Control apparatus, object detection system, object detection method and program

Abstract

A control apparatus capable of efficiently detecting a target object even when the target object is shielded by other objects is provided. An object recognition unit 114 recognizes a target object 80 present in a 3D environment 4 by using measurement data acquired from a sensor 12 . An information generation unit 116 generates 3D environmental information by integrating a plurality of measurement data. A position determination unit 120 determines an optimal position of the sensor 12 for performing the next measurement. A sensor control unit 140 moves the sensor 12 to the determined optimal position. The position determination unit 120 determines, by using the 3D environmental information, a position of the sensor 12 where the sensor 12 can take an image in which a size of an area shielded by at least one first object is larger as the optimal position.

What is claimed is: 
     
         1 . A control apparatus configured to detect a target object to be detected by controlling a sensor configured to measure surroundings in a three-dimensional (3D) environment, the control apparatus comprising:
 hardware including at least one memory configured to store a computer program and at least one processor configured to execute the computer program;   an object recognition unit, implemented by the hardware, configured to recognize the target object present in the 3D environment by using measurement data acquired from the sensor;   an information generation unit, implemented by the hardware, configured to generate 3D environmental information indicating each point on an object present in the 3D environment by integrating a plurality of measurement data;   a position determination unit, implemented by the hardware, configured to determine whether or not a search of a placement available area, which is an area where the target object can be placed, has been completed by using the 3D environmental information, and when it is determined that the search has not been completed, perform a process for determining an optimal position of the sensor for performing a next measurement; and   a sensor control unit, implemented by the hardware, configured to move the sensor to the determined optimal position, wherein   the position determination unit determines, by using the 3D environmental information, a position of the sensor where the sensor can take an image in which a size of an area shielded by at least one first object is larger as the optimal position, the at least one first object being the target object recognized by the object recognition unit.   
     
     
         2 . The control apparatus according to  claim 1 , wherein the position determination unit calculates, as a candidate for the optimal position, a position of the sensor where the sensor can measure the placement available area according to at least one of a position and a shape of a storage object in which the target object can be placed, and selects the optimal position from the candidate. 
     
     
         3 . The control apparatus according to  claim 2 , wherein the position determination unit determines whether or not, among candidate positions, there is an unmeasured position from which the sensor can measure the area shielded by the at least one first object but has not performed measurement yet, and when it is determined that there is the unmeasured position, performs a process for determining the optimal position of the sensor for performing the next measurement. 
     
     
         4 . The control apparatus according to  claim 3 , further comprising a removal determination unit configured to, when it is determined that there is no unmeasured position, determine the at least one first object to be removed so that the area shielded by the at least one first object can be measured. 
     
     
         5 . The control apparatus according to  claim 4 , further comprising an arm control unit configured to control an arm so that the determined at least one first object is removed. 
     
     
         6 . An object detection system comprising:
 a sensor configured to measure surroundings in a 3D environment; and   a control apparatus configured to detect a target object to be detected by controlling the sensor,   wherein the control apparatus comprises:   hardware, including at least one memory configured to store a computer program and at least one processor configured to execute the computer program;   an object recognition unit, implemented by the hardware, configured to recognize the target object present in the 3D environment by using measurement data acquired from the sensor;   an information generation unit, implemented by the hardware, configured to generate 3D environmental information indicating each point on an object present in the 3D environment by integrating a plurality of measurement data;   a position determination unit, implemented by the hardware, configured to whether or not a search of a placement available area, which is an area where the target object can be placed, has been completed by using the 3D environmental information, and when it is determined that the search has not been completed, perform a process for determining an optimal position of the sensor for performing a next measurement; and   a sensor control unit, implemented by the hardware, configured to move the sensor to the determined optimal position, wherein   the position determination unit determines, by using the 3D environmental information, a position of the sensor where the sensor can take an image in which a size of an area shielded by at least one first object is larger as the optimal position, the at least one first object being the target object recognized by the object recognition unit.   
     
     
         7 . An object detection method for detecting a target object to be detected by controlling a sensor configured to measure surroundings in a 3D environment, comprising:
 recognizing the target object present in the 3D environment by using measurement data acquired from the sensor;   generating 3D environmental information indicating each point on an object present in the 3D environment by integrating a plurality of measurement data;   determining, by using the 3D environmental information, whether or not a search of a placement available area, which is an area where the target object can be placed, has been completed by using the 3D environmental information, and when it is determined that the search has not been completed, performing a process for determining a position of the sensor where the sensor can take an image in which a size of an area shielded by at least one first object is larger as an optimal position of the sensor for performing a next measurement, the at least one first object being the recognized target object; and   moving the sensor to the determined optimal position.   
     
     
         8 . A non-transitory computer readable medium storing a program for performing an object detection method in which a target object to be detected is detect by controlling a sensor configured to measure surroundings in a 3D environment, the program being adapted to cause a computer to perform:
 recognizing the target object present in the 3D environment by using measurement data acquired from the sensor;   generating 3D environmental information indicating each point on an object present in the 3D environment by integrating a plurality of measurement data;   determining, by using the 3D environmental information, whether or not a search of a placement available area, which is an area where the target object can be placed, has been completed by using the 3D environmental information, and when it is determined that the search has not been completed, performing a process for determining a position of the sensor where the sensor can take an image in which a size of an area shielded by at least one first object is larger as an optimal position of the sensor for performing a next measurement, the at least one first object being the recognized target object; and   moving the sensor to the determined optimal position.