# US 10,311,596 B2 · Image processing device, robot, robot system, and marker > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,311,596 B2 - Document ID: US10311596B2 - Status: Granted - Kind: B2 - Application number: 15/290,324 - Filed: 2016-10-11 - Published: 2017-04-20 - Granted: 2019-06-04 - Earliest claimed: 2015-10-16 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Mitsuhiro Inazumi; Seiji Aiso - Web page: https://patentgrep.com/patent/US10311596B2 ## CPC - G06T 7/73: using feature-based methods - B25J 9/1697: {Vision controlled systems} - G06T 7/74: {involving reference images or patches} - G06T 2207/10004: Still image; Photographic image - G06T 2207/30204: Marker - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## 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 ### Claim 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. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 2) 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. ### Claim 4 (depends on 1) 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. ### Claim 5 (depends on 1) 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. ### Claim 6 (depends on 5) 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. ### Claim 7 (depends on 1) A robot comprising: the control device according to claim 1. ### Claim 8 (depends on 2) A robot comprising: the control device according to claim 2. ### Claim 9 (depends on 3) A robot comprising: the control device according to claim 3. ### Claim 10 (depends on 4) A robot comprising: the control device according to claim 4. ### Claim 11 (depends on 5) A robot comprising: the control device according to claim 5. ### Claim 12 (depends on 6) A robot comprising: the control device according to claim 6. ### Claim 13 (depends on 7) A robot system comprising: an image capturing device capturing a captured image including a marker; and a robot according to claim 7. ### Claim 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. ### Claim 15 (depends on 14) 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. ### Claim 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. ### Claim 17 (depends on 16) 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. ### Claim 18 (depends on 16) 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. ### Claim 19 (depends on 18) 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.