Labeling method, labeling device using the same, pick-and-place system using the same, pick-and-place method using the same and non-transitory computer readable medium using the same

A device for automatically generating a picture and labeling pick-and-place region in the picture, comprising:

• a generator configured to generate a three-dimensional picture under a generated background condition, wherein the three-dimensional picture comprises a three-dimensional object image;
• a device camera configured to capture a two-dimensional picture of the three-dimensional picture, wherein the two-dimensional picture comprises a two-dimensional object image of the three-dimensional object image;
• and
• a labeling element configured to:
• recognize an object region of the two-dimensional object image;
• obtain an exposed ratio of an exposed area of an exposed region of the object region to an object area of the object region;
• determine whether the exposed ratio is greater than a preset ratio;
• and
• define the exposed region as the pick-and-place region when the exposed ratio is greater than the preset ratio.

A pick-and-place system, comprises:

• a device for automatically generating a picture and labeling pick-and-place region in the picture, comprising:
• a generator configured to generate a three-dimensional picture under a generated background condition, wherein the three-dimensional picture comprises a three-dimensional object image;
• a device camera configured to capture a two-dimensional picture of the three-dimensional picture, wherein the two-dimensional picture comprises a two-dimensional object image of the three-dimensional object image;
• and
• a labeling element configured to:
• recognize an object region of the two-dimensional object image;
• obtain an exposed ratio of an exposed area of an exposed region of the object region to an object area of the object region;
• determine whether the exposed ratio is greater than a preset ratio;
• and
• define the exposed region as the pick-and-place region when the exposed ratio is greater than the preset ratio;
• a system camera configured to capture a two-dimensional picture of a physical object, wherein the two-dimensional picture comprises a two-dimensional object image;
• a robotic arm;
• and
• a controller electrically connected to the device and configured to:
• analyze the two-dimensional object image, and obtain a second pick-and-place region of the two-dimensional object image according to information of the first pick-and-place region obtained by the device;
• and
• control the robotic arm to pick and place a pick-and-place portion of the physical object corresponding to the second pick-and-place region.

A pick-and-place method, comprises:

• generating a three-dimensional picture under a generated background condition, wherein the three-dimensional picture comprises a three-dimensional object image;
• capturing a two-dimensional picture of the three-dimensional picture, wherein the two-dimensional picture comprises a two-dimensional object image of the three-dimensional object image;
• recognizing an object region of the two-dimensional object image;
• obtaining an exposed ratio of an exposed area of an exposed region of the object region to an object area of the object region;
• determining whether the exposed ratio is greater than a preset ratio;
• defining the exposed region as the pick-and-place region when the exposed ratio is greater than the preset ratio;
• capturing a two-dimensional picture of a physical object, wherein the two-dimensional picture comprises a two-dimensional object image;
• analyzing the two-dimensional object image, and obtain a second pick-and-place region of the two-dimensional object image according to information of the first pick-and-place region obtained by the device;
• and
• controlling a robotic arm to pick and place a pick-and-place portion of the physical object corresponding to the second pick-and-place region.

A non-transitory computer readable medium storing a program causing a device for automatically generating a picture and labeling pick-and-place region in the picture to execute a method for automatically generating a picture and labeling a pick-and-place region in the picture, and the method comprises:

• generating a three-dimensional picture under a generated background condition, wherein the three-dimensional picture comprises a three-dimensional object image;
• capturing a two-dimensional picture of the three-dimensional picture, wherein the two-dimensional picture comprises a two-dimensional object image of the three-dimensional object image;
• recognizing an object region of the two-dimensional object image;
• obtaining an exposed ratio of an exposed area of an exposed region of the object region to an object area of the object region;
• determining whether the exposed ratio is greater than a preset ratio;
• and
• defining the exposed region as the pick-and-place region when the exposed ratio is greater than the preset ratio.