MOUNTING DETERMINATION METHOD, MOUNTING METHOD, MOUNTING DETERMINATION DEVICE, AND ROBOT

• Main Author: TAKESHITA KEISUKE
• Format: Patent
• Language: English; Japanese
• Published: 06.07.2015
• Subjects: CALCULATING; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; COMPUTING; COUNTING; HAND TOOLS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MANIPULATORS; PERFORMING OPERATIONS; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

PROBLEM TO BE SOLVED: To provide a mounting determination method that enables judgment whether a mounting article can be mounted on a mounting object, a mounting method, a mounting determination device, and a robot.SOLUTION: A mounting determination device 21 comprises a point group acquisition part 22 that acquires three-dimensional image information of a mounting object where a mounting article is mounted, a shape acquisition part 23 that acquires shape information of the mounting article to be mounted, a flat face detection part 24 that detects a flat face on the basis of the three-dimensional image information, an upward extraction part 28 that acquires three-dimensional image information upward of the flat face, and a mounting determination part 31 that determines whether a mounting article can be mounted on the mounting object on the basis of the flat face, the three-dimensional image information upward of the flat face, and the shape information. 【課題】載置物を載置対象物に載置できるか否かを判断することができる載置判断方法、載置方法、載置判断装置及びロボットを提供する。【解決手段】載置判断装置２１は、載置物が載置される載置対象物の３次元画像情報を取得する点群取得部２２と、載置する載置物の形状情報を取得する形状取得部２３と、上記３次元画像情報に基づいて平面を検出する平面検出部２４と、上記平面より上方の３次元画像情報を取得する上方抽出部２８と、上記平面と、上記平面より上方の３次元画像情報と、上記形状情報とに基づいて、載置対象物に載置物を載置できるか判断する載置判断部３１とを備える。【選択図】図２