Patent ID: 9095977
Filing Date: 2015-08-04
Classification: B25J,G05B,Y10S

Abstract:
1. An apparatus comprising: an obtaining unit configured to obtain an image including a plurality of objects, wherein the image is captured by an imaging unit; a determination unit configured to determine a target object to be picked up and held by a holding unit from the plurality of objects based on the image obtained by the obtaining unit; a generating unit configured to generate a first operation path along which the holding unit that has held the target object conveys the held target object to a target position and a second operation path along which the holding unit that has held the target object conveys the held target object to the target position by way of an evacuation position to which the holding unit evacuates from the imaging range of the imaging unit based on a position of the target object, wherein the evacuation position is different from the target position; a prediction unit configured to predict, for each of the first operation path and the second operation path, a time until a next target object is picked up after the target object is held; and path determination unit configured to determine a path by selecting from the first operation path or the second operation path based on each time predicted by the prediction unit.