Robot system, control method, image processing apparatus, image processing method, method of manufacturing products, and recording medium
AssigneeCanon Kabushiki Kaisha
InventorsAkihiro Oda, Taishi Matsumoto, Yuichiro Kudo
Life of this patent
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Abstract
A robot system includes a robot, an image capture apparatus, an image processing portion, and a control portion. The image processing portion is configured to specify in an image of a plurality of objects captured by the image capture apparatus, at least one area in which a predetermined object having a predetermined posture exists, and obtain information on position and/or posture of the predetermined object in the area. The control portion is configured to control the robot, based on the information on position and/or posture of the predetermined object, for the robot to hold the predetermined object.
Claims28
A robot system comprising:
- a robot;
- an image capture apparatus;
- an image processing portion configured to specify, in an image of a plurality of objects captured by the image capture apparatus, at least one area in which a predetermined object having a predetermined posture exists, and obtain information on position and/or posture of the predetermined object in the at least one area;
- and
- a control portion configured to control the robot, based on the information on position and/or posture of the predetermined object, for the robot to hold the predetermined object,
- wherein the image processing portion is configured to perform:
- a first capturing process for capturing the plurality of objects and specifying the at least one area in which the predetermined object having the predetermined posture exists, and
- a second capturing process to obtain information about the position and/or posture of the predetermined object in the at least one area by capturing a capturing area smaller than a capturing area captured in the first capturing process.
A control method of a robot system that includes a robot and an image capture apparatus, the method comprising:
- specifying, by an image processing portion, in an image of a plurality of objects captured by the image capture apparatus, at least one area in which a predetermined object having a predetermined posture exists, and obtaining, by the image processing portion, information on position and/or posture of the predetermined object in the at least one area;
- and
- controlling, by a control portion, the robot based on the information on position and/or posture of the object, for the robot to hold the predetermined object,
- wherein the image processing portion performs:
- a first capturing process of capturing the plurality of objects and specifying the at least one area in which the predetermined object having the predetermined posture exists, and
- a second capturing process of obtaining information about the position and/or posture of the predetermined object in the at least one area by capturing a capturing area smaller than a capturing area captured in the first capturing process.
An image processing apparatus comprising:
- an image processing portion configured to specify in a captured image of a plurality of objects, at least one area in which a predetermined object having a predetermined posture exists, and obtain information on position and/or posture of the predetermined object in the at least one area,
- the image processing portion is configured to perform:
- a first capturing process for capturing the plurality of objects and specifying the at least one area in which the predetermined object having the predetermined posture exists, and
- a second capturing process to obtain information about the position and/or posture of the predetermined object in the at least one area by capturing a capturing area smaller than a capturing area captured in the first capturing process.
An image processing method comprising:
- specifying, by an image processing portion, in a captured image of a plurality of objects, at least one area in which a predetermined object having a predetermined posture exists;
- and
- obtaining, by the image processing portion, information on position and/or posture of the predetermined object in the area,
- wherein the image processing portion performs:
- a first capturing process for capturing the plurality of objects and specifying the at least one area in which the predetermined object having the predetermined posture exists, and
- a second capturing process to obtain information about the position and/or posture of the predetermined object in the at least one area by capturing a capturing area smaller than a capturing area captured in the first capturing process.
Dependencies are inferred from the claim text.