Title:
IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, IMAGE PROCESSING PROGRAM AND RECORDING MEDIUM READABLE BY COMPUTER AS WELL AS EQUIPMENT WITH THE SAME RECORDED
Document Type and Number:
Japanese Patent JP2018144167
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To allow more solutions to be obtained as a result of consideration of solutions for gripping, even if the solutions for gripping cannot be obtained in setting a robot device.SOLUTION: The robot device comprises: a three-dimensional search part 8k that performs three-dimensional search for specifying a posture and a position of each work-piece from an input image using a plurality of search models registered by a search model registration part 8b; a gripping candidate recognition part 8z that specifies a position and a posture of a surface of a work-piece corresponding to a search model which is successful in three-dimensional search by the three-dimensional search part 8k as well as a position and a posture of a surface of a work-piece corresponding to a search model, which is unsuccessful in the three-dimensional search or in which an index showing reliability of the search is lower than a prescribed value, using positional relation information relative to the search model which is successful in the three-dimensional search, and recognizes a gripping position designated on the specified surface of the work-piece as a gripping candidate position; and a three-dimensional pick determination part 8l that determines whether or not the gripping candidate position recognized by the gripping candidate recognition part 8z can be gripped by an end effector.SELECTED DRAWING: Figure 81
Inventors:
SHIMODAIRA MASATATSU
TAKAYAMA NAOKI
TAKAYAMA NAOKI
Application Number:
JP2017040982A
Publication Date:
September 20, 2018
Filing Date:
March 03, 2017
Export Citation:
Assignee:
KEYENCE CO LTD
International Classes:
B25J13/08; G01B11/00; G01B11/25; G01B11/26; G01B21/00; G01B21/20; G01B21/22; G06T7/70
Attorney, Agent or Firm:
Toshisu Koji
Yasuhiro Toyosu
Yasuhiro Toyosu