determination unit determines that the flexible member is deformed.
　この構成によれば、柔軟部材の変形が解消され、即ち、把持接触部に対して把持対象物がずれなくなるまで把持力が増加されるため、把持機構が把持対象物を確実に把持することが可能となる。 According to this configuration, since the deformation of the flexible member is eliminated, that is, the gripping force is increased until the gripping target is not displaced with respect to the gripping contact portion, the gripping mechanism can reliably grip the gripping target. It becomes possible.
　上記検出装置は、上記柔軟部材の上記レーザー光源及び上記撮像装置とは反対側に設けられ、上記レーザー光を反射する反射部材をさらに具備し、上記スペックルパターンは、上記レーザー光が上記反射部材によって反射されて生成されたスペックルパターンであってもよい。 The detection device further includes a reflection member that is provided on the opposite side of the flexible member from the laser light source and the imaging device and reflects the laser light. The speckle pattern includes the laser light that reflects the reflection member. The speckle pattern generated by being reflected by may be used.
　この構成によれば、把持対象物の光反射特性に係わらず、スペックルパターンを取得することが可能となる。 According to this configuration, it is possible to acquire a speckle pattern regardless of the light reflection characteristics of the grasped object.
　上記スペックルパターンは、上記レーザー光が把持対象物によって反射されて生成されたスペックルパターンであってもよい。 The speckle pattern may be a speckle pattern generated by reflecting the laser beam by an object to be grasped.
　把持対象物が光透過性を有しない場合には、把持対象物による反射によって生成されたスペックルパターンを柔軟部材の変形の判定に利用することができる。これは工場の生産ラインのように把持対象物が特定されている場合に有効である。 When the object to be grasped does not have optical transparency, the speckle pattern generated by the reflection by the object to be grasped can be used for determining the deformation of the flexible member. This is effective when a gripping object is specified as in a production line of a factory.
　一つの上記柔軟部材に対して複数の上記レーザー光源及び複数の上記撮像装置が設けられていてもよい。 A plurality of the laser light sources and a plurality of the imaging devices may be provided for one flexible member.
　レーザー光源及び撮像装置を複数とすることにより、検出精度を向上させることが可能である。 It is possible to improve detection accuracy by using a plurality of laser light sources and imaging devices.
　上記検出装置は、複数の上記柔軟部材を具備し、それぞれの上記柔軟部材に対して一つの上記レーザー光源及び一つの上記撮像装置が設けられていてもよい。 The detection device may include a plurality of the flexible members, and one of the laser light sources and one of the imaging devices may be provided for each of the flexible members.
　この構成によれば、柔軟部材を複数とすることにより、柔軟部材の変形が生じやすくなり、また柔軟部材毎に変形の有無を判定することが可能となる。 According to this configuration, by using a plurality of flexible members, the flexible members are easily deformed, and it is possible to determine the presence or absence of deformation for each flexible member.
　上記目的を達成するため、本技術に係る把持機構制御プログラムは、光透過性及び柔軟性を有する柔軟部材と、上記柔軟部材に対してレーザー光を出射するレーザー光源と、上記レーザー光のスペックルパターンを撮像する撮像装置とを具備する把持接触部を備える把持機構を制御するための把持機構制御プログラムであって、変形判定部と、制御部として情報処理装置を動作させる。 In order to achieve the above object, a gripping mechanism control program according to the present technology includes a flexible member having optical transparency and flexibility, a laser light source that emits laser light to the flexible member, and speckles of the laser light. A gripping mechanism control program for controlling a gripping mechanism including a gripping contact unit including an imaging device that captures a pattern, and causes an information processing apparatus to operate as a deformation determination unit and a control unit.
　上記目的を達成するため、本技術に係る把持機構制御方法は、光透過性及び柔軟性を有する柔軟部材と、上記柔軟部材に対してレーザー光を出射するレーザー光源と、上記レーザー光のスペックルパターンを撮像する撮像装置とを具備する把持接触部を備える把持機構を制御する把持機構制御方法である。
　変形判定部が、上記スペックルパターンの変化に基づいて上記柔軟部材の変形を判定する。
　制御部が、上記変形判定部による判定結果に応じて上記把持力を制御する。 In order to achieve the above object, a gripping mechanism control method according to the present technology includes a flexible member having light transmittance and flexibility, a laser light source that emits laser light to the flexible member, and speckles of the laser light. A gripping mechanism control method for controlling a gripping mechanism including a gripping contact unit including an imaging device that captures a pattern.
A deformation | transformation determination part determines the deformation | transformation of the said flexible member based on the change of the said speckle pattern.
The control unit controls the gripping force according to the determination result by the deformation determination unit.
　以上のように、本技術によれば、把持機構の形状自由度を損なうことなく、不特定の把持対象物の把持に適した検出装置、把持機構制御プログラム及び把持機構制御方法を提供することができる。 As described above, according to the present technology, it is possible to provide a detection device, a gripping mechanism control program, and a gripping mechanism control method that are suitable for gripping an unspecified gripping object without impairing the shape freedom of the gripping mechanism. it can.
本技術の実施形態に係る検出装置の構成を示す模式図である。It is a mimetic diagram showing the composition of the detecting device concerning the embodiment of this art. 同検出装置の把持機構による把持対象物の把持の態様を示す模式図である。It is a schematic diagram which shows the aspect of the holding | grip of the holding target object by the holding | grip mechanism of the detection apparatus. 同検出装置の動作を示す模式図である。It is a schematic diagram which shows operation | movement of the same detection apparatus. スペックルパターンの原理を示す模式図である。It is a schematic diagram which shows the principle of a speckle pattern. スペックルパターンの例である。It is an example of a speckle pattern. 対象物の角度変化及び移動によるスペックルパターンの移動を示す模式図である。It is a schematic diagram which shows the movement of the speckle pattern by the angle change and movement of a target object. 本技術の実施形態に係る検出装置の把持機構による把持対象物の把持動作を示す模式図である。It is a mimetic diagram showing grasping operation of a grasped object by a grasping mechanism of a detection device concerning an embodiment of this art. 同検出装置のシステム全体像を示すブロック図である。It is a block diagram which shows the system whole image of the same detection apparatus. 同検出装置による把持動作のアルゴリズムを示すフローチャートである。It is a flowchart which shows the algorithm of the holding | grip operation | movement by the same detection apparatus. 同検出装置の把持機構が把持可能な把持対象物の形状バリエーションを示す模式図である。It is a schematic diagram which shows the shape variation of the holding | grip target object which the holding | grip mechanism of the detection apparatus can hold | grip. 同検出装置の把持機構の把持対象物の例を示す表である。It is a table | surface which shows the example of the holding | grip target object of the holding | grip mechanism of the same detection apparatus. 同検出装置の把持機構が備える把持接触部の構造を示す模式図である。It is a schematic diagram which shows the structure of the holding | grip contact part with which the holding | grip mechanism of the detection apparatus is provided. 同検出装置の把持機構が備える把持接触部の構造を示す模式図である。It is a schematic diagram which shows the structure of the holding | grip contact part with which the holding | grip mechanism of the detection apparatus is provided. 同検出装置の把持機構が備える把持接触部の構造を示す模式図である。It is a schematic diagram which shows the structure of the holding | grip contact part with which the holding | grip mechanism of the detection apparatus is provided. 同検出装置の制御ユニットのハードウェア構成を示すブロック図である。It is a block diagram which shows the hardware constitutions of the control unit of the detection apparatus.
　本技術の実施形態に係る検出装置について説明する。 A detection device according to an embodiment of the present technology will be described.
　[検出装置の構造]
　図１は、本実施形態に係る検出装置１００の構成を示す模式図であり、図２は、検出装置１００の把持対象物Ｓの把持の態様を示す模式図である。これらの図に示すように検出装置１００は、把持機構１１０、把持機構駆動部１２０及び制御ユニット１３０を備える。 [Detection device structure]
FIG. 1 is a schematic diagram illustrating a configuration of a detection device 100 according to the present embodiment, and FIG. 2 is a schematic diagram illustrating a manner of gripping a gripping target object S of the detection device 100. As shown in these drawings, the detection apparatus 100 includes a gripping mechanism 110, a gripping mechanism driving unit 120, and a control unit 130.
　把持機構１１０は、図１に示すように２本の把持アーム１１１を備える。把持アーム１１１は、把持機構駆動部１２０によってその位置や把持力（把持対象物Ｓに対して印加する押圧力）を調整可能に構成されている。また、把持機構１１０は１本又は３本以上の把持アーム１１１を備えるものであってもよい。 The gripping mechanism 110 includes two gripping arms 111 as shown in FIG. The grip arm 111 is configured to be adjustable in its position and grip force (pressing force applied to the grip target S) by the grip mechanism driving unit 120. Further, the gripping mechanism 110 may include one or three or more gripping arms 111.
　図１及び図２に示すように把持アーム１１１は、アーム部１１２及び把持接触部１１３を備える。アーム部１１２は、把持機構駆動部１２０に接続され、把持機構構駆動部１２０から把持接触部１１３に動力を伝達する。把持接触部１１３は、把持対象物Ｓに接触し、把持対象物Ｓを把持する。 As shown in FIGS. 1 and 2, the gripping arm 111 includes an arm portion 112 and a gripping contact portion 113. The arm unit 112 is connected to the gripping mechanism driving unit 120 and transmits power from the gripping mechanism structure driving unit 120 to the gripping contact unit 113. The gripping contact unit 113 contacts the gripping object S and grips the gripping object S.
　図１に示すように、把持接触部１１３は、支持部材１１４、柔軟部材１１５、反射部材１１６、レーザー光源１１７及び撮像装置１１８を備える。 As shown in FIG. 1, the gripping contact portion 113 includes a support member 114, a flexible member 115, a reflection member 116, a laser light source 117, and an imaging device 118.
　支持部材１１４は、アーム部１１２に接続され、柔軟部材１１５を支持する。支持部材１１４にはレーザー光源１１７及び撮像装置１１８が設けられている。 The support member 114 is connected to the arm portion 112 and supports the flexible member 115. The support member 114 is provided with a laser light source 117 and an imaging device 118.
　柔軟部材１１５は、支持部材１１４に固定され、光透過性及び柔軟性を有する部材であり、把持機構１１０から把持対象物Ｓに印加される把持力を把持対象物Ｓに伝達する。柔軟部材１１５は、少なくともレーザー光源１１７から放出されるレーザー光の波長帯域を透過させる。また、柔軟部材１１５は把持対象物Ｓの重量によって微小な変形を生じる程度の柔軟性を有する。 The flexible member 115 is a member that is fixed to the support member 114 and has light permeability and flexibility, and transmits the gripping force applied to the gripping object S from the gripping mechanism 110 to the gripping object S. The flexible member 115 transmits at least the wavelength band of the laser light emitted from the laser light source 117. Further, the flexible member 115 is flexible enough to cause minute deformation due to the weight of the grasped object S.
　具体的には柔軟部材１１５はエポキシゴムからなるものとすることができる。また柔軟部材１１５は、内部に液体又は気体を充填した袋状の部材としてもよい。 Specifically, the flexible member 115 can be made of epoxy rubber. The flexible member 115 may be a bag-shaped member filled with liquid or gas.
　反射部材１１６は、柔軟部材１１５の支持部材１１４とは反対側、即ちレーザー光源１１７及び撮像装置１１８とは反対側に設けられ、光反射性を有する部材である。反射部材１１６は、少なくともレーザー光源１１７から放出されるレーザー光の波長帯域を反射させる。 The reflection member 116 is provided on the opposite side of the flexible member 115 from the support member 114, that is, the opposite side from the laser light source 117 and the imaging device 118, and is a member having light reflectivity. The reflecting member 116 reflects at least the wavelength band of the laser light emitted from the laser light source 117.
　反射部材１１６は、図２に示すように把持対象物Ｓに当接する部材であり、柔軟性を有するものが好適である。また、反射部材１１６は必ずしも柔軟性を有するものでなくてもよい。反射部材１１６は例えば柔軟部材１１５とは組成が異なるエポキシゴムからなるものとすることができる。 The reflecting member 116 is a member that comes into contact with the grasped object S as shown in FIG. 2 and preferably has flexibility. Further, the reflecting member 116 does not necessarily have flexibility. The reflection member 116 can be made of, for example, epoxy rubber having a composition different from that of the flexible member 115.
　以下、柔軟部材１１５と反射部材１１６を合わせて柔軟部１１９とする。柔軟部１１９は、把持対象物Ｓの重量によって変形するが、柔軟部材１１５のみが変形してもよく、柔軟部材１１５と反射部材１１６が共に変形してもよい。 Hereinafter, the flexible member 115 and the reflective member 116 are collectively referred to as a flexible portion 119. The flexible portion 119 is deformed by the weight of the grasped object S, but only the flexible member 115 may be deformed, and both the flexible member 115 and the reflecting member 116 may be deformed.
　レーザー光源１１７は、支持部材１１４に設けられ、柔軟部材１１５に対してレーザー光を出射する。レーザー光源１１７の構成は特に限定されず、特定の波長のレーザーを出射可能なものであればよい。柔軟部材１１５に対して出射されたレーザーは、柔軟部材１１５を透過して反射部材１１６に到達し、反射部材１１６によって反射されて後述するスペックルパターンを生じる。 The laser light source 117 is provided on the support member 114 and emits laser light to the flexible member 115. The configuration of the laser light source 117 is not particularly limited as long as it can emit a laser having a specific wavelength. The laser emitted to the flexible member 115 passes through the flexible member 115 and reaches the reflecting member 116, and is reflected by the reflecting member 116 to generate a speckle pattern described later.
　撮像装置１１８は、支持部材１１４に設けられ、スペックルパターンを撮像する。撮像装置１１８はスペックルパターンの撮像が可能なものであればよく、ＣＣＤ（Charge Coupled Device）イメージセンサ、ＣＭＯＳ（complementary metal oxide semiconductor）イメージセンサ又はフォトディテクタアレイ等の撮像装置と撮像光学系を備えるものとすることができる。撮像装置１１８は、撮像したスペックルパターンを制御ユニット１３０に出力する。 The imaging device 118 is provided on the support member 114 and images the speckle pattern. The imaging device 118 only needs to be capable of imaging a speckle pattern, and includes an imaging device such as a CCD (Charge Coupled Device) image sensor, a CMOS (complementary metal oxide semiconductor) image sensor, or a photodetector array, and an imaging optical system. It can be. The imaging device 118 outputs the captured speckle pattern to the control unit 130.
　把持機構駆動部１２０は、制御ユニット１３０による制御を受けて把持機構１１０を駆動し、把持機構１１０によって把持対象物Ｓを把持させる。把持機構駆動部１２０はモーター等の駆動源や動力伝達機構を備え、その構成は特に限定されない。 The gripping mechanism drive unit 120 is controlled by the control unit 130 to drive the gripping mechanism 110 and cause the gripping mechanism 110 to grip the gripping object S. The gripping mechanism driving unit 120 includes a driving source such as a motor and a power transmission mechanism, and the configuration thereof is not particularly limited.
　制御ユニット１３０は、撮像装置１１８からスペックルパターンを取得し、そのスペックルパターンに基づいて把持機構駆動部１２０を制御する。制御ユニット１３０の構成については後述する。 The control unit 130 acquires a speckle pattern from the imaging device 118 and controls the gripping mechanism driving unit 120 based on the speckle pattern. The configuration of the control unit 130 will be described later.
　[検出装置の動作]
　検出装置１００の動作について説明する。図３は、検出装置１００の動作を示す模式図である。 [Detection device operation]
The operation of the detection device 100 will be described. FIG. 3 is a schematic diagram illustrating the operation of the detection apparatus 100.
　図３に示すように、レーザー光源１１７から柔軟部材１１５に対してレーザー光Ｌ１が出射される。レーザー光Ｌ１は、柔軟部材１１５を透過して反射部材１１６に到達し、反射部材１１６によって反射される。反射光Ｌ２は柔軟部材１１５を透過して撮像装置１１８に入射する。ここで、反射光Ｌ２はスペックルパターンを形成する。 As shown in FIG. 3, laser light L <b> 1 is emitted from the laser light source 117 to the flexible member 115. The laser light L1 passes through the flexible member 115, reaches the reflecting member 116, and is reflected by the reflecting member 116. The reflected light L 2 passes through the flexible member 115 and enters the imaging device 118. Here, the reflected light L2 forms a speckle pattern.
　図４は、スペックルパターンの原理を示す模式図である。同図に示すようにレーザー光Ｌが物体（以下、対象物Ｔ）に入射すると、レーザー光Ｌは対象物Ｔによって散乱され、散乱した反射光同士の干渉により模様（スペックルパターン）が形成される。撮像装置Ｆに散乱光が入射すると、このスペックルパターンが撮像される。図５はスペックルパターンの例である。 FIG. 4 is a schematic diagram showing the principle of the speckle pattern. As shown in the figure, when the laser beam L is incident on an object (hereinafter, target T), the laser beam L is scattered by the target T, and a pattern (speckle pattern) is formed by interference between the scattered reflected lights. The When scattered light enters the imaging device F, this speckle pattern is imaged. FIG. 5 is an example of a speckle pattern.
　このスペックルパターンは、対象物Ｔの位置又は角度の変化に応じて移動する。図６は、スペックルパターンの移動を示す模式図である。図６（ａ）に示すように、対象物Ｔの角度が変化すると、それに伴ってスペックルパターンは位置Ｐ１から位置Ｐ２に移動する。また、図６（ｂ）に示すように対象物Ｔの位置が移動すると、それに伴ってスペックルパターンが位置Ｐ１から位置Ｐ２に移動する。 This speckle pattern moves according to the change in the position or angle of the object T. FIG. 6 is a schematic diagram showing the movement of the speckle pattern. As shown in FIG. 6A, when the angle of the object T changes, the speckle pattern moves from the position P1 to the position P2 accordingly. Further, as shown in FIG. 6B, when the position of the object T moves, the speckle pattern moves from the position P1 to the position P2 accordingly.
　対象物Ｔの角度又は位置の変化が微小であってもスペックルパターンの移動量は比較的大きいため、スペックルパターンの移動から対象物Ｔの角度又は位置の微小な変化を検出することが可能である。 Even if the change in the angle or position of the object T is small, the amount of movement of the speckle pattern is relatively large, so it is possible to detect a minute change in the angle or position of the object T from the movement of the speckle pattern. It is.
　図７は、把持機構１１０による把持対象物Ｓの把持の状態を示す模式図である。図７（ａ）は把持接触部１１３が把持対象物Ｓに接触している状態を示す。この状態でレーザー光源１１７からレーザー光Ｌが放出されると、撮像装置１１８によって一定のスペックルパターンが撮像される。 FIG. 7 is a schematic diagram showing a gripping state of the gripping object S by the gripping mechanism 110. FIG. 7A shows a state where the gripping contact portion 113 is in contact with the gripping object S. When the laser light L is emitted from the laser light source 117 in this state, a certain speckle pattern is imaged by the imaging device 118.
　図７（ｂ）は把持機構１１０による把持力が不足している状態を示す。把持力が不足している状態で把持機構１１０を上昇させ、把持対象物Ｓを持ち上げようとすると、把持対象物Ｓは把持接触部１１３に対して重力方向にずれ、柔軟部１１９に微小変形が生じる。これによりスペックルパターンが移動する。 FIG. 7B shows a state where the gripping force by the gripping mechanism 110 is insufficient. When the gripping mechanism 110 is raised in a state where the gripping force is insufficient and the gripping object S is lifted, the gripping object S is displaced in the gravitational direction with respect to the gripping contact portion 113 and the flexible portion 119 is slightly deformed. Arise. As a result, the speckle pattern moves.
　把持機構１１０による把持力を十分大きくすると、把持対象物Ｓが把持接触部１１３に対してずれなくなり、スペックルパターンの位置が元に戻る。 When the gripping force by the gripping mechanism 110 is sufficiently increased, the gripping object S does not shift with respect to the gripping contact portion 113, and the speckle pattern position returns to the original position.
　このように、スペックルパターンの変化を利用して柔軟部１１９の変形の有無、即ち把持力の不足を検出することが可能であり、把持力の制御を行うことが可能となる。 Thus, it is possible to detect the presence or absence of deformation of the flexible portion 119, that is, the lack of gripping force, using the change in the speckle pattern, and the gripping force can be controlled.
　[システム全体像について]
　検出装置１００のシステム全体像について説明する。図８は検出装置１００のシステム全体像を示すブロック図である。同図に示すように、検出装置１００の駆動システムは撮像装置１１８、制御ユニット１３０、把持機構駆動部１２０及び把持機構１１０によって実現されている。 [About the overall system]
An overall system image of the detection apparatus 100 will be described. FIG. 8 is a block diagram showing an overall system image of the detection apparatus 100. As shown in the figure, the drive system of the detection device 100 is realized by an imaging device 118, a control unit 130, a gripping mechanism driving unit 120, and a gripping mechanism 110.
　制御ユニット１３０は、変形判定部１３１及び制御部１３２を備える。 The control unit 130 includes a deformation determination unit 131 and a control unit 132.
　変形判定部１３１は、撮像装置１１８からスペックルパターンを取得し、スペックルパターンに基づいて柔軟部１１９の変形の有無を判定する。具体的には変形判定部１３１は、スペックルパターンが把持開始前の位置（以下、当初位置）から移動していれば柔軟部１１９が変形していると判定し、スペックルパターンが当初位置と同一の位置にあれば柔軟部１１９は変形していないと判定する。変形判定部１３１は、判定結果を制御部１３２に供給する。 The deformation determination unit 131 acquires a speckle pattern from the imaging device 118, and determines whether the flexible unit 119 is deformed based on the speckle pattern. Specifically, the deformation determination unit 131 determines that the flexible part 119 is deformed if the speckle pattern has moved from a position before the start of gripping (hereinafter referred to as an initial position), and the speckle pattern is determined as the initial position. If it exists in the same position, it will determine with the flexible part 119 not deform | transforming. The deformation determination unit 131 supplies the determination result to the control unit 132.
　制御部１３２は、変形判定部１３１による判定結果に基づいて把持機構駆動部１２０を制御する。具体的には柔軟部１１９が変形している場合には把持力を増加させ、柔軟部１１９が変形していない場合には把持力を維持するように把持機構駆動部１２０を制御する。 The control unit 132 controls the gripping mechanism driving unit 120 based on the determination result by the deformation determining unit 131. Specifically, the gripping mechanism drive unit 120 is controlled so that the gripping force is increased when the flexible portion 119 is deformed and the gripping force is maintained when the flexible portion 119 is not deformed.
　把持機構駆動部１２０は、制御部１３２による制御を受けて把持機構１１０を駆動する。把持機構駆動部１２０は、制御部１３２によって指示された把持力で把持対象物Ｓを把持するように把持機構１１０を駆動する。 The gripping mechanism driving unit 120 drives the gripping mechanism 110 under the control of the control unit 132. The gripping mechanism driving unit 120 drives the gripping mechanism 110 so as to grip the gripping object S with a gripping force instructed by the control unit 132.
　検出装置１００は以上のようなシステム全体像を有する。なお、制御ユニット１３０は必ずしも把持機構１１０及び把持機構駆動部１２０と一体的に設けられている必要はなく、これらとは別の情報処理装置またはクラウド上に設けられてもよい。 The detection apparatus 100 has the above-described overall image of the system. Note that the control unit 130 is not necessarily provided integrally with the gripping mechanism 110 and the gripping mechanism driving unit 120, and may be provided on an information processing apparatus or a cloud other than these.
　また、制御ユニット１３０は上記構成に加え、物体認識処理によって把持対象物を認識する物体認識処理部を備えていてもよい。物体認識処理部は、図示しない撮像装置やデプスセンサ等の出力に基づいて把持対象物の形状を認識し、認識処理結果を制御部１３２に供給する。 Further, in addition to the above configuration, the control unit 130 may include an object recognition processing unit that recognizes a grasped object by object recognition processing. The object recognition processing unit recognizes the shape of the object to be grasped based on the output of an imaging device or a depth sensor (not shown), and supplies the recognition processing result to the control unit 132.
　制御部１３２は、物体認識処理部による認識処理結果に基づいて、把持アーム１１１の位置を調整し、把持接触部１１３を把持対象物Ｓに接触させる。以降は、上述のようにスペクトルパターンに基づいて把持力を調整することができる。 The control unit 132 adjusts the position of the gripping arm 111 based on the recognition processing result by the object recognition processing unit, and brings the gripping contact unit 113 into contact with the gripping object S. Thereafter, the gripping force can be adjusted based on the spectrum pattern as described above.
　制御ユニット１３０が物体認識処理部を備えることにより、多様な物体を把持することが可能となる。また、検出装置１００が工場の生産ラインのように予め把持対象物が特定されている用途に利用される場合には物体認識処理部を備えないものであってもよい。 Since the control unit 130 includes the object recognition processing unit, it is possible to grip various objects. Further, when the detection apparatus 100 is used for an application in which a gripping target is specified in advance like a factory production line, the object recognition processing unit may not be provided.
　[把持動作のアルゴリズムについて]
　検出装置１００による把持動作のアルゴリズムについて説明する。図９は検出装置１００による把持動作のアルゴリズムを示すフローチャートである。把持動作のアルゴリズムは、把持接触部１１３が把持対象物Ｓに接触している状態において実行される。 [Gripping motion algorithm]
An algorithm of a gripping operation by the detection device 100 will be described. FIG. 9 is a flowchart illustrating an algorithm of a gripping operation performed by the detection apparatus 100. The algorithm of the gripping operation is executed in a state where the gripping contact unit 113 is in contact with the gripping object S.
　レーザー光源１１７からレーザー光が出射され（Ｓｔ１０１）、撮像装置１１８によってスペックルパターンが撮像される（Ｓｔ１０２）。 Laser light is emitted from the laser light source 117 (St101), and the speckle pattern is imaged by the imaging device 118 (St102).
　変形判定部１３１は、スペックルパターンに基づいて柔軟部材１１５の変形の有無を判定し（Ｓｔ１０３）、判定結果を制御部１３２に供給する。制御部１３２は、柔軟部材１１５が変形している場合（Ｓｔ１０４：Ｙｅｓ）、把持機構１１０による把持力を増加させるように駆動部１２３を制御する（Ｓｔ１０５）。 The deformation determination unit 131 determines whether or not the flexible member 115 is deformed based on the speckle pattern (St103), and supplies the determination result to the control unit 132. When the flexible member 115 is deformed (St104: Yes), the control unit 132 controls the driving unit 123 to increase the gripping force by the gripping mechanism 110 (St105).
　また、制御部１３２は、柔軟部１１９が変形していない場合（Ｓｔ１０４：Ｎｏ）、把持動作を完了させる。 In addition, when the flexible part 119 is not deformed (St104: No), the control unit 132 completes the gripping operation.
　このようにして把持機構１１０によって把持対象物Ｓが把持される。把持機構１１０の把持力は、把持対象物Ｓの重量による柔軟部１１９の変形が解消されるまで漸増され、柔軟部１１９の変形が解消されると維持される。これにより、把持力は把持対象物Ｓの把持が可能な最低限の力となり、過大な把持力による把持対象物の損傷が防止されている。 In this way, the gripping object S is gripped by the gripping mechanism 110. The gripping force of the gripping mechanism 110 is gradually increased until the deformation of the flexible portion 119 due to the weight of the gripping object S is eliminated, and is maintained when the deformation of the flexible portion 119 is resolved. As a result, the gripping force becomes the minimum force with which the gripping object S can be gripped, and damage to the gripping object due to an excessive gripping force is prevented.
　例えば、一般的な把持機構においては物体認識処理によって物体の種類を特定し、その硬さや重量等を推定した上で適切な把持力を設定する必要がある。しかしながら、検出装置１００においては把持対象物を把持する過程において自動的に把持が可能な最低限の把持力に調整されるため、硬さ、形状及び重量な等が不明な把持対象物であっても確実な把持が可能となっている。 For example, in a general gripping mechanism, it is necessary to specify the type of an object by object recognition processing and set an appropriate gripping force after estimating its hardness and weight. However, since the detection device 100 automatically adjusts the gripping force to the minimum gripping force that can be gripped in the process of gripping the gripping target object, it is a gripping target object whose hardness, shape, weight, etc. are unknown. Can be reliably gripped.
　なお、把持機構１１０が複数の把持アーム１１１を備えている場合、上記アルゴリズムは個々の把持アーム１１１に対して実行されるものとすることができる。 In addition, when the gripping mechanism 110 includes a plurality of gripping arms 111, the above algorithm can be executed for each gripping arm 111.
　[把持対象物の形状バリエーションについて]
　把持機構１１０は、上記のような把持方法を利用することにより、多様な把持対象物を把持することが可能である。図１０は、把持機構１１０が把持可能な把持対象物の形状バリエーションを示す模式図である。なお、図１０では把持機構１１０が４本の把持アーム１１１を備えるものとするが、その数は４本に限られない。 [About variation of shape of gripping object]
The gripping mechanism 110 can grip various gripping objects by using the gripping method as described above. FIG. 10 is a schematic diagram illustrating variations in the shape of a gripping target that can be gripped by the gripping mechanism 110. In FIG. 10, the gripping mechanism 110 includes four gripping arms 111, but the number is not limited to four.
　図１０（ａ）は把持対象物Ｓが把持機構１１０に対して比較的小さい場合の把持の態様を示す。この場合４本の把持アーム１１１によって把持対象物Ｓを把持することができる。 FIG. 10A shows a gripping mode when the gripping object S is relatively small with respect to the gripping mechanism 110. In this case, the gripping object S can be gripped by the four gripping arms 111.
　図１０（ｂ）は把持対象物Ｓが把持機構１１０に対して比較的長い場合の把持の態様を示す。この場合２本の把持アーム１１１によって把持対象物Ｓを把持し、他の２本は干渉しないように把持対象物Ｓとは反対側に折り曲げるものとすることができる。 FIG. 10B shows a gripping mode when the gripping object S is relatively long with respect to the gripping mechanism 110. In this case, the gripping object S can be gripped by the two gripping arms 111, and the other two can be bent to the side opposite to the gripping target object S so as not to interfere.
　図１０（ｃ）は把持対象物Ｓが把持機構１１０に対して比較的大きい場合の把持の態様を示す。この場合、２つの把持機構１１０のそれぞれ１本ずつの把持アーム１１１によって把持対象物Ｓを把持することができる。 FIG. 10C shows a gripping mode when the gripping object S is relatively large with respect to the gripping mechanism 110. In this case, the gripping object S can be gripped by one gripping arm 111 of each of the two gripping mechanisms 110.
　図１０（ｄ）は把持対象物Ｓが把持機構１１０に対して比較的薄く、面積が大きい場合の把持の態様を示す。この場合２本の把持アーム１１１によって把持対象物Ｓを把持し、他の２本は干渉しないように把持対象物Ｓとは反対側に折り曲げるものとすることができる。 FIG. 10D shows a gripping mode when the gripping object S is relatively thin with respect to the gripping mechanism 110 and has a large area. In this case, the gripping object S can be gripped by the two gripping arms 111, and the other two can be bent to the side opposite to the gripping target object S so as not to interfere.
　図１０（ｅ）は把持対象物Ｓが比較的重い場合の把持の態様を示す。この場合２本の把持アーム１１１によって把持対象物Ｓの側面を支え、１本の把持アーム１１１によって把持対象物Ｓの底面を支えることができる。他の１本は干渉しないように把持対象物Ｓとは反対側に折り曲げるものとすることができる。 FIG. 10E shows a gripping mode when the gripping object S is relatively heavy. In this case, the side surface of the grasped object S can be supported by the two grasping arms 111, and the bottom surface of the grasped object S can be supported by the one grasping arm 111. The other one can be bent to the opposite side of the grasped object S so as not to interfere.
　図１０に示すように、把持アーム１１１は把持対象物Ｓとは反対側に折り曲げることにより、把持対象物Ｓとの干渉を避けることができる。このように、多様な形状の把持対象物を把持するためには把持機構１１０の自由な変形が可能な構造とする必要があり、かつ把持アーム１１１以外に突出する構造が存在しないことが重要である。この観点から、把持アームを外部からカメラで撮像するような構成は望ましくない。 As shown in FIG. 10, the gripping arm 111 can be prevented from interfering with the gripping target object S by being bent to the opposite side of the gripping target object S. As described above, in order to grip various shapes of gripping objects, it is necessary to make the gripping mechanism 110 freely deformable, and it is important that there is no projecting structure other than the gripping arm 111. is there. From this point of view, a configuration in which the gripping arm is imaged with a camera from the outside is not desirable.
　図１１は、把持機構１１０の把持対象物の例を示す表である。検出装置１００の利用シーンとしては以下のようなシーンが想定される。 FIG. 11 is a table showing examples of objects to be grasped by the grasping mechanism 110. The following scenes are assumed as usage scenes of the detection apparatus 100.
　家庭内で利用するロボットが備える把持機構として、床に落ちているもの（本、おもちゃ等）を拾って片付ける、冷蔵庫の中の物を取り出して食卓に移動、食洗器の中に食器を設置し洗浄後に食器棚に戻す。 As a gripping mechanism for robots used in the home, pick up and clear things that fall on the floor (books, toys, etc.), take out things in the refrigerator, move them to the table, and place dishes in the dishwasher Return to the cupboard after washing.
　家庭内で利用するロボットが備える把持機構として、段ボール箱に入れて納入された各種商品を陳列棚に並べる、床に置かれた物品を正しい位置に戻す。 As a gripping mechanism of robots used at home, various products delivered in cardboard boxes are placed on display shelves, and items placed on the floor are returned to the correct position.
　飲食店内で利用するロボットが備える把持機構として、料理の盛られた食器を客席に配送する、客席から食べ終えた食器回収する。 As a gripping mechanism of a robot used in a restaurant, dishes that are served are delivered to the audience, and the dishes that have been eaten from the audience are collected.
　[把持接触部の構造バリエーションについて]
　把持接触部１１３の構造バリエーションについて説明する。図１２乃至図１４は、把持接触部１１３の構造を示す模式図であり、各図において（ａ）は側面図（ｂ）は正面図である。 [Structural variations of gripping contact area]
The structural variations of the gripping contact portion 113 will be described. 12 to 14 are schematic views showing the structure of the gripping contact portion 113, in which (a) is a side view (b) is a front view.
　図１２に示すように把持接触部１１３は、一つのレーザー光源１１７、一つの撮像装置１１８及び一つの柔軟部１１９から構成されるものとすることができる。 As shown in FIG. 12, the gripping contact portion 113 can be composed of one laser light source 117, one imaging device 118, and one flexible portion 119.
　また、図１３に示すように、把持接触部１１３は、一つの柔軟部１１９、二つのレーザー光源１１７及び二つの撮像装置１１８から構成されるものとすることができる。レーザー光源１１７と撮像装置１１８を二つずつ設けることにより、柔軟部１１９の変形の検出精度を向上させることが可能である。なお、レーザー光源１１７と撮像装置１１８はより多数を設けてもよい。 Further, as shown in FIG. 13, the gripping contact portion 113 can be composed of one flexible portion 119, two laser light sources 117, and two imaging devices 118. By providing two laser light sources 117 and two imaging devices 118, it is possible to improve the detection accuracy of deformation of the flexible portion 119. Note that a larger number of laser light sources 117 and imaging devices 118 may be provided.
　また、図１４に示すように、把持接触部１１３は、二つの柔軟部１１９を備え、それぞれの柔軟部１１９に一つずつレーザー光源１１７及び撮像装置１１８を設けてもよい。各レーザー光源１１７はそれぞれの柔軟部材１１５にレーザー光を入射させ、各撮像装置１１８はそれぞれの柔軟部材１１５から入射するスペックルパターンを撮像する。柔軟部１１９を二つとすることにより、柔軟部１１９に変形が生じやすくすることができる。 Further, as shown in FIG. 14, the gripping contact portion 113 may include two flexible portions 119, and each flexible portion 119 may be provided with a laser light source 117 and an imaging device 118. Each laser light source 117 causes laser light to be incident on each flexible member 115, and each imaging device 118 images a speckle pattern incident from each flexible member 115. By using two flexible portions 119, the flexible portion 119 can be easily deformed.
　なお、柔軟部１１９の数は二つに限られず、各柔軟部１１９に対して設けられるレーザー光源１１７及び撮像装置１１８の数も一つずつに限られない。 Note that the number of flexible portions 119 is not limited to two, and the number of laser light sources 117 and imaging devices 118 provided for each flexible portion 119 is not limited to one.
　［制御ユニットのハードウェア構成］
　図１５は、制御ユニット１３０のハードウェア構成を示す模式図である。同図に示すように制御ユニット１３０はハードウェア構成として、ＣＰＵ１００１、メモリ１００２、ストレージ１００３及び入出力部（Ｉ／Ｏ）１００４を有する。これらはバス１００５によって互いに接続されている。 [Hardware configuration of control unit]
FIG. 15 is a schematic diagram illustrating a hardware configuration of the control unit 130. As shown in the figure, the control unit 130 includes a CPU 1001, a memory 1002, a storage 1003, and an input / output unit (I / O) 1004 as hardware configurations. These are connected to each other by a bus 1005.
　ＣＰＵ（Central Processing Unit）１００１は、メモリ１００２に格納されたプログラムに従って他の構成を制御すると共に、プログラムに従ってデータ処理を行い、処理結果をメモリ１００２に格納する。ＣＰＵ１００１はマイクロプロセッサとすることができる。 A CPU (Central Processing Unit) 1001 controls other configurations according to a program stored in the memory 1002, performs data processing according to the program, and stores a processing result in the memory 1002. The CPU 1001 can be a microprocessor.
　メモリ１００２はＣＰＵ１００１によって実行されるプログラム及びデータを格納する。メモリ１００２はＲＡＭ（Random Access Memory）とすることができる。 The memory 1002 stores programs and data executed by the CPU 1001. The memory 1002 can be a RAM (Random Access Memory).
　ストレージ１００３は、プログラムやデータを格納する。ストレージ１００３はＨＤＤ（hard disk drive）又はＳＳＤ（solid state drive）とすることができる。 The storage 1003 stores programs and data. The storage 1003 can be an HDD (hard disk drive) or an SSD (solid state drive).
　入出力部１００４は制御ユニット１３０に対する入力を受け付け、また制御ユニット１３０の出力を外部に供給する。入出力部１００４は、撮像装置１０８からスペックルパターンを取得し、把持機構駆動部１２０に制御信号を供給する。 The input / output unit 1004 receives input to the control unit 130 and supplies the output of the control unit 130 to the outside. The input / output unit 1004 acquires a speckle pattern from the imaging device 108 and supplies a control signal to the gripping mechanism driving unit 120.
　変形判定部１３１及び制御部１３２は、上述のようなハードウェア構成とプログラムの協働によって実現されている。制御ユニット１３０のハードウェア構成は上述のものに限られず、制御ユニット１３０の機能的構成を実現できるものであればよい。また、上記ハードウェア構成の一部又は全部はネットワーク上に存在していてもよい。 The deformation determination unit 131 and the control unit 132 are realized by the cooperation of the hardware configuration and the program as described above. The hardware configuration of the control unit 130 is not limited to that described above, and any hardware configuration that can realize the functional configuration of the control unit 130 may be used. A part or all of the hardware configuration may exist on the network.
　［変形例］
　上記説明において、把持接触部１１３は、柔軟部材１１５及び反射部材１１６から構成された柔軟部１１９を有するものとしたが、柔軟部１１９は反射部材１１６を備えず、柔軟部材１１５のみを備えるものであってもよい。 [Modification]
In the above description, the grip contact portion 113 has the flexible portion 119 composed of the flexible member 115 and the reflective member 116, but the flexible portion 119 does not include the reflective member 116 but includes only the flexible member 115. There may be.
　この場合、レーザー光源１１７から出射されたレーザー光は把持対象物Ｓによって反射され、撮像装置１１８によってスペックルパターンが撮像される。一方で、把持対象物Ｓが光透過性を有する場合等、レーザー光を反射しない場合にはスペックルパターンが取得できないため、把持対象物Ｓが不特定である場合には反射部材１１６を備えるものが好適である。 In this case, the laser light emitted from the laser light source 117 is reflected by the gripping object S, and the speckle pattern is imaged by the imaging device 118. On the other hand, when the gripping object S is not specified, the speckle pattern cannot be obtained when the laser beam is not reflected, such as when the gripping object S has light transparency, and the reflection object 116 is provided when the gripping object S is unspecified. Is preferred.
　また、上記説明において、把持機構１１０は把持対象物Ｓを持ち上げる、即ち重力に対して把持対象物Ｓを把持するものしたがこれに限られない。把持機構１１０は、なんらかの力が印加されている把持対象物をその力に反して把持するために利用することも可能である。 In the above description, the gripping mechanism 110 lifts the gripping object S, that is, grips the gripping object S against gravity, but is not limited thereto. The gripping mechanism 110 can also be used to grip a gripping object to which some force is applied against the force.
　なお、本技術は以下のような構成もとることができる。 Note that the present technology can be configured as follows.
　（１）
　光透過性及び柔軟性を有する柔軟部材と、
　上記柔軟部材に対してレーザー光を出射するレーザー光源と、
　上記レーザー光のスペックルパターンを撮像する撮像装置と
　を具備する検出装置。 (1)
A flexible member having optical transparency and flexibility;
A laser light source for emitting laser light to the flexible member;
An imaging device comprising: an imaging device that images the speckle pattern of the laser beam.
　（２）
　上記（１）に記載の検出装置であって、
　把持対象物に接触する把持接触部を備える把持機構を具備し、
　上記柔軟部材、上記レーザー光源及び上記撮像装置は、上記把持接触部に設けられ、
　上記柔軟部材は、上記把持機構から上記把持対象物に印加される把持力を上記把持対象物に伝達する
　検出装置。 (2)
The detection apparatus according to (1) above,
A gripping mechanism including a gripping contact portion that touches a gripping object is provided,
The flexible member, the laser light source, and the imaging device are provided in the grip contact portion,
The flexible member detects a gripping force applied to the gripping object from the gripping mechanism to the gripping object.
　（３）
　上記（２）に記載の検出装置であって、
　上記スペックルパターンの変化に基づいて上記柔軟部材の変形を判定する変形判定部と、
　上記変形判定部による判定結果に応じて上記把持力を制御する制御部
　をさらに具備する検出装置。 (3)
The detection device according to (2) above,
A deformation determination unit that determines the deformation of the flexible member based on a change in the speckle pattern;
The detection apparatus which further comprises the control part which controls the said grip force according to the determination result by the said deformation | transformation determination part.
　（４）
　上記（３）に記載の検出装置であって、
　上記制御部は、上記変形判定部によって上記柔軟部材が変形していると判定された場合には上記把持力を増加させる
　検出装置。 (4)
The detection apparatus according to (3) above,
The control unit increases the gripping force when the deformation determination unit determines that the flexible member is deformed.
　（５）
　上記（１）から（４）のうちいずれか一つに記載の検出装置であって、
　上記柔軟部材の上記レーザー光源及び上記撮像装置とは反対側に設けられ、上記レーザー光を反射する反射部材をさらに具備し、
　上記スペックルパターンは、上記レーザー光が上記反射部材によって反射されて生成されたスペックルパターンである
　検出装置。 (5)
The detection device according to any one of (1) to (4) above,
The flexible member is provided on the opposite side of the laser light source and the imaging device, and further includes a reflective member that reflects the laser light,
The speckle pattern is a speckle pattern generated by reflecting the laser beam by the reflecting member.
　（６）
　上記（１）から（４）のうちいずれか一つに記載の検出装置であって、
　請求項１に記載の検出装置であって、
　上記スペックルパターンは、上記レーザー光が把持対象物によって反射されて生成されたスペックルパターンである
　検出装置。 (6)
The detection device according to any one of (1) to (4) above,
The detection device according to claim 1,
The speckle pattern is a speckle pattern generated by reflecting the laser beam by an object to be grasped.
　（７）
　上記（１）から（６）のうちいずれか一つに記載の検出装置であって、
　一つの上記柔軟部材に対して複数の上記レーザー光源及び複数の上記撮像装置が設けられている
　検出装置。 (7)
The detection device according to any one of (1) to (6) above,
A plurality of the laser light sources and a plurality of the imaging devices are provided for one flexible member.
　（８）
　上記（１）から（６）のうちいずれか一つに記載の検出装置であって、
　複数の上記柔軟部材を具備し、
　それぞれの上記柔軟部材に対して一つの上記レーザー光源及び一つの上記撮像装置が設けられている
　検出装置。 (8)
The detection device according to any one of (1) to (6) above,
Comprising a plurality of the flexible members,
One detection apparatus in which one laser light source and one imaging device are provided for each of the flexible members.
　（９）
　光透過性及び柔軟性を有する柔軟部材と、上記柔軟部材に対してレーザー光を出射するレーザー光源と、上記レーザー光のスペックルパターンを撮像する撮像装置とを具備する把持接触部を備える把持機構を制御するための把持機構制御プログラムであって、
　上記スペックルパターンの変化に基づいて上記柔軟部材の変形を判定する変形判定部と、
　上記変形判定部による判定結果に応じて上記把持力を制御する制御部と
　として情報処理装置を動作させる把持機構制御プログラム。 (9)
A gripping mechanism including a gripping contact portion including a flexible member having light permeability and flexibility, a laser light source that emits laser light to the flexible member, and an imaging device that images a speckle pattern of the laser light A gripping mechanism control program for controlling
A deformation determination unit that determines the deformation of the flexible member based on a change in the speckle pattern;
A gripping mechanism control program that operates the information processing apparatus as a control unit that controls the gripping force according to a determination result by the deformation determination unit.
　（１０）
　光透過性及び柔軟性を有する柔軟部材と、上記柔軟部材に対してレーザー光を出射するレーザー光源と、上記レーザー光のスペックルパターンを撮像する撮像装置とを具備する把持接触部を備える把持機構を制御する把持機構制御方法であって、
　変形判定部が、上記スペックルパターンの変化に基づいて上記柔軟部材の変形を判定し、
　制御部が、上記変形判定部による判定結果に応じて上記把持力を制御する
　把持機構制御方法。 (10)
A gripping mechanism including a gripping contact portion including a flexible member having light permeability and flexibility, a laser light source that emits laser light to the flexible member, and an imaging device that images a speckle pattern of the laser light A gripping mechanism control method for controlling
The deformation determination unit determines the deformation of the flexible member based on the change in the speckle pattern,
A gripping mechanism control method, wherein the control unit controls the gripping force according to a determination result by the deformation determination unit.
　１００…検出装置
　１１０…把持機構
　１１１…把持アーム
　１１２…アーム部
　１１３…把持接触部
　１１４…支持部材
　１１５…柔軟部材
　１１６…反射部材
　１１７…レーザー光源
　１１８…撮像装置
　１１９…柔軟部
　１２０…制御ユニット
　１２１…変形判定部
　１２２…制御部
　１２３…駆動部
　１３１…変形判定部 DESCRIPTION OF SYMBOLS 100 ... Detection apparatus 110 ... Gripping mechanism 111 ... Gripping arm 112 ... Arm part 113 ... Gripping contact part 114 ... Supporting member 115 ... Flexible member 116 ... Reflective member 117 ... Laser light source 118 ... Imaging device 119 ... Flexible part 120 ... Control unit 121 ... Deformation determination unit 122 ... Control unit 123 ... Drive unit 131 ... Deformation determination unit

Claims (10)

  1. 　光透過性及び柔軟性を有する柔軟部材と、
    　前記柔軟部材に対してレーザー光を出射するレーザー光源と、
    　前記レーザー光のスペックルパターンを撮像する撮像装置と
    　を具備する検出装置。     A flexible member having optical transparency and flexibility;
    A laser light source for emitting laser light to the flexible member;
    An imaging device comprising: an imaging device that images a speckle pattern of the laser light.
  2. 　請求項１に記載の検出装置であって、
    　把持対象物に接触する把持接触部を備える把持機構を具備し、
    　前記柔軟部材、前記レーザー光源及び前記撮像装置は、前記把持接触部に設けられ、
    　前記柔軟部材は、前記把持機構から前記把持対象物に印加される把持力を前記把持対象物に伝達する
    　検出装置。     The detection device according to claim 1,
    A gripping mechanism including a gripping contact portion that touches a gripping object is provided,
    The flexible member, the laser light source, and the imaging device are provided in the grip contact portion,
    The flexible member transmits a gripping force applied to the gripping object from the gripping mechanism to the gripping object.
  3. 　請求項２に記載の検出装置であって、
    　前記スペックルパターンの変化に基づいて前記柔軟部材の変形を判定する変形判定部と、
    　前記変形判定部による判定結果に応じて前記把持力を制御する制御部
    　をさらに具備する検出装置。     The detection device according to claim 2,
    A deformation determination unit that determines the deformation of the flexible member based on a change in the speckle pattern;
    The detection apparatus which further comprises the control part which controls the said grip force according to the determination result by the said deformation | transformation determination part.
  4. 　請求項３に記載の検出装置であって、
    　前記制御部は、前記変形判定部によって前記柔軟部材が変形していると判定された場合には前記把持力を増加させる
    　検出装置。     The detection device according to claim 3,
    The control unit increases the gripping force when the deformation determination unit determines that the flexible member is deformed.
  5. 　請求項１に記載の検出装置であって、
    　前記柔軟部材の前記レーザー光源及び前記撮像装置とは反対側に設けられ、前記レーザー光を反射する反射部材をさらに具備し、
    　前記スペックルパターンは、前記レーザー光が前記反射部材によって反射されて生成されたスペックルパターンである
    　検出装置。     The detection device according to claim 1,
    The flexible member is provided on the opposite side of the laser light source and the imaging device, further comprising a reflective member that reflects the laser light,
    The speckle pattern is a speckle pattern generated by reflecting the laser beam by the reflecting member.
  6. 　請求項１に記載の検出装置であって、
    　前記スペックルパターンは、前記レーザー光が把持対象物によって反射されて生成されたスペックルパターンである
    　検出装置。     The detection device according to claim 1,
    The speckle pattern is a speckle pattern generated by reflecting the laser beam by an object to be grasped.
  7. 　請求項１に記載の検出装置であって、
    　一つの前記柔軟部材に対して複数の前記レーザー光源及び複数の前記撮像装置が設けられている
    　検出装置。     The detection device according to claim 1,
    A plurality of the laser light sources and a plurality of the imaging devices are provided for one flexible member.
  8. 　請求項１に記載の検出装置であって、
    　複数の前記柔軟部材を具備し、
    　それぞれの前記柔軟部材に対して一つの前記レーザー光源及び一つの前記撮像装置が設けられている
    　検出装置。     The detection device according to claim 1,
    Comprising a plurality of the flexible members;
    One detection device in which one laser light source and one imaging device are provided for each of the flexible members.
  9. 　光透過性及び柔軟性を有する柔軟部材と、前記柔軟部材に対してレーザー光を出射するレーザー光源と、前記レーザー光のスペックルパターンを撮像する撮像装置とを具備する把持接触部を備える把持機構を制御するための把持機構制御プログラムであって、
    　前記スペックルパターンの変化に基づいて前記柔軟部材の変形を判定する変形判定部と、
    　前記変形判定部による判定結果に応じて前記把持力を制御する制御部と
    　として情報処理装置を動作させる把持機構制御プログラム。     A gripping mechanism including a gripping contact portion including a flexible member having light permeability and flexibility, a laser light source that emits laser light to the flexible member, and an imaging device that captures a speckle pattern of the laser light A gripping mechanism control program for controlling
    A deformation determination unit that determines the deformation of the flexible member based on a change in the speckle pattern;
    A gripping mechanism control program for operating an information processing apparatus as a control unit that controls the gripping force according to a determination result by the deformation determination unit.
  10. 　光透過性及び柔軟性を有する柔軟部材と、前記柔軟部材に対してレーザー光を出射するレーザー光源と、前記レーザー光のスペックルパターンを撮像する撮像装置とを具備する把持接触部を備える把持機構を制御する把持機構制御方法であって、
    　変形判定部が、前記スペックルパターンの変化に基づいて前記柔軟部材の変形を判定し、
    　制御部が、前記変形判定部による判定結果に応じて前記把持力を制御する
    　把持機構制御方法。     A gripping mechanism including a gripping contact portion including a flexible member having light permeability and flexibility, a laser light source that emits laser light to the flexible member, and an imaging device that captures a speckle pattern of the laser light A gripping mechanism control method for controlling
    A deformation determination unit determines the deformation of the flexible member based on the change in the speckle pattern,
    A gripping mechanism control method, wherein the control unit controls the gripping force according to a determination result by the deformation determination unit.
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JPH08323678A (en) * 1995-05-25 1996-12-10 Sanyo Electric Co Ltd Soft object grip device
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