US 12,466,078 B2
Handling apparatus, handling method, and recording medium
Ping Jiang, Kawasaki (JP); Junichiro Ooga, Kawasaki (JP); and Haifeng Han, Yokohama (JP)
Assigned to KABUSHIKI KAISHA TOSHIBA, Tokyo (JP)
Filed by KABUSHIKI KAISHA TOSHIBA, Tokyo (JP)
Filed on Feb. 15, 2024, as Appl. No. 18/442,181.
Claims priority of application No. 2023-026861 (JP), filed on Feb. 24, 2023.
Prior Publication US 2025/0262770 A1, Aug. 21, 2025
Int. Cl. B25J 9/16 (2006.01); B25J 1/02 (2006.01); B25J 13/02 (2006.01); B25J 13/08 (2006.01); B25J 15/06 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 1/02 (2013.01); B25J 9/1612 (2013.01); B25J 13/02 (2013.01); B25J 13/08 (2013.01); B25J 15/0616 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A handling apparatus comprising:
a manipulator including a picking tool for gripping a target object; and
a controller configured to control behavior of the manipulator, the controller including a hardware processor functioning as
a surface information calculation unit to calculate surface information about a target object by using a first learning model for estimating the surface information about the target object from a feature map, the feature map representing a feature of an input image obtained from the input image in which the target object is captured,
a projection transformation unit to
identify, from the surface information, one or more surfaces included in the input image or the feature map, and
transform the input image or the feature map into one or more projection images or one or more projection feature maps, each being seen from above a point on each of the one or more surfaces in a normal vector direction,
a posture calculation unit to calculate a grasp posture for gripping the target object by using a second learning model for estimating the grasp posture, the grasp posture being calculated for each of the one or more projection images or the one or more projection feature maps;
an inverse projection transformation unit to transform the grasp posture calculated for each of the one or more projection images or the one or more projection feature maps into a grasp posture in a first coordinate system, and
a final posture calculation unit to calculate a final posture of the picking tool by projecting the grasp posture in the first coordinate system onto the input image or the feature map.