Title:
PICKING DEVICE AND IMAGE GENERATION PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/140266
Kind Code:
A1
Abstract:
In order to provide a picking device that is capable of accurately identifying the position of a picking target, provided is a picking device wherein: one or more pieces of two-dimensional captured image data which capture the entirety of a plurality of picking targets are acquired; three-dimensional point group information relating to the entirety of the plurality of picking targets is acquired; calibration between the two-dimensional captured image data and the three-dimensional point group information is performed; top surface candidate regions of the plurality of picking targets is extracted from the three-dimensional point group information; regions corresponding to the top surface candidate regions in the two-dimensional captured image data are set as regions of interest; two-dimensional captured image data in which luminance information in a region of interest satisfies a prescribed condition is selected or synthesized to acquire image data for AI determination; the image data for AI determination is input into a trained model that has been trained in advance so as to acquire center coordinate information of each picking target in the image data for AI determination; and picking by a picking robot is controlled on the basis of the center coordinate information and height information.
Inventors:
IWASAKI TORU (JP)
Application Number:
PCT/JP2023/001255
Publication Date:
July 27, 2023
Filing Date:
January 18, 2023
Export Citation:
Assignee:
KOWA CO (JP)
International Classes:
B25J13/08; G06T7/73
Foreign References:
| JP2015114292A | 2015-06-22 | |||
| JP2019136828A | 2019-08-22 | |||
| US9102055B1 | 2015-08-11 | |||
| JP2015114292A | 2015-06-22 | |||
| JP2019136828A | 2019-08-22 | |||
| US9102055B1 | 2015-08-11 |
Attorney, Agent or Firm:
ASAMI Koji et al. (JP)
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