Information processing device, information processing method, program, and robot
The present technology relates to an information processing device, an information processing method, a program, and a robot capable of estimate a value outside a detection range of a sensor. A control device of a first aspect of the present technology is a device that acquires detection results of a sensor unit composed of a plurality of sensors including a first sensor having a predetermined detection range, and a second sensor having a range in a detection range thereof in which detection by the first sensor is not possible and estimates a detected value of the first sensor outside the predetermined detection range on the basis of detection results of the second sensor. The present technology can be applied to a device that controls a robot having a hand part capable of gripping an object.
1. An information processing device comprising
circuitry configured to
acquire detection results of a sensor unit composed of a plurality of sensors including a first sensor having a predetermined detection range, and a second sensor having a range in a detection range thereof in which detection by the first sensor is not possible, and
estimate a detected value of the first sensor outside the predetermined detection range on a basis of detection results of the second sensor,
wherein the sensor unit is formed by stacking the plurality of sensors in a hand part of a robot, the hand part being capable of gripping an object, and
wherein the circuitry is further configured to control the hand part to grip the object based on the detected value of the first sensor being outside the predetermined detection range.
2. The information processing device according to claim 1 , wherein the second sensor is a sensor having a detection range wider than the predetermined detection range of the first sensor.
3. The information processing device according to claim 1 , wherein the first sensor is a pressure distribution sensor, and
the second sensor is a force sensor.
4. The information processing device according to claim 1 , wherein the circuitry is further configured to estimate the detected value of the first sensor outside the predetermined detection range on a basis of time-series data of detected values of the first sensor.
5. The information processing device according to claim 4 , wherein the circuitry is further configured to estimate a detected value of each position of the first sensor which is outside the predetermined detection range according to a ratio of a detected value of each position of the first sensor before becoming outside the predetermined detection range to a reference value.
6. The information processing device according to claim 4 , further including a storage configured to, when a detected value higher than a first threshold value set as a value lower than an upper limit of the predetermined detection range is detected by the first sensor, store the detected value of the first sensor,
wherein the circuitry is further configured to estimate a detected value of the first sensor higher than the upper limit on the basis of the time-series data that is time-series of detected values stored in the storage.
7. The information processing device according to claim 6 , wherein, when a detected value of the first sensor lower than a second threshold value set as a value higher than a lower limit of the predetermined detection range is detected by the first sensor, the storage stores the detected value of the first sensor, and
the circuitry is further configured to estimate a detected value of the first sensor lower than the lower limit on the basis of the time-series data.
8. The information processing device according to claim 7 , wherein the storage stores a detected value of the second sensor in at least any of a case where a detected value higher than the first threshold value is detected by the first sensor and a case where a detected value lower than the second threshold value is detected by the first sensor.
9. The information processing device according to claim 1 , wherein the circuitry is further configured to estimate a detected value of the first sensor outside the predetermined detection range by interpolation according to the detection results of the second sensor.
10. The information processing device according to claim 1 , wherein the first sensor is provided at a position closer to a surface of the sensor unit than the second sensor with or without a mounting part sandwiched between the first sensor and the second sensor.
11. The information processing device according to claim 7 , wherein the circuitry is further configured to stop operation of the second sensor until a detected value higher than the first threshold value is detected by the first sensor or a detected value lower than the second threshold value is detected by the first sensor.
12. The information processing device according to claim 1 , wherein the circuitry is further configured to estimate a detected value of the first sensor outside the predetermined detection range using a prediction model that receives a detected value of the first sensor and a detected value of the second sensor as inputs and outputs a detected value of the first sensor outside the predetermined detection range.
13. The information processing device according to claim 12 , wherein the circuitry is further configured to learn parameters constituting the prediction model.
14. The information processing device according to claim 13 , wherein the circuitry is further configured to learn the parameters by learning using a detection result of a sensor having a range in a detection range thereof in which detection by the first sensor is not possible.
15. The information processing device according to claim 1 , wherein the circuitry is further configured to estimate a detected value of the first sensor outside the predetermined detection range using a prediction model that receives a detected value of the first sensor as input and outputs a detected value of the first sensor outside the predetermined detection range.
16. An information processing method, using an information processing device, comprising:
acquiring detection results of a sensor unit composed of a plurality of sensors including a first sensor having a predetermined detection range, and a second sensor having a range in a detection range thereof in which detection by the first sensor is not possible;
estimating a detected value of the first sensor outside the predetermined detection range on a basis of detection results of the second sensor,
wherein the sensor unit is formed by stacking the plurality of sensors in a hand part of a robot, the hand part being capable of gripping an object; and
controlling the hand part to grip the object based on the detected value of the first sensor being outside the predetermined detection range.
17. A non-transitory computer-readable medium having embodied thereon a program, which when executed by a computer causes the computer to execute an information processing method, the method comprising:
acquiring detection results of a sensor unit composed of a plurality of sensors including a first sensor having a predetermined detection range, and a second sensor having a range in a detection range thereof in which detection by the first sensor is not possible;
estimating a detected value of the first sensor outside the predetermined detection range on a basis of detection results of the second sensor,
wherein the sensor unit is formed by stacking the plurality of sensors in a hand part of a robot, the hand part being capable of gripping an object; and
controlling the hand part to grip the object based on the detected value of the first sensor being outside the predetermined detection range.
18. A robot comprising:
a hand part capable of gripping an object;
a sensor unit composed of a plurality of sensors including a first sensor having a predetermined detection range and a second sensor having a range in a detection range thereof in which detection by the first sensor is not possible and provided in the hand part; and
an estimation unit circuitry configured to estimate a detected value of the first sensor outside the predetermined detection range on a basis of detection results of the second sensor,
wherein the sensor unit is formed by stacking the plurality of sensors in the hand part, and
wherein the circuitry is further configured to control the hand part to grip the object based on the detected value of the first sensor being outside the predetermined detection range.