Patent Document ID: 8315455
Application ID: 12610523
Patent Status: 1

Claim One:
1. A robot system, comprising: a robot having a movable section, the movable section moving at a predetermined speed; a marker including a reference mark, the reference mark being located in the vicinity of a target object to which the movable section moves; an image capture device that includes a shutter, the image capture device being provided on the movable section, and capturing the reference mark as a blurred image while the movable section is in motion by opening the shutter for a predetermined exposure time period, the image capture device outputting the blurred image including a locus image of the reference mark; an extractor that extracts the locus image of the reference mark from the blurred image; an image restoration device that restores a non-blurred image of the reference mark based on a point spread function of the extracted locus image of the reference mark; a processor that computes a position of the target object on the basis of the restored non-blurred image; and a controller that controls the robot so as to move the movable section toward the target object in accordance with the computed position, wherein a size of the marker is determined in accordance with the predetermined exposure time period and the predetermined speed.