Object gripping apparatus, control method for object gripping apparatus, and storage medium

摘要

An object gripping apparatus comprises an imaging unit configured to capture an image of a plurality of workpieces; a workpiece state estimation unit configured to estimate positions and orientations of the plurality of workpieces from the captured image; a pickup-target workpiece selection unit configured to select a pickup-target workpiece from among the plurality of workpieces based on a result of the estimation of the workpiece state estimation unit; a workpiece pickup unit configured to grip and pick up the pickup-target workpiece in accordance with an operation path associated with a position of the pickup-target workpiece; and a path setting unit configured to determine an evacuation path along which the workpiece pickup unit that has gripped the pickup-target workpiece evacuates to the outside of an imaging range of the imaging unit based on an estimated moving time required for the evacuation.

主权项

1. An apparatus comprising:
an obtaining unit configured to obtain an image including a plurality of objects, wherein the image is captured by an imaging unit; a determination unit configured to determine a target object to be picked up and held by a holding unit from the plurality of objects based on the image obtained by the obtaining unit; a generating unit configured to generate a first operation path along which the holding unit that has held the target object conveys the held target object to a target position and a second operation path along which the holding unit that has held the target object conveys the held target object to the target position by way of an evacuation position to which the holding unit evacuates from the imaging range of the imaging unit based on a position of the target object, wherein the evacuation position is different from the target position; a prediction unit configured to predict, for each of the first operation path and the second operation path, a time until a next target object is picked up after the target object is held; and path determination unit configured to determine a path by selecting from the first operation path or the second operation path based on each time predicted by the prediction unit.