US 12,134,191 B2
Robot system
Kouta I, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 17/999,844
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Jun. 17, 2021, PCT No. PCT/JP2021/023073
§ 371(c)(1), (2) Date Nov. 23, 2022,
PCT Pub. No. WO2021/261378, PCT Pub. Date Dec. 30, 2021.
Claims priority of application No. 2020-108600 (JP), filed on Jun. 24, 2020.
Prior Publication US 2023/0173668 A1, Jun. 8, 2023
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); G06T 7/73 (2017.01); G06V 10/40 (2022.01)
CPC B25J 9/1612 (2013.01) [B25J 9/1697 (2013.01); B25J 13/08 (2013.01); G06T 7/73 (2017.01); G06V 10/40 (2022.01); G06T 2207/10028 (2013.01); G06V 2201/07 (2022.01)] 5 Claims
OG exemplary drawing
 
1. A robot system, comprising:
an imaging apparatus configured to capture an image of a target object;
a robot configured to pick up the target object;
an image processing apparatus configured to, based on the image captured by the imaging apparatus, specify a position of the target object; and
a robot controller configured to cause the robot to pick up the target object having the position specified by the image processing apparatus,
wherein
the image processing apparatus has
a teaching unit configured to set a search range in which it is possible to obtain a feature amount for a pattern belonging to the target object in the image captured by the imaging apparatus,
a recognition unit configured to extract the pattern having the feature amount within the search range in the image captured by the imaging apparatus, and
a correction unit configured to, based on the feature amount for the pattern extracted by the recognition unit, correct the search range.