Robot system, robot control device and method for controlling robot

• US 8,666,141 B2
• Filed: 10/15/2012
• Issued: 03/04/2014
• Est. Priority Date: 11/07/2008
• Status: Expired due to Fees

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Inazumi, Mitsuhiro
• Primary Examiner(s): Drennan, Barry
• Assistant Examiner(s): Dunphy, David F
• Application Number:
  US13/651,707
• Publication Number:
  US 20130039541A1
• Time in Patent Office: 505 Days
• Field of Search: None
• US Class Current: 382/153
• CPC Class Codes: G06T 2207/30164 Workpiece; Machine component
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 5/73 Deblurring; Sharpening

Abstract

A robot system includes a robot having a movable section, an image capture unit provided on the movable section, an output unit that allows the image capture unit to capture a target object and a reference mark and outputs a captured image in which the reference mark is imaged as a locus image, an extraction unit that extracts the locus image from the captured image, an image acquisition unit that performs image transformation on the basis of the extracted locus image by using the point spread function so as to acquire an image after the transformation from the captured image, a computation unit that computes a position of the target object on the basis of the acquired image, and a control unit that controls the robot so as to move the movable section toward the target object in accordance with the computed position.

Claims

1. A robot system, comprising:

a robot having a movable section which has multi-jointed arm;

an image capture device that is provided on the movable section, and capturing a reference mark, a target object to which the movable section moves and a monochrome region having a difference in brightness between the monochrome region and the reference mark, the image capture device outputting a captured image with a locus image of the monochrome region having a size greater than a size of a locus image of the reference mark;

an extractor that extracts the locus image of the reference mark from the captured image; and

an image restoration device that restores an image of the reference mark based on a point spread function of the extracted locus image of the reference mark.

2. The robot system according to claim 1, further comprising:

a display that displays the reference mark included in the restored image to be visually recognized.

3. The robot system according to claim 1 further comprising:

two or more of the reference marks that are located in a vicinity of the target object at pre-selected respective positions.

4. The robot system according to claim 1 wherein, a position of the target object is determined based on the restored image.

5. The robot system according to claim 4 wherein,

the robot moves the movable section toward the target object in accordance with a determined position.

6. A robot control method for a system including a robot, a target object that is a moving destination of a movable section, which has multi-jointed arm, provided on the robot, and an image capture device provided on the movable section, the robot control method comprising:

(a) capturing an image including a reference mark, the target object and a monochrome region having a difference in brightness between the monochrome region and the reference mark by the image capture device, the reference mark and the monochrome region being imaged as locus images and the locus image of the monochrome region has a size greater than a size of the locus image of the reference mark;

(b) extracting the locus image of the reference mark from the captured image; and

(c) restoring an image of the reference mark based on a point spread function of the extracted locus image of the reference mark.

7. The robot control method according to claim 6, further comprising:

(d) displaying the reference mark included in the restored image.

8. The robot control method according to claim 6, further comprising:

two or more of the reference marks that are located in a vicinity of the target object.

9. The robot system according to claim 6 wherein,

a position of the target object is determined based on the restored image.

10. The robot system according to claim 9 wherein,

the robot moves the movable section toward the target object in accordance with a determined position.