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US 10,618,181 B2Granted
Robot control device, robot, and robot system
AssigneeSeiko Epson Corporation
InventorsSeiji Aiso, Nobuyuki Setsuda, Kentaro Tsukamoto
Life of this patent
Estimating the term…
Abstract
On the basis of received first region information indicating a first region, which is a region designated for an acquired picked-up image of a plurality of target objects, and second region information indicating a second region different from the first region, a robot control device causes a robot to grip the target object for which the second region not overlapping the first region of another of the target objects is designated and does not cause the robot to grip the target object, the second region for which overlaps the first region of the other target object.
Claims20
A robot control device comprising:
- a memory configured to store computer-executable instructions;
- and
- a processor configured to execute the computer-executable instructions so as to control a robot,
- wherein the processor is configured to:
- cause a camera to capture an image including a plurality of target objects;
- designate a first region with respect to each of the plurality of target objects in the captured image, the first region surrounding a periphery of each of the plurality of target objects;
- designate two second regions with respect to each of the plurality of target objects in the captured image, each of the two second regions being different from the first region, the two second regions being located directly adjacent to each of the plurality of target objects and partially overlapped with the first region;
- determine whether each target object among the plurality of the target objects has a first condition in which the two second regions of one of the plurality of target objects are spaced apart from the first region of each of the other of the plurality of target objects in the captured image;
- and
- cause the robot to grip the target object among the plurality of target objects that has the determined first condition.
7 more elements
A robot system comprising:
- a robot handling a plurality of target objects;
- a camera configured to capture an image of the plurality of target objects;
- and
- a robot control device, the robot control device having:
- a memory configured to store computer-executable instructions;
- and
- a processor configured to execute the computer-executable instructions so as to control the robot,
- wherein the processor is configured to:
- cause the camera to capture the image including the plurality of target objects;
- designate a first region with respect to each of the plurality of target objects in the captured image, the first region surrounding a periphery of each of the plurality of target objects;
- designate two second regions with respect to each of the plurality of target objects in the captured image, each of the two second regions being different from the first region, the two second regions being located directly adjacent to each of the plurality of target objects and partially overlapped with the first region;
- determine whether each target object among the plurality of the target objects has a first condition in which the two second regions of one of the plurality of target objects are spaced apart from the first region of each of the other of the plurality of target objects in the captured image;
- and
- cause the robot to grip the target object among the plurality of target objects that has the determined first condition.
11 more elements
A robot comprising:
- an end effector configured to grip one of a plurality of target objects;
- a camera configured to capture an image of the plurality of target objects;
- and
- a robot control device, the robot control device having:
- a memory configured to store computer-executable instructions;
- and
- a processor configured to execute the computer-executable instructions so as to control the robot,
- wherein the processor is configured
- cause the camera capture the image including the plurality of target objects;
- designate a first region with respect to each of the plurality of target objects in the captured image, the first region surrounding a periphery of each of the plurality of target objects;
- designate two second regions with respect to each of the plurality of target objects in the captured image, each of the two second regions being different from the first region, the two second regions being located directly adjacent to each of the plurality of target objects and partially overlapped with the first region;
- determine whether each target object among the plurality of the target objects has a first condition in which the two second regions of one of the plurality of target objects are spaced apart from the first region of each of the other of the plurality of target objects in the captured image;
- and
- cause the end effector to grip the target object among the plurality of target objects that has the determined first condition.
11 more elements
Dependencies are inferred from the claim text.