Image processing device, robot, robot system, and marker

Abstract

An image processing device that detects a marker, in which the marker includes a first figure in which three or more figure centers are overlapped with each other and a data area provided on an internal or external portion of the first figure, and the image processing device detects the first figure and detects the data area based on the figure centers of the first figure.

What is claimed is: 
     
         1 . An image processing device comprising:
 a processor configured to detect a marker,   wherein the marker comprises a first figure including three or more figure centers overlapped with each other and a data area provided on at least one of an internal or an external portion of the first figure, and   wherein the processor is configured to determine a first threshold for binarizing a part of an image including the marker based on a number corresponding to the marker detected in the image.   
     
     
         2 . The image processing device according to  claim 1 ,
 wherein the processor is configured to determine the first threshold based on the number corresponding to the marker detected in the image by changing a second threshold.   
     
     
         3 . The image processing device according to  claim 2 ,
 wherein the processor is configured to determine the first threshold based on the number corresponding to the marker and a number of areas in the image binarized based on the second threshold.   
     
     
         4 . The image processing device according to  claim 1 ,
 wherein the processor is configured to detect an object in the image based on the first threshold.   
     
     
         5 . A robot comprising:
 an image processing device including a processor,   wherein the processor is configured to:
 detect a marker, the marker including: 
 a first figure including three or more figure centers overlapped with each other, and 
 a data area provided on at least one of an internal or an external portion of the first figure, and 
   determine a first threshold for binarizing a part of an image including the marker based on a number corresponding to the marker detected in the image.   
     
     
         6 . The robot according to  claim 5 ,
 wherein the processor is configured to determine the first threshold based on the number corresponding to the marker detected in the image by changing a second threshold.   
     
     
         7 . The robot according to  claim 6 ,
 wherein the processor is configured to determine the first threshold based on the number corresponding to the marker and a number of areas in the image binarized based on the second threshold.   
     
     
         8 . The robot according to  claim 5 ,
 wherein the processor is configured to detect an object in the image based on the first threshold.   
     
     
         9 . A robot system comprising:
 a robot,   an image processing device including a processor,   a robot controller configured to control the robot based on an image captured by the image processing device,   wherein the processor is configured to:   detect a marker, the marker including:
 a first figure including three or more figure centers overlapped with each other, and 
 a data area provided on at least one of an internal or an external portion of the first figure, and 
   determine a first threshold for binarizing a part of the image including the marker based on a number corresponding to marker detected in the image.   
     
     
         10 . The robot system according to  claim 9 ,
 wherein the processor is configured to determine the first threshold based on the number corresponding to the marker detected in the image by changing a second threshold.   
     
     
         11 . The robot system according to  claim 10 ,
 wherein the processor is configured to determine the first threshold based on the number corresponding to the marker and a number of areas in the image binarized based on the second threshold.   
     
     
         12 . The robot system according to  claim 9 ,
 wherein the processor is configured to detect an object in the image based on the first threshold.