US 12,214,489 B2
Control device, control system, control method, and recording medium with control program recorded thereon
Mineto Satoh, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Appl. No. 17/909,065
Filed by NEC Corporation, Tokyo (JP)
PCT Filed Mar. 31, 2020, PCT No. PCT/JP2020/014875
§ 371(c)(1), (2) Date Sep. 2, 2022,
PCT Pub. No. WO2021/199305, PCT Pub. Date Oct. 7, 2021.
Prior Publication US 2023/0089195 A1, Mar. 23, 2023
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01)
CPC B25J 13/089 (2013.01) 9 Claims
OG exemplary drawing
 
1. A control device comprising:
a memory storing instructions; and
one or more processors configured to execute the instructions to:
calculate a parameter representing transformation between a first coordinate system for image information obtained by capturing an image of a target to be controlled and a second coordinate system that defines an operation of the target to be controlled by using position information representing a position of the target to be controlled in the first coordinate system and position information representing a position of the target to be controlled in the second coordinate system;
perform a predetermined calculation on the parameter with respect to the position of the target to be controlled in the image information and the position of the target to be controlled based on control information;
calculate a distribution of the position of the target to be controlled in the first coordinate system and a distribution of the position of the target to be controlled in the second coordinate system;
calculate the position information of the target to be controlled in the second coordinate system by using image information including the target to be controlled and the calculated parameter; and
control the target to be controlled based on the calculated position information of the target to be controlled.