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Laundering Tasks Performed by a Robot
Spreading Out and Sorting of the Clothes
Fumiaki OSAWA, Hiroaki SEKI and Yoshitsugu KAMIYA
The purpose of our study is to find a means of putting away clean laundry using a robot. This paper presents a method of
spreading out and sorting crumpled laundry by dual manipulators and image processing. Because the shape of cloth tends to
change in various ways depending on the situation, it is difficult for robot hands to spread out and sort laundry. For this
reason, we propose a method of grasping the lowest points of laundry and changing the grasping points several times for
spreading and sorting laundry. Laundry can be categorized to a small number of shapes, and this makes it easy for robot to
be recognized. Furthermore, recognition of the shapes of laundry during the spreading process allows more accurate sorting.
Using the manipulators and image processing eight kinds of laundry could be spread out and sorted successfully. The
effectiveness of the proposed method is shown through experimental results.
Key words: Laundry, Shapes of clothes, Spreading out, Sorting, Dual manipulators, Image processing
1.
1) 5)
(a)
(b) (c)
(d) (e)
(A)
(B) (C)
(A)6)
6)(a)
7)(C) 2
(d) Store the clothes in a drawer
(a) Grasp a piece of clothes from
a pile of laundry and raise
(c) Place the clothes
on the table
(b) Spread outSort
(d) Fold
Fig.1 Laundering tasks performed by a robot
8)
2
2
16 1 13
2-40-20
2-40-20
1316 精密工学会誌 Vol.70,No.10,2004
2.
2.1
4 2
2 2
2 2 2
1
1
2.2
2 5
MOVEMASTER RV-M1 950mm
CCD A
2
1200mm CCD B
512 480
2
IP5000
3.
3.1
2
( ) 1
1sec 300mm
( )
( ) 3
( ) ( ) ( )
1 2
( ) L
( )
2
( ) 2 ( ) L
(b)
( ) (a)
2 P1 P2
P3 ( )
Short-sleeved shirt,type2
(standard shirts)Long sleeve shirtShort-sleeved shirt,type1
(children’s shirts)
La
Lb
La<Lb
TowelBrassiere
Trousers
HandkerchiefUnder short pants
La
Lb
La Lb
Fig.2 Target clothes
Fig.3 Robot system for spreading and sorting
Fig.4 Planning for spreading and sorting performed by two manipulators
ロボットによる洗濯物の後片付け作業
精密工学会誌 Vol.70,No.10,2004 1317
Grasping
corner aCorner
b,c,d,e,f,g,h ?
a
b
c d
e
fgha
b
c d
e
fgh
Corner
d
a
Lowest corner
b-a c-a d-a
e-a g-a h-a
d-a
f-a
(a) Hanging shpaes by graspint any two corners (b) Proposed method
Corners in a
short-sleeved shirt
Fig.5 The number of shapes of laundry by grasping at two corners
(short-sleeved shirt, type )
Fig.6 Detecting the lowest corner for grasp by a robot hand
3.2
1 2
2
n 2 nP2
x(n)
)1(2
)( 2
nnx n
2
2
(type ) 2
(a) 8
(1) 52
5(b)
2
2
2
4.
4.1
1
(a) a
c e
6(b) e
b d
b d
4.2
6(c) 45 180
6(d)
/2
d
d
4.3
(type )
2
7 8
P0 a
h a
a d f
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a a
d
8 A
8 A B C
A B
2
C D E
8 P0 a c d
f
P2
b e g h
a
c d f
3
(type ) 2 (type ) 3
ロボットによる洗濯物の後片付け作業
1318 精密工学会誌 Vol.70,No.10,2004
1
3
9
Type No.5
No.3 No.4
a
b
c d
e
f
h g
h
cg
a
b
de
f
hg
ab
c
de
f
hg
ab
c
d
e
f
hg
ab
c
d
ef h
g
ab
c
d
e
f
h
g
a b c
d
e
f
h
g
ab
cd
e f
h
g
a b
cd
ef
(a) Grasp of a (b) Grasp of b (c) Grasp of c
(d) Grasp of d (e) Grasp of e (f) Grasp of f (g) Grasp of g (h) Grasp of h
Short sleeve shirt
(type )
Fig.7 The lowest points when a corner is grasped ( short-sleeved shirt , type )
Fig.8 State transition diagram of the shapes by proposed method
(short -sleeved shirt , type )
TowelBrassiere
Long sleeve shirt
Trousers HandkerchiefUnder short pants
No.1 No.2 No.3 No.4 No.5 No.6
No.7 No.8 No.9 No.10 No.11 No.12 No.13
Short-sleeved shirt ,type2Short-sleeved shirt ,type1
Fig.9 The final patterns of shapes when the items are spread out
Fig.10 Template images of the model patterns at each hanging width
5.
5.1
9
No.1 No.2 (type ) No.13
No.6 No.7
5 No.1
No.13 9 8 13 No1 No13
9
L/5 4L/5
10
N
fn gn
)2(:,
)()(
))((
1
0
21
0
2
1
0 gf
ggff
ggff
rN
nn
N
nn
N
nnn
r
m
k
l
kk
l lrJ1
)()( )3()13,,2,1(
r
m
m=5 l No
ロボットによる洗濯物の後片付け作業
精密工学会誌 Vol.70,No.10,2004 1319
Fig.11 Standardization of hanging width for different sizes
Fig.12 Extraction of a target object
Fig.13 Experimental results of spreading out
5.2
L 2
L
5.3
12(a) 10
mm 12(b)
12(c)
6.
6.1
80cm
13(d) 180
13(e)
200 mm
7sec 13(j) (l)
2
2
130sec
1 2
1 3
2
6.2
2 9 8
13 J
1
(type :No.2) L
L/5
L
No.13
L/5 4L/5 (type :No.2)
J
(type :No.2)
Fig.14 Corresponding value for each spread interval
(No.2,Short-sleeved shirt: type )
ロボットによる洗濯物の後片付け作業
1320 精密工学会誌 Vol.70,No.10,2004
Fig.15 Accumulated corresponding value
Table 1 Recognition rate
Clothes Recognition rate
Short sleeves shirt, type1 47/50
Short sleeves shirt, type2 50/50
Long sleeves shirt 50/50
Trousers 49/50
Under short pants 48/50
Brassiere 47/50
Towel (rectangle) 50/50
Handkerchief (square) 46/50
7.
(1) 2
(2)
(3) 2
(4) 2
1) Paul.M.Taylor, Sensory Robotics for the Handling of Limp Materials, Spring-
er-Verlag, (1990),141.
2) ,
, , 15, 2, (1997), 275.
3) , , , 16,2, (1998),
149.
4) E.Torgerson and F.W. Paul: Vision Guided Robotic Fabric Manipulation for
Apparel Manufacturing, Proc. 1987 IEEE Int. Conf. on Robotics and Automa-
tion, 2, (1987) 1196.
5) K. Paraschidis, et al.: A Robotic System for Handling Textile Materials, Proc.
1995 IEEE Int. Conf. on Robotics and Automation. 3, (1995) 1769.
6) , , , 64, 620,
C(1998),240.
7) , , , 63, 607,
C(1997),333.
8) ,
, , 65, 636, C(1999), 228.
ロボットによる洗濯物の後片付け作業
精密工学会誌 Vol.70,No.10,2004 1321