Apparatus and method for picking up article randomly piled using robot

摘要

An article pickup apparatus configured so as to measure surface positions of articles by a three-dimensional measurement instrument to acquire position information of three-dimensional points, calculate a density distribution indicating a degree of a distribution of the three-dimensional points in a three-dimensional space based on the measured position information, calculate a density local maximum position where a density is locally maximized based on the density distribution, calculate a hand position posture which is a position and a posture of the hand capable of picking up an article at the density local maximum position based on the density local maximum position calculated, and control the robot so as to move the hand to the hand position posture to pick up the article.

主权项

1. An article pickup apparatus comprising:
a robot including a hand capable of holding an article; a three-dimensional measurement instrument measuring surface positions of a plurality of articles randomly piled on a three-dimensional space to acquire position information of a plurality of three-dimensional points; a density calculation unit calculating a density distribution indicating a degree of a distribution of the plurality of three-dimensional points in the three-dimensional space, based on the position information measured by the three-dimensional measurement instrument; a local maximum position calculation unit calculating a density local maximum position where a density is locally maximized, based on the density distribution calculated by the density calculation unit; a hand position posture calculation unit calculating a hand position posture based on the density local maximum position calculated by the local maximum position calculation unit, the hand position posture being a position and a posture of the hand capable of picking up an article at the density local maximum position or in the vicinity of the density local maximum position; and a robot control unit controlling the robot so as to move the hand to the hand position posture calculated by the hand position posture calculation unit to pick up the article.