Abstract: A 3D image-capturing device that includes at least one camera that acquires a 2D image and distance information of an object, a monitor that displays the 2D image acquired by the camera, and at least one processor including hardware. The processor acquires a first area for which the distance information is not required in the 2D image displayed on the monitor, and sets an image-capturing condition so that the amount of distance information acquired by the camera in the acquired first area is less than or equal to a prescribed first threshold and the amount of distance information acquired by the camera in a second area, which is at least part of an area other than the first area, is greater than a prescribed second threshold that is larger than the first threshold.

Abstract: A control device according to the present invention comprises a visual sensor and a position information generating unit that generates a distance image of a workpiece. The control device comprises a cutting-plane line setting unit that sets, via an operation performed on the distance image of the workpiece, a cutting-plane line where a surface of the workpiece is cut. The control device comprises a cross-sectional image generating unit that generates a two-dimensional cross-sectional image on the basis of position information, of the surface of the workpiece, that corresponds to the cutting-plane line set by the cutting-plane line setting unit.

Abstract: Provided is an imaging condition adjusting device for adjusting an imaging condition for capturing a distance image of an object, the imaging condition adjusting device comprising: an acquiring unit for acquiring from a 3-dimensional camera a distance image including the object disposed in the field of view of the 3-dimensional camera; a reading unit for reading a CAD model of the object; a calculating and processing unit for performing matching between distance images captured by the 3-dimensional camera under a plurality of generated imaging conditions and the CAD model, and for calculating a match between the captured distance images and the CAD model; and an imaging condition optimization unit for setting in the 3-dimensional camera an imaging condition such that the match calculated by the calculating and processing unit becomes greater than or equal to a predetermined value set in advance.

Abstract: The objective of the present invention is to provide a robot system with which, if the position of a robot becomes displaced, it is easy to perform work by employing a camera or the like to apply a three-dimensional correction. This robot system is provided with: a robot 2; a robot conveying device 3 on which the robot is mounted, for moving the robot to a predetermined work space; at least two target marks 4 installed in the work space; a target mark position acquiring unit 5 for obtaining a three-dimensional position by using a vision sensor provided on the robot 2 to perform stereoscopic measurement of the at least two target marks 4; a displacement amount acquiring unit 6 for obtaining the displacement amount between the robot 2 and a desired relative position in the work space, from the acquired three-dimensional position; and a robot control unit 7 for activating the robot 2 using a value adjusted from a prescribed activation amount, using the acquired displacement amount.

Abstract: A control device includes a processing unit for processing a first image captured by a first camera and a second image captured by a second camera. The processing unit performs control using block matching. A first determination value on a block matching score and a second determination value greater than the first determination value are determined in advance. The processing unit generates a first distance image using the first determination value and a second distance image using the second determination value. The processing unit adopts distance information for a pixel contained in the first distance image for a region corresponding to the contour of a workpiece and distance information for a pixel contained in the second distance image for a region other than the region corresponding to the contour to generate a synthesized distance image.

Abstract: A 3D image-capturing device that includes at least one camera that acquires a 2D image and distance information of an object, a monitor that displays the 2D image acquired by the camera, and at least one processor including hardware. The processor acquires a first area for which the distance information is not required in the 2D image displayed on the monitor, and sets an image-capturing condition so that the amount of distance information acquired by the camera in the acquired first area is less than or equal to a prescribed first threshold and the amount of distance information acquired by the camera in a second area, which is at least part of an area other than the first area, is greater than a prescribed second threshold that is larger than the first threshold.

Abstract: A three-dimensional imaging device includes a distance image acquiring unit configured to acquire distance images by switching exposure conditions; an effective pixel count calculation unit that calculates an effective pixel count; an ineffective pixel identifying unit that identifies ineffective pixels; and an exposure condition adjusting unit that sets the exposure conditions. The exposure condition adjusting unit sets a reference exposure condition, determines whether a reference effective pixel count is equal to or less than a first threshold value, and, in response to the reference effective pixel count being equal to or less than the first threshold value, sets an additional exposure condition that maximizes a total effective pixel count of a total distance image, and repeats additional setting of the additional exposure condition using the total distance image as a new reference distance image until the total effective pixel count becomes larger than the first threshold value.

Abstract: An image processing apparatus includes a two-dimensional image storage unit configured to store a plurality of two-dimensional image data captured by photographing an identical imaging target object under different exposure conditions; a distance image storage unit configured to store distance image data including a pixel array of a known relationship to a pixel array of the two-dimensional image data; a pixel extraction unit configured to extract, among pixels in each of the two-dimensional image data, a first pixel at which a difference in brightness between identical pixels is less than a predetermined value; and a distance image adjusting unit configured to specify a second pixel of the distance image data at a position corresponding to the first pixel in the pixel array, and to set the second pixel as a non-imaging pixel in the distance image data.

Abstract: An object inspection device capable of sharing an image or an inspection parameter for surface inspection of an object to be inspected among a plurality of object inspection devices. The object inspection device includes a camera, a robot relatively positioning the object and the camera, an index, and a controller controlling the camera and the robot. The controller is configured to control the robot to position the index and the camera at any relative position, cause the camera to image the index to acquire imaged data of the index, hold the robot at a position where the index is disposed at an index reference point in the image coordinate system based on the imaged data and coordinate data of the index reference point, and adjust an inspection position using the position of the robot at this time.

Abstract: An inspection system includes a first imaging device provided in a first inspection device; a second imaging device provided in a second inspection device; a first controller; and a second controller, wherein the first controller acquires a particular feature of a calibration jig, which is positioned in the first inspection device, from an image of the calibration jig obtained by the first imaging device as first feature data, and the second controller acquires the particular feature of the calibration jig, which is positioned in the second inspection device, from an image of the calibration jig obtained by the second imaging device as second feature data. The correction amount needed for correcting the image obtained by the second imaging device so that the second feature data matches the first feature data is acquired, and the second inspection device corrects an image of an inspection subject using this correction amount.

Abstract: An image processing apparatus includes a two-dimensional image storage unit configured to store a plurality of two-dimensional image data captured by photographing an identical imaging target object under different exposure conditions; a distance image storage unit configured to store distance image data including a pixel array of a known relationship to a pixel array of the two-dimensional image data; a pixel extraction unit configured to extract, among pixels in each of the two-dimensional image data, a first pixel at which a difference in brightness between identical pixels is less than a predetermined value; and a distance image adjusting unit configured to specify a second pixel of the distance image data at a position corresponding to the first pixel in the pixel array, and to set the second pixel as a non-imaging pixel in the distance image data.

Abstract: A three-dimensional imaging device includes a distance image acquiring unit configured to acquire distance images by switching exposure conditions; an effective pixel count calculation unit that calculates an effective pixel count; an ineffective pixel identifying unit that identifies ineffective pixels; and an exposure condition adjusting unit that sets the exposure conditions. The exposure condition adjusting unit sets a reference exposure condition, determines whether a reference effective pixel count is equal to or less than a first threshold value, and, in response to the reference effective pixel count being equal to or less than the first threshold value, sets an additional exposure condition that maximizes a total effective pixel count of a total distance image, and repeats additional setting of the additional exposure condition using the total distance image as a new reference distance image until the total effective pixel count becomes larger than the first threshold value.

Abstract: A device capable of easily defining an area other than a surface to be inspected of a workpiece. The device includes a drawing acquisition section for acquiring drawing data of the workpiece; a designation reception section for receiving specification of the surface to be inspected of the workpiece in the drawing data; and a non-inspection area calculation section for calculating, as a non-inspection area, an image area other than the surface to be inspected in an image in a view of the imaging section when the workpiece and the imaging section are positioned at an imaging position at which at least a part of the surface to be inspected as specified falls within the view of the imaging section.

Abstract: An apparatus capable of quickly constructing an operation program that causes an inspection system to carry out an operation for imaging the surface to be inspected. This apparatus includes a drawing acquisition section configured to acquire drawing data of the workpiece, a designation receiving section configured to accept designation of the surface to be inspected in the drawing data, a target position acquisition section configured to acquire, as a target position, a position of the movement mechanism when the workpiece and the imaging section are positioned such that the surface to be inspected is within a field of view of the imaging section, and a program generation section configured to generate an operation program for controlling a movement operation of the movement mechanism and an imaging operation of the imaging section on the basis of the target position.

Abstract: An object inspection system enabling a quick and easy registering of a master image and an inspection image when there is a displacement between the master image and the inspection image. The object inspection system includes an imaging section, a movement machine configured to move a first object or a second object and an imaging section relative to each other, a positional data acquisition section configured to acquire positional data of the movement machine when the movement machine disposes the first object or the second object and the imaging section at a relative position, an image data acquisition section configured to acquire a first image of the first object and a second image of the second object, and an image registering section configured to register the first image and the second image.

Abstract: A projection pattern creation apparatus is configured to capture an image of a projection pattern projected from a pattern projection device by an imaging device to measure a three-dimensional position and/or a shape of an object. The projection pattern creation apparatus includes: a projection pattern deformation unit configured to reproduce deformation when a projected projection pattern is included in an image captured by the imaging device on the basis of characteristics of optical systems of the pattern projection device and the imaging device, and/or a positional relation between the pattern projection device and the imaging device and generate a deformation projection pattern; and a first projection pattern improvement unit configured to generate a second projection pattern obtained by improving a first projection pattern, on a basis of a first deformation projection pattern generated when the first projection pattern is projected toward evaluation surfaces having different positions and inclinations.

Abstract: An object inspection device capable of sharing an image or an inspection parameter for surface inspection of an object to be inspected among a plurality of object inspection devices. The object inspection device includes a camera, a robot relatively positioning the object and the camera, an index, and a controller controlling the camera and the robot. The controller is configured to control the robot to position the index and the camera at any relative position, cause the camera to image the index to acquire imaged data of the index, hold the robot at a position where the index is disposed at an index reference point in the image coordinate system based on the imaged data and coordinate data of the index reference point, and adjust an inspection position using the position of the robot at this time.

Abstract: The robot system includes a carriage for supporting a robot. The robot system includes a camera, and a mark disposed in a workspace. The control device includes a position acquisition part that is configured to acquire a position of the mark on the basis of an image captured by the camera, and a determination part configured to determine whether or not the robot is located at a position within a predetermined determination range. When the determination part determines that the position of the robot deviates from the determination range, the display device displays the direction and the movement amount in which the carriage is to be moved.

Abstract: An object recognition apparatus includes a two-dimensional sensor for acquiring two-dimensional information of an object at a first clock time, a three-dimensional sensor for acquiring three-dimensional information of the object at a second clock time, a storage unit that associates and stores a first position of the two-dimensional sensor and the two-dimensional information, and a second position of the three-dimensional sensor and the three-dimensional information, and an arithmetic operation unit that calculates the amount of change in orientation between the orientation of the two-dimensional sensor and the orientation of the three-dimensional sensor based on the stored first position and second position, that converts the three-dimensional information acquired at the second position into three-dimensional information acquired at the first position based on the calculated amount of change in orientation, and that calculates the state of the object based on the converted three-dimensional information and t

Abstract: An object inspection system enabling a quick and easy registering of a master image and an inspection image when there is a displacement between the master image and the inspection image. The object inspection system includes an imaging section, a movement machine configured to move a first object or a second object and an imaging section relative to each other, a positional data acquisition section configured to acquire positional data of the movement machine when the movement machine disposes the first object or the second object and the imaging section at a relative position, an image data acquisition section configured to acquire a first image of the first object and a second image of the second object, and an image registering section configured to register the first image and the second image.