Unlock instant, AI-driven research and patent intelligence for your innovation.

Image processing device, robot, robot system, and marker

a technology of image processing and robots, applied in image analysis, programmed manipulators, image enhancement, etc., can solve the problems of difficult to improve the detection accuracy of markers, and inability to detect markers from captured images. achieve the effect of high accuracy

Inactive Publication Date: 2019-08-08
SEIKO EPSON CORP
View PDF6 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Benefits of technology

The solution effectively suppresses marker detection failures caused by external factors and enhances detection accuracy and speed, ensuring reliable marker identification in diverse image capturing conditions.

Problems solved by technology

However, since the two-dimensional code illustrated in JP-A-2013-84031 has to be detected based on the area of the first color and the area of the second color in the captured image including the aforementioned two-dimensional code, there have been cases where the detection has failed due to external factors such as dirt in these areas, variation of the aforementioned area with time, or variation of image capturing conditions such as ambient light at the time of capturing the aforementioned captured image.
In the image detection method in JP-A-2007-304732, there have been cases where it has been difficult to have compatibility between improvement in the detection accuracy of the marker and shortening of the detection time of the marker without detecting the aforementioned marker by a detection method appropriate for each of plural markers included in a captured image.
In this image detection method, there are cases where a threshold value for binarizing the aforementioned captured image in which can detect all markers are included in the captured image cannot be selected as a threshold value appropriate for detecting the marker, and thus there are cases where not all the markers included in the aforementioned captured image can be detected.
As a result, in the aforementioned image detection method, there are cases where it is difficult to improve the accuracy of detecting the marker from the aforementioned captured image.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Image processing device, robot, robot system, and marker
  • Image processing device, robot, robot system, and marker
  • Image processing device, robot, robot system, and marker

Examples

Experimental program
Comparison scheme
Effect test

first embodiment

[0139]Hereinafter, a first embodiment according to the invention is described with reference to drawings. FIG. 1 is a configuration diagram illustrating an example of a robot 20 according to the first embodiment.

Configuration of Robot 20

[0140]First, a configuration of the robot 20 is described.

[0141]The robot 20 is a double arm robot including a first arm, a second arm, a support supporting the first arm and the second arm, and a robot control device 30. The double arm robot is a robot including two arms such as a first arm and a second arm in this example. The robot 20 is a single arm robot, instead of a double arm robot. The single arm robot is a robot including one arm. For example, the single arm robot includes any one of a first arm and a second arm. The robot 20 may be a duplex arm robot including three or more arms, instead of a double arm robot.

[0142]The first arm includes a first end effector E1 and a first manipulator M1.

[0143]In this example, the first end effector E1 is ...

modified example 1 of first embodiment

[0294]Hereinafter, Modified Example 1 according to the first embodiment of the invention is described with respect to the drawings. The marker attached to the target object O described in the first embodiment may be a marker Mk1 described in this example, instead of the marker Mk. That is, in Modified Example 1 according to the first embodiment, the robot control device 30 detects the marker Mk1, instead of the marker Mk. The marker Mk1 is a marker in a configuration in which only the second figure F2 is omitted (deleted) from the marker Mk.

Details of Marker According to Modified Example 1 of First Embodiment

[0295]FIG. 15 is a diagram illustrating an example of the marker according to Modified Example 1 of the first embodiment. As illustrated in FIG. 15, differently from the marker Mk, the marker Mk1 has only the first figure F1, without having the second figure F2. That is, the marker Mk1 has the same characteristics as the marker Mk, except for not having the second figure F2. In ...

modified example 2 of first embodiment

[0306]Hereinafter, Modified Example 2 according to the first embodiment of the invention is described with reference to the drawings. Instead of the marker Mk and the marker Mk1, the marker attached the target object O described in the first embodiment above may be the marker Mk2 described in this example. That is, in Modified Example 2 according to the first embodiment, instead of the marker Mk and the marker Mk1, the robot control device 30 detects the marker Mk2. The marker Mk2 is a marker having a configuration including only one code figure FC described below in the data area that the marker Mk has, instead of the four code figures.

Details of Marker According to Modified Example 2 of First Embodiment

[0307]FIG. 18 is a diagram illustrating an example of the marker according to Modified Example 2 of the first embodiment. As illustrated in FIG. 18, differently from the marker Mk, the marker Mk2 has only one code figure FC in the data area W3. That is, the marker Mk2 has the same c...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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.

Description

CROSS REFERENCE TO RELATED APPLICATIONS[0001]This application is a divisional of U.S. patent application Ser. No. 15 / 290,324, filed Oct. 11, 2016, which claims priority to Japanese Patent Applications No. 2015-204360, filed Oct. 16, 2015, No. 2015-205301, filed Oct. 19, 2015, and No. 2015-204358, filed Oct. 16, 2015, all of which are hereby expressly incorporated by reference herein in their entireties.BACKGROUND1. Technical Field[0002]The invention relates to an image processing device, a robot, a robot system, and a marker.2. Related Art[0003]There has been research and development on a robot that detects a marker or a target object from an image and performs work according to a detected marker or a detected target object.[0004]Relating to this, a two-dimensional code including a marker configured with an area of a first color and an area of a second color adjacent to each other and a data matrix formed from binary data cells arranged in a matrix form is known (see JP-A-2013-84031...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(United States)
IPC IPC(8): G06T7/73B25J9/16
CPCG06T7/73B25J9/1697G06T2207/10004G06T2207/30204G06T7/74
Inventor INAZUMI, MITSUHIROAISO, SEIJI
Owner SEIKO EPSON CORP