CN-122008178-A - Control device and control method

Abstract

The invention provides a control device capable of performing high-precision judgment based on the surrounding conditions of a robot. A control device for controlling the operation of a robot includes an acquisition unit that acquires an image of a work environment, an extraction unit that extracts a plurality of objects included in the image using machine learning, and a determination unit that determines whether or not a movement operation performed by the robot is possible using a scene graph that is determined based on a feature quantity indicating at least one of a position and a state of the extracted objects and that indicates a relationship between the objects in the work environment.

Inventors

• Naoya Komaki
• SATO TAKASHI

Assignees

• 丰田自动车株式会社

Dates

Publication Date

20260512

Application Date

20251106

Priority Date

20241111

Claims (5)

1. 1. A control device for controlling the operation of a robot is characterized by comprising: an acquisition unit that acquires an image of a work environment; an extraction unit for extracting a plurality of objects contained in the image, and A determination unit that determines whether or not a movement operation performed by the robot is possible, using a scene graph indicating a relationship between the objects in the work environment, which is determined based on a feature quantity indicating at least one of the extracted position and state of the object.
2. 2. The control device according to claim 1, wherein, The determination of the movement operation by the determination unit is a determination as to whether or not the robot picks up the object as the object and places the object at a predetermined position.
3. 3. The control device according to claim 1, wherein, The determination of the movement operation by the determination unit is a determination of a movement path of the robot itself.
4. 4. The control device according to claim 1, wherein, The acquisition section also acquires temperature information, The feature quantity includes information on a temperature of at least one of the working environment and the object.
5. 5. A control method executed by a control device that controls an operation of a robot, comprising: acquiring an image of a captured work environment; A step of extracting a plurality of objects contained in the image, and And determining whether or not a movement operation performed by the robot is possible using a scene graph representing a relationship between the objects in the work environment, the scene graph being determined based on a feature quantity representing at least one of the extracted position and state of the object.

Description

Control device and control method Technical Field The present invention relates to a control device and a control method for a robot. Background A control technique of a robot that generates a trajectory of an arm in consideration of an obstacle by a machine learning model is known. Patent document 1 describes a technique for specifying an operation path of a device based on a position of an object detected in an operation environment of the device and an operation position of the device, and controlling the device based on operation information generated based on position information or the like of a plurality of points included in the operation environment. Patent document 1 Japanese patent application laid-open No. 2022-077229 Disclosure of Invention In the technique described in patent document 1, a new annotation operation is required every time the robot work environment is changed. Therefore, from the viewpoint of selecting an optimal operation according to the position of an obstacle or the like in the working environment, a technique capable of determining the situation around the robot with higher accuracy without performing an annotation operation is desired. The invention aims to provide a control device capable of controlling a robot with high precision based on the surrounding conditions of the robot. A control device according to the present invention controls the operation of a robot, and includes an acquisition unit that acquires an image of a work environment, an extraction unit that extracts a plurality of objects included in the image, and a determination unit that determines whether or not a movement operation performed by the robot is possible using a scene graph that indicates a relationship between the objects in the work environment, the scene graph being determined based on a feature quantity indicating at least one of a position and a state of the extracted objects. Effects of the invention The present invention can provide a control device capable of controlling a robot with high accuracy based on the surrounding situation of the robot. Drawings Fig. 1 is a block diagram showing a functional configuration of a control device according to embodiment 1 of the present invention. Fig. 2 is a flowchart showing a control method executed by the control device according to embodiment 1 of the present invention. Fig. 3 is a diagram showing an example of a scene graph according to embodiment 1 of the present invention. Fig. 4 is a diagram showing an example of a scene graph according to embodiment 1 of the present invention. Fig. 5 is a diagram showing an example of a scene graph according to embodiment 1 of the present invention. Fig. 6 is a diagram showing an example of a scene graph according to embodiment 2 of the present invention. Detailed Description Hereinafter, embodiments will be described with reference to the drawings. Further, since the drawings are simplified, the technical scope of the embodiments cannot be narrowly interpreted based on the description of the drawings. The same reference numerals are given to the same elements, and duplicate descriptions are omitted. In the following embodiments, when the number of elements and the like (including the number, the numerical value, the amount, the range and the like) are mentioned, the number is not limited to a specific number, but may be a specific number or more, or may be the following, unless the number is particularly clear and the number is obviously limited to a specific number in principle. In the following embodiments, the constituent elements are not necessarily required, except for the cases where they are particularly clear and the cases where they are obviously considered to be necessary in principle. In the same manner, in the following embodiments, when referring to the shape, positional relationship, and the like of constituent elements and the like, the shapes and the like substantially similar or analogous to those of the elements and the like are included, except for the cases where they are particularly clear, the cases where they are not considered to be obvious in principle, and the like. This is also true for the above amounts and the like (including numbers, values, amounts, ranges, etc.). [ Embodiment 1] < Structure of control device 10 > Fig. 1 is a block diagram showing a functional configuration of a control device 10 according to embodiment 1 of the present invention. The control device 10 includes an acquisition unit 11, an extraction unit 12, and a determination unit 13. The control device 10 controls the operation of the robot 3 based on the conditions of the plurality of objects 2 in the work environment 1 and the conditions around the robot 3. The control device 10 includes a central processing unit (Central Processing Unit: CPU), a Read Only Memory (ROM), a random access Memory (Random Access Memory: RAM), a hard disk drive (HARD DISK DRIVE: HDD), and an input/output Interface (Interface: I/