Object gripping apparatus, method of controlling the same and storage medium
US9302391B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 6, 2011 |
| Grant date | Apr 5, 2016 |
| Priority date | — |
| Expiry date | Jan 18, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40053
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An object gripping apparatus includes an image capturing unit for capturing a region including a plurality of works, an obtaining unit for obtaining distance information of the region, a measurement unit for measuring three-dimensional positions/orientations of a plurality of gripping-candidate works out of the plurality of works based on the image and distance information, thereby generating three-dimensional position/orientation information, a selection unit for selecting a gripping-target work based on the three-dimensional position/orientation information, a gripping unit for gripping the gripping-target work, and an updating unit for updating the three-dimensional position/orientation information by measuring three-dimensional positions/orientations of the gripping-candidate works at a time interval during gripping of the gripping-target work. When the gripping ends, the next gripping-target work is selected based on the updated three-dimensional position/orientation information of the gripping-candidate works.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.