# US 11,110,602 B2 · Robot control device and robot system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,110,602 B2 - Document ID: US11110602B2 - Status: Granted - Kind: B2 - Application number: 16/180,166 - Filed: 2018-11-05 - Published: 2019-05-09 - Granted: 2021-09-07 - Earliest claimed: 2017-11-06 - Assignees: Seiko Epson Corporation - Applicants: Seiko Epson Corporation - Inventors: Seiji Aiso; Yukihiro Yamaguchi - Web page: https://patentgrep.com/patent/US11110602B2 ## CPC - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1697: {Vision controlled systems} - G05B 2219/40564: Recognize shape, contour of object, extract position and orientation - G05B 2219/45235: Dispensing adhesive, solder paste, for pcb - 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}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A robot control device that controls a robot and includes a processor which extracts a contour of a target based on an image of the target captured by an imaging device, generates a point sequence corresponding to the contour, and converts coordinates of the point sequence into coordinates in a robot coordinate system. Further, a robot control device that controls a robot includes a processor which extracts a contour of a target based on an image of the target captured by an imaging device and a predetermined instruction, generates a point sequence corresponding to the contour, and converts coordinates of the point sequence into coordinates in a robot coordinate system. ## Claims ### Claim 1 A robot control device comprising: a memory configured to store a program; and a processor configured to execute the program so as to: cause an imaging device to capture a first image of a target object placed on a work stand so as to obtain first image data of the target object; store the first image data into the memory; extract a contour of the target object based on the first image data; obtain a point cloud of the contour of the target object; store the point cloud of the contour of the target object into the memory; store a point sequence of the point cloud into the memory; determine a correlation between the contour and an imaging device coordinate system of the imaging device; store the correlation into the memory; cause a robot to operate after the first image data, the point cloud, the point sequence, and the correlation are stored into the memory; cause the imaging device to capture a second image of the target placed on the work stand so as to obtain second image data of the target object during the operation of the robot; perform pattern matching by comparing between the second image data and the stored contour of the target object to obtain a matched contour of the target object in the second image; convert the imaging device coordinate system relating to the point sequence of the matched contour into a robot coordinate system of the robot; and cause the robot to operate with respect to the target object based on the point sequence of the matched contour under the robot coordinate system. ### Claim 2 (depends on 1) The robot control device according to claim 1, wherein the processor is configured to dispose the point sequence shifting toward a centroid of the target object from the contour of the target object. ### Claim 3 (depends on 1) The robot control device according to claim 1, wherein the processor is configured to dispose the point sequence shifting away from a centroid of the target object from the contour of the target object. ### Claim 4 (depends on 1) The robot control device according to claim 1, wherein the processor is configured to extract a portion of the contour of the target object when the processor extracts the contour of the target object based on the first image data. ### Claim 5 A robot system comprising: a robot; an imaging device; and a robot control device that controls the robot, the robot control device including: a memory configured to store a program; and a processor configured to execute the program so as to: cause an imaging device to capture a first image of a target object placed on a work stand so as to obtain first image data of the target object; store the first image data into the memory; extract a contour of the target object based on the first image data; obtain a point cloud of the contour of the target object; store the point cloud of the contour of the target object into the memory; store a point sequence of the point cloud into the memory; determine a correlation between the contour and an imaging device coordinate system of the imaging device; store the correlation into the memory; cause a robot to operate after the first image data, the point cloud, the point sequence, and the correlation are stored into the memory; cause the imaging device to capture a second image of the target placed on the work stand so as to obtain second image data of the target object during the operation of the robot; perform pattern matching by comparing between the second image data and the stored contour of the target object to obtain a matched contour of the target object in the second image; convert the imaging device coordinate system relating to the point sequence of the matched contour into a robot coordinate system of the robot; and cause the robot to operate with respect to the target object based on the point sequence of the matched contour under the robot coordinate system.