Object detection device, control device, and object detection computer program
AssigneeFanuc Corporation
InventorMasafumi OOBA
Life of this patent
Estimating the term…
Abstract
An object detection device detects, when a camera that generates an image representing a target object and the target object do not satisfy a predetermined positional relationship, a position of the target object on the image by inputting the image to a classifier, and detects, when the camera and the target object satisfy the predetermined positional relationship, a position of the target object on the image by comparing, with the image, a template representing a feature of an appearance of the target object when the target object is viewed from a predetermined direction.
Claims9
An object detection device, comprising:
- a memory configured to store a template representing a feature of an appearance of a target object when the target object is viewed from a predetermined direction;
- and
- a processor configured to
- detect, when a camera that captures the target object and generates an image representing the target object and the target object do not satisfy a predetermined positional relationship, a position of the target object on the image by inputting the image to a classifier being previously trained in such a way as to detect the target object from the image;
- and
- detect, when the camera and the target object satisfy the predetermined positional relationship, a position of the target object on the image by comparing the image with the template.
A control device of an automatic machine including at least one movable member, the control device comprising:
- a memory configured to store a template representing a feature of an appearance of a target object as a work target of the automatic machine when the target object is viewed from a predetermined direction;
- and
- a processor configured to
- when a camera that is attached to the movable member, captures the target object, and generates an image representing the target object and the target object do not satisfy a predetermined positional relationship, detect a position of the target object on the image by inputting the image to a classifier being previously trained in such a way as to detect the target object from the image, and detect a position of the target object in a real space, based on the position of the target object on the image;
- when the camera and the target object satisfy the predetermined positional relationship, detect a position of the target object on the image by comparing the image with the template, detects a position of the target object in a real space, based on the position of the target object on the image, or detect a position of the target object in a real space, based on positional information which indicates a relative position with respect to the target object and is acquired by a sensor that acquires the positional information;
- control the movable member in such a way that the camera and the target object satisfy the predetermined positional relationship, based on the position of the target object in a real space detected by using the classifier, when the camera and the target object do not satisfy the predetermined positional relationship;
- and
- control the movable member in such a way as to move the movable member to a position in which the automatic machine can perform predetermined work on the target object, based on the position of the target object in a real space detected by using the template, when the camera and the target object satisfy the predetermined positional relationship.
A non-transitory recording medium that stores an object detection computer program for causing a computer to execute:
- detecting, when a camera that captures a target object and generates an image representing the target object and the target object do not satisfy a predetermined positional relationship, a position of the target object on the image by inputting the image to a classifier being previously learned in such a way as to detect the target object from the image;
- and
- detecting, when the camera and the target object satisfy the predetermined positional relationship, a position of the target object on the image by comparing, with the image, a template representing a feature of an appearance of the target object when the target object is viewed from a predetermined direction.
Dependencies are inferred from the claim text.