Image processing device, robot, robot system, and marker

• US 10,311,596 B2
• Filed: 10/11/2016
• Issued: 06/04/2019
• Est. Priority Date: 10/16/2015
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Inazumi, Mitsuhiro, Aiso, Seiji
• Primary Examiner(s): Bernardi, Brenda C
• Application Number:
  US15/290,324
• Publication Number:
  US 20170109856A1
• Time in Patent Office: 966 Days
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/74 involving reference images or patches

Abstract

An image processing device that detects a marker, in which the marker includes a first figure in which three or more figure centers are overlapped with each other and a data area provided on an internal or external portion of the first figure, and the image processing device detects the first figure and detects the data area based on the figure centers of the first figure.

Claims

1. A control device including an image processing device that detects a marker,

wherein the marker includes a first figure in which three or more figure centers are overlapped with each other and a data area provided on an internal or external portion of the first figure, and

the image processing device detects the first figure, detects the figure centers of the first figure, determines a multiplicity based upon the detected figure centers, and detects the data area based on the figure centers of the first figure and the determined multiplicity, wherein the multiplicity comprises a number of overlapped figure centers corresponding to the detected figure centers,

wherein the control device causes actuation of at least one device controlled by the control device according to a code within the data area.

2. The control device according to claim 1,

wherein the image processing device detects the data area based on a direction passing through the figure centers of the first figure.

3. The control device according to claim 2,

wherein the data area is detected by changing the direction with the figure centers of the first figure as a center.

4. The control device according to claim 1,

wherein the data area has a figure having a smaller number of the overlapped figure centers compared with the first figure.

5. The control device according to claim 1,

wherein the marker has a second figure in which three or more figure centers are overlapped with each other, and

the data area is positioned between the first figure and the second figure.

6. The control device according to claim 5,

wherein the data area is detected based on a direction in which the figure centers of the first figure and the figure centers of the second figure are connected to each other.

7. A robot comprising:

the control device according to claim 1.

8. A robot comprising:

the control device according to claim 2.

9. A robot comprising:

the control device according to claim 3.

10. A robot comprising:

the control device according to claim 4.

11. A robot comprising:

the control device according to claim 5.

12. A robot comprising:

the control device according to claim 6.

13. A robot system comprising:

an image capturing device capturing a captured image including a marker; and

a robot according to claim 7.

14. An object comprising:

a marker disposed on the object, the marker comprising;

a first figure in which three or more figure centers are overlapped with each other and arranged over the marker to indicate a multiplicity associated with the three or more figure centers, the multiplicity comprising a number of overlapped figure centers corresponding to the first figure, and

a data area provided on an external portion of the first figure, the data area including one or more code figures indicative of an operation to be performed by a robot after the robot detects the data area.

15. The object according to claim 14, comprising:

a second figure in which three or more figure centers are overlapped with each other,

wherein the data area is positioned between the first figure and the second figure, wherein the first figure and the second figure are disposed on the object.

16. A robot comprising:

an image capturing device that is configured to stereoscopically capture an image;

a robot arm; and

a control device that is configured to;

detect a marker within image, the marker including a first figure in which three or more figure centers are overlapped with each other;

determine at least one figure center of the three or more figure centers based upon the stereoscopically captured image;

determine a multiplicity based upon the determined at least one figure center, the multiplicity comprising a number of overlapped figure centers corresponding to the first figure;

determine a data area associated with the marker based upon the at least one figure center and the multiplicity;

determine a posture of the marker within a robot coordinate system based upon the determined at least one figure center; and

cause the robot arm to actuate based upon a code within the data area.

17. The robot as recited in claim 16, wherein the control device is further configured to calculate at least one of a position or a posture of the marker based upon the first figure.

18. The robot as recited in claim 16, wherein the control device is further configured to detect a sign comprising a portion of a fixed code within the marker and along a periphery of the first figure based upon the at least one figure center and the multiplicity.

19. The robot as recited in claim 18, wherein the control device is further configured to detect an entire fixed code based on the determined at least one figure center and the sign, wherein the control device causes the image capturing device to capture the entire fixed code by operating the image capturing device within a predetermined search range in a direction from the at least one figure center to the sign.