| 摘要 |
Provided is a processing apparatus for determining a work to be picked by a robot from a plurality of works, using an image, captured by an image capture device, of an area on which the plurality of works are placed. The apparatus selects a pickable candidate work based on the image, and determines a picking target work positioned in a partial area assigned with a highest priority among the partial areas where candidate works are respectively positioned. The apparatus selects a next pickable candidate work whose position and orientation have changed within allowable ranges before and after picking, and determines a next picking target work positioned in the partial area assigned with the highest priority among the partial areas where the next pickable candidate works are respectively positioned. |
| 主权项 |
1. A processing apparatus for determining a work to be picked by a robot from a plurality of works, using an image, captured by an image capture device, of an area on which the plurality of works are placed, wherein
each of a plurality of partial areas of the area is assigned with a priority for a picking sequence, and wherein, when the robot picks a work positioned in one partial area, the priority for picking sequence is based on an area value of other partial areas shielded by the robot with respect to the image capture device, and the processing apparatus is configured to obtain information of positions and orientations of the plurality of works based on the image, select a pickable candidate work among the plurality of works based on the information, determine, if there exist a plurality of candidate works, as a picking target work, a candidate work positioned in the partial area assigned with a highest priority among the partial areas where the plurality of candidate works are respectively positioned, select, as a next pickable candidate work, a candidate work whose position and orientation have changed within allowable ranges before and after picking, based on a result of comparison between an image of the area captured again by the image capture device after picking the target work and a preceding image captured by the image capture device before picking the target work, and determine, if there exist a plurality of next pickable candidate works, as a next picking target work, a next pickable candidate work positioned in the partial area assigned with the highest priority among the partial areas where the plurality of next pickable candidate works are respectively positioned. |
