Robot device, method of controlling robot device, computer program, and program storage medium
First Claim
Patent Images
1. A device, comprising:
- circuitry configured tocontrol an image capturing device to capture a first image of an object, anddetermine whether there is dirt on a lens of the image capturing device or whether there is dirt on the object by comparing the first image with a reference image of the object, which is separate from the lens;
wherein, in a case that it is determined that there is dirt on the lens of the image capturing device, the circuitry controls a movable part to clean the lens of the image capturing device, and outputs a notification in response to a result of comparison between a second image of the object captured by the image capturing device after the movable part cleans the lens and at least one of the reference image or the first image.
1 Assignment
0 Petitions
Accused Products
Abstract
Provided is an excellent robot device capable of preferably detecting difference between dirt and a scratch on a lens of a camera and difference between dirt and a scratch on a hand.
A robot device 100 detects a site in which there is the dirt or the scratch using an image of the hand taken by a camera 305 as a reference image. Further, this determines whether the detected dirt or scratch is due to the lens of the camera 305 or the hand by moving the hand. The robot device 100 performs cleaning work assuming that the dirt is detected, and then this detects the difference between the dirt and the scratch depending on whether the dirt is removed.
33 Citations
11 Claims
-
1. A device, comprising:
circuitry configured to control an image capturing device to capture a first image of an object, and determine whether there is dirt on a lens of the image capturing device or whether there is dirt on the object by comparing the first image with a reference image of the object, which is separate from the lens; wherein, in a case that it is determined that there is dirt on the lens of the image capturing device, the circuitry controls a movable part to clean the lens of the image capturing device, and outputs a notification in response to a result of comparison between a second image of the object captured by the image capturing device after the movable part cleans the lens and at least one of the reference image or the first image. - View Dependent Claims (2, 3, 4, 5, 8, 10, 11)
-
6. A method of controlling a device, comprising:
-
controlling an image capturing device to capture a first image of an object, and determining whether there is dirt on a lens of an image capturing device or whether there is dirt on the object by comparing the first image with a reference image of the object, which is separate from the lens; wherein, in a case that it is determined that there is dirt on the lens of the image capturing device, the method further comprises controlling a movable part to clean the lens of the image capturing device, and outputting a notification in response to a result of comparison between a second image of the object captured by the image capturing device after the movable part cleans the lens and at least one of the reference image or the first image.
-
-
7. A non-transitory program storage medium storing a control program of a robot device, which allows a computer to execute:
-
controlling an image capturing device to capture a first image of an object, and determining whether there is dirt on a lens of an image capturing device or whether there is dirt on the object by comparing the first image with a reference image of the object, which is separate from the lens; wherein, in a case that it is determined that there is dirt on the lens of the image capturing device, the method further comprises controlling a movable part to clean the lens of the image capturing device, and outputting a notification in response to a result of comparison between a second image of the object captured by the image capturing device after the movable part cleans the lens and at least one of the reference image or the first image.
-
-
9. A system, comprising:
-
an image capturing device; a movable part; and circuitry configured to control the image capturing device to capture a first image of an object, and determine whether there is dirt on a lens of the image capturing device or whether there is dirt on the object by comparing the first image with a reference image of the object which is separate from the lens; wherein, when it is determined that there is dirt on the lens of the image capturing device, the circuitry controls a movable part to clean the lens of the image capturing device, and outputs a notification in response to a result of comparison between a second image of the object captured by the image capturing device after the movable part cleans the lens and at least one of the reference image or the first image.
-
Specification