Title:
PICKING SYSTEM
Document Type and Number:
WIPO Patent Application WO/2024/053150
Kind Code:
A1
Abstract:
The present invention estimates a gripping position that is more likely to satisfy a handling condition even when it is difficult to perform shape model comparison. A picking system 1 comprises a picking robot 3 that grips and moves an article 7, and a control device 2 that controls the picking robot 3. The control device 2 comprises: an image input unit that receives image data of the article 7 acquired by a sensor 4; an element reliability evaluation unit that evaluates a plurality of element reliabilities indicating an index of grippability for each physical element of the article 7, on the basis of the image data; a gripping position estimation unit that estimates a gripping position of the picking robot 3 with respect to the article 7 on the basis of the plurality of element reliabilities; a handling information input unit that accepts handling information indicating a handling condition concerning movement and gripping of the article 7 to be gripped in the gripping position; and a recognition parameter estimation unit that estimates a recognition parameter that is used for the estimation of the gripping position by the gripping position estimation unit, on the basis of the handling information.
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Inventors:
HAGIHARA DAISUKE (JP)
ITO KIYOTO (JP)
ITO KIYOTO (JP)
Application Number:
PCT/JP2023/015558
Publication Date:
March 14, 2024
Filing Date:
April 19, 2023
Export Citation:
Assignee:
HITACHI LTD (JP)
International Classes:
B25J13/08
Foreign References:
| JP2022021147A | 2022-02-02 | |||
| JP2022033660A | 2022-03-02 | |||
| JP2021524385A | 2021-09-13 | |||
| US20220016767A1 | 2022-01-20 |
Attorney, Agent or Firm:
POLAIRE I.P.C. (JP)
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