US 12,290,933 B2
Method and apparatus for automatically recognizing location of object
Hyun Chul Kang, Daejeon (KR); Min Gi Kim, Daejeon (KR); Ji Yeon Son, Daejeon (KR); and Hyonyoung Han, Daejeon (KR)
Assigned to ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed by ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed on Jul. 29, 2022, as Appl. No. 17/876,653.
Claims priority of application No. 10-2021-0109566 (KR), filed on Aug. 19, 2021; and application No. 10-2022-0078957 (KR), filed on Jun. 28, 2022.
Prior Publication US 2023/0059054 A1, Feb. 23, 2023
Int. Cl. B25J 9/16 (2006.01); G06T 7/11 (2017.01); G06T 7/62 (2017.01); G06T 7/73 (2017.01); G06V 10/20 (2022.01); G06V 10/25 (2022.01); G06V 10/26 (2022.01); G06V 10/56 (2022.01)
CPC B25J 9/1669 (2013.01) [B25J 9/1661 (2013.01); B25J 9/1697 (2013.01); G06T 7/11 (2017.01); G06T 7/62 (2017.01); G06T 7/74 (2017.01); G06V 10/25 (2022.01); G06V 10/255 (2022.01); G06V 10/267 (2022.01); G06V 10/56 (2022.01); G06V 2201/06 (2022.01)] 17 Claims
OG exemplary drawing
 
1. A method for automatically recognizing a location of an object so that a robot can grasp and transfer the object in an apparatus for automatically recognizing a location of an object, the method comprising:
obtaining one frame from image data of a product produced by a manufacturing facility;
setting a reference region of interest (ROI) and a maximum ROI in the frame, wherein a plurality of random sampling ROIs are sampled randomly by a set number around the reference ROI within the maximum ROI;
detecting location and shape information of the product based on a hue, saturation, value (HSV) color space using the frame;
generating a recipe for the robot to grasp and transfer the product based on the location and shape information of the product; and
transmitting the recipe to the robot.