Abstract: An information processing apparatus generates multiple combinations of sensor data inputted to a machine learning apparatus, inputs the combinations of sensor data to the machine learning apparatus, and generates a recognizer corresponding to each of the combinations of sensor data. Further, the performance of the recognizers is evaluated in accordance with expected performance required for the recognizers, and the combinations of sensor data corresponding to the recognizers satisfying the expected performance are outputted. Thus, the rates of contribution of two or more pieces of sensor data inputted to the machine learning apparatus are evaluated, and the configuration of sensors is optimized.

Abstract: A workpiece picking device includes a sensor measuring a plurality of workpieces randomly piled in a three-dimensional space; a robot folding the workpieces; a hand mounted to the robot and hold the workpieces; a holding position posture calculation unit calculating holding position posture data of a position and a posture to hold the workpieces by the robot based on an output of the sensor; a loading state improvement operation generation unit generating loading state improvement operation data of improving a loading state of the workpieces by the robot based on an output of the sensor; and a robot control unit controlling the robot and the hand. The robot control unit controls the robot and the hand based on an output of the holding position posture calculation unit and the loading state improvement operation generation unit to pick the workpieces or perform a loading state improvement operation.

Abstract: A model generating device for generating a three-dimensional model of an object includes a three-dimensional measuring machine which three-dimensionally measures a plurality of objects each disposed at a given orientation in a three-dimensional space, to obtain measurement data, a model measurement data extracting unit which treats the measurement data of the plurality of objects measured by the three-dimensional measuring machine as a set of model measurement data obtained by measuring one object from a plurality of virtual measurement positions, to extract the model measurement data corresponding to the plurality of virtual measurement positions, and a model measurement data integrating unit which integrates the model measurement data extracted by the model measurement data extracting unit, to generate a three-dimensional model of each object.

Abstract: An information processing apparatus generates multiple combinations of sensor data inputted to a machine learning apparatus, inputs the combinations of sensor data to the machine learning apparatus, and generates a recognizer corresponding to each of the combinations of sensor data. Further, the performance of the recognizers is evaluated in accordance with expected performance required for the recognizers, and the combinations of sensor data corresponding to the recognizers satisfying the expected performance are outputted. Thus, the rates of contribution of two or more pieces of sensor data inputted to the machine learning apparatus are evaluated, and the configuration of sensors is optimized.

Abstract: A workpiece picking device includes a sensor measuring a plurality of workpieces randomly piled in a three-dimensional space; a robot folding the workpieces; a hand mounted to the robot and hold the workpieces; a holding position posture calculation unit calculating holding position posture data of a position and a posture to hold the workpieces by the robot based on an output of the sensor; a loading state improvement operation generation unit generating loading state improvement operation data of improving a loading state of the workpieces by the robot based on an output of the sensor; and a robot control unit controlling the robot and the hand. The robot control unit controls the robot and the hand based on an output of the holding position posture calculation unit and the loading state improvement operation generation unit to pick the workpieces or perform a loading state improvement operation.

Abstract: An article pickup apparatus according to the present invention is configured to control a robot or a hand in accordance with profile control when the hand holds an article so that an external force acting on the hand detected by a force sensor installed between an arm and the hand is closer to a target value of the external force set by a force target value setting unit.

Abstract: A model generating device for generating a three-dimensional model of an object includes a three-dimensional measuring machine which three-dimensionally measures a plurality of objects each disposed at a given orientation in a three-dimensional space, to obtain measurement data, a model measurement data extracting unit which treats the measurement data of the plurality of objects measured by the three-dimensional measuring machine as a set of model measurement data obtained by measuring one object from a plurality of virtual measurement positions, to extract the model measurement data corresponding to the plurality of virtual measurement positions, and a model measurement data integrating unit which integrates the model measurement data extracted by the model measurement data extracting unit, to generate a three-dimensional model of each object.

Abstract: An article pickup apparatus configured so as to set a grip unit model including a substantial region of the grip unit in an opened state and a grip region inside the substantial region, set position posture candidates of the grip unit, calculate a grip success possibility of any of the articles by the grip unit in each of the grip position posture candidates based on the position information acquired by a three-dimensional measurement instrument and the grip unit model, select position posture candidates from the position posture candidates based on the grip success possibility and setting the selected position posture candidates as grip unit position postures, and control the robot so as to move the grip unit to the grip unit position postures to pick up any of the articles.

Abstract: An article take-out apparatus including: a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space so as to acquire position information of a plurality of 3D points; a connected set processing unit determining connected sets made by connecting 3D points which are close to each other, from the plurality of 3D points acquired by the 3D measuring device; an article identifying unit identifying positions and postures of the articles, based on position information of 3D points belonging to the connected sets; a hand position and posture processing unit determining positions and postures of the hand capable of taking out the identified articles; and a robot control unit controlling a robot to move the hand to the positions and postures determined by the hand position and posture processing unit and take out the articles.

Abstract: An article pickup apparatus according to the present invention is configured to control a robot or a hand in accordance with profile control when the hand holds an article so that an external force acting on the hand detected by a force sensor installed between an arm and the hand is closer to a target value of the external force set by a force target value setting unit.

Abstract: An article pickup apparatus configured so as to set a grip unit model including a substantial region of the grip unit in an opened state and a grip region inside the substantial region, set position posture candidates of the grip unit, calculate a grip success possibility of any of the articles by the grip unit in each of the grip position posture candidates based on the position information acquired by a three-dimensional measurement instrument and the grip unit model, select position posture candidates from the position posture candidates based on the grip success possibility and setting as a grip unit position posture, and control the robot so as to move the grip unit to the grip unit position posture to pick up any of the articles.

Abstract: An article take-out apparatus including: a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space so as to acquire position information of a plurality of 3D points; a connected set processing unit determining connected sets made by connecting 3D points which are close to each other, from the plurality of 3D points acquired by the 3D measuring device; an article identifying unit identifying positions and postures of the articles, based on position information of 3D points belonging to the connected sets; a hand position and posture processing unit determining positions and postures of the hand capable of taking out the identified articles; and a robot control unit controlling a robot to move the hand to the positions and postures determined by the hand position and posture processing unit and take out the articles.