Image Processing Device, Robot, Robot System, and Marker

• US 20170109856A1
• Filed: 10/11/2016
• Published: 04/20/2017
• 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
• Granted Patent: US 10,311,596 B2
• Time in Patent Office: 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. 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 and detects the data area based on the figure centers of the first figure.

2. The image processing 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 image processing 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 image processing 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 image processing 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 image processing 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 image processing device according to claim 1.

8. A robot comprising:

the image processing device according to claim 2.

9. A robot comprising:

the image processing device according to claim 3.

10. A robot comprising:

the image processing device according to claim 4.

11. A robot comprising:

the image processing device according to claim 5.

12. A robot comprising:

the image processing device according to claim 6.

13. A robot system comprising:

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

a robot according to claim 7.

14. A marker comprising:

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

a data area provided on an external portion of the first figure.

15. The marker 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.