Mitsubishi Electric Corporation

Toyota Jidosha Kabushiki Kaisha

Mitsubishi Electric Research Laboratories, Inc.

Yukiyasu Domae

Ryosuke Kawanishi

Shintaro Watanabe

Nobuyuki Takahashi

Yuichi Taguchi

Kazuhiko Sumi

Yutaka Ezaki

Esra Cansizoglu

Tatsuya Nagatani

Haruhisa Okuda

Satoru Sofuku

Makito Seki

Toshiyuki Hatta

Yoshiki Nagai

Wim Abbeloos

Jun Ikarashi

Tatsuro Mori

Yasuo Kitaaki

Sergio Salvatore Caccamo

Akio Noda

Toshio Ueshiba

A workpiece holding apparatus include holding means for attracting and holding each workpiece in turn from among workpieces placed in a 3D space; first information acquisition means for acquiring 3D information of workpieces; candidate calculation means for calculating, based on the acquired 3D information of the workpieces, candidate holding points, the candidate holding points being, when the holding means holds each of the workpieces in turn, candidates for a holding point of that workpiece; second information acquisition means for acquiring information about each of other workpieces present within a predetermined range from each of the candidate holding points on the workpieces; and control means for selecting one of the candidate holding points based on the information about the workpiece acquired by the second information acquisition means, and controlling the holding means so that the holding means holds the workpiece at the selected candidate holding point.

Workpiece holding apparatus, workpiece holding method, program, and control apparatus capable of preventing a selected workpiece from being attracted and held by other workpieces

An object recognizer recognizes a position and an attitude of a target object based on data measured by a sensor. A safe distance calculator calculates a distance from the target object to a certain object which is other than an object manipulation apparatus and the target object. A manipulation controller controls the pickup device based on the position and the attitude of the target object, and based on the distance from the target object to the certain object. When there are a plurality of target objects to be selected by the object manipulation apparatus, the manipulation controller selects one of the target objects having distances to the certain object longer than a predetermined threshold, and manipulates the selected target object using the pickup device.

Object manipulation apparatus and object manipulation method for automatic machine that picks up and manipulates an object

A robot operation evaluation device includes: an operational state calculator for calculating an operational state of an evaluation region that is a movable region of a robot, based on an operational state of the robot; a shape-feature quantity calculator for calculating a shape-feature quantity depending on an operation direction of the evaluation region corresponding to the operational state calculated; and an evaluation value calculator for calculating an evaluation value representing a risk degree of the operational state of the evaluation region with respect to the operation direction, based on the shape-feature quantity.

Robot operation evaluation device, robot operation evaluating method, and robot system

A method and system detects and localizes multiple instances of an object by first acquiring a frame of a three-dimensional (3D) scene with a sensor, and extracting features from the frame. The features are matched according to appearance similarity and triplets are formed among matching features. Based on 3D locations of the corresponding points in the matching triplets, a geometric transformation is computed. Matching triplets are clustered according to the computed geometric transformations. Since the set of features coining from two different object instances should have a single geometric transform, the output of clustering provides the features and poses of each object instance in the image.

Imaging system and method for object detection and localization

A tool shape measurement device includes: a contour detection unit that detects a tool contour from an image of a rotating tool that is taken; an axis direction calculation unit that calculates a tool axis direction that is an axis direction of the rotating tool on the basis of the tool contour; a tool diameter measurement unit that calculates an apparent tool diameter of the rotating tool on an imaging surface on the basis of a calibrated positional and postural relationship between an imaging device and the rotating tool, the tool axis direction, and the tool contour; and a tool diameter correction unit that calculates a distance between the imaging device and the rotating tool using the tool axis direction, and corrects the apparent tool diameter to an actual tool diameter by correcting distortion in the tool contour on the basis of the distance.

Tool shape measurement device and tool shape measurement method

A storage device stores capturing conditions including a viewpoint position and a shooting direction of the camera, model data including a shape of a segmented mirror, and feature point data representing a positional relationship among a viewpoint position and feature points. A camera captures the segmented mirror having a reflective surface to obtain a captured image including at least a part of the reflective surface. A marker object has feature points, and is fixed at a predetermined position with respect to the camera. A feature-point extracting unit extracts multiple feature points from a captured image in which the feature points are reflected in the reflective surface, and determines positions of the feature points within the captured image. A position measuring unit calculates a position of the segmented mirror, based on the capturing conditions, the model data, the feature point data, and the positions of the feature points within the captured image.

Position measurement apparatus for measuring position of object having reflective surface in the three-dimensional space

A component supply apparatus capable of aligning components of various shapes, which are supplied in bulk, within a short period of time with general means. The apparatus includes a three-dimensional vision sensor measuring a depth map, a bulk component box, a robot picking up a component from the bulk component box, a temporary placing table onto which components are rolled, a two-dimensional vision sensor measuring a profile of the components, a robot group picking up the component rolled on the temporary placing table, and changing a position and orientation of the component into a position and orientation that involve an error of a certain level or less with respect to a position and orientation that are specified in advance, while changing the position and orientation of the component, and a control device controlling those portions.

Component supply apparatus

A workpiece pick-up apparatus including: a hand for gripping a workpiece; a robot for bringing the hand into a desired gripping position or posture; a sensor for performing three-dimensional measurement of the workpiece to obtain workpiece measurement data; a storage medium for accumulating at least hand profile data; an information processing unit for calculating the gripping position or posture based on data from the sensor and data from the storage medium; and a control unit for controlling the robot based on the gripping position or posture calculated by the information processing unit. The information processing unit includes an optimum gripping candidate creating section for directly deriving the gripping position or posture based on the workpiece measurement data and the hand profile data.

Workpiece pick-up apparatus

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Tokyo, Japan

Yukiyasu Domae