Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model; a posture condition setting unit 16 that sets a condition related to a posture taken by the workpiece model, as a posture condition, when the workpiece model set by the workpiece model setting unit 11 is disposed in a virtual work space as a virtually formed work space; a bulk pile data generating unit 20 that generates bulk pile data of the plurality of workpiece models piled up in the virtual work space, in accordance with the posture condition set by the posture condition setting unit 16; and a picking motion simulating unit 30 that executes a picking motion simulation for verifying the picking motion of the workpiece models in the virtual work space, with respect to the bulk pile data generated by the bulk pile data generating unit 20.

Abstract: A three-dimensional image processing apparatus includes: an image capturing part for acquiring reflected light to capture a plurality of pattern projected images; a distance image generating part capable of generating a distance image based on the plurality of pattern projected images; a tone conversion part for tone-converting the distance image generated in the distance image generating part to a low-tone distance image that has a lower number of tones than the number of tones of the distance image and is obtained by replacing height information in the distance image with a shade value of the image; and a tone conversion condition automatic setting part for automatically setting, based on the height information in the distance image, a tone conversion parameter for prescribing a tone conversion condition at the time of tone-converting the distance image to the low-tone distance image in the tone conversion part.

Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model; a posture condition setting unit 16 that sets a condition related to a posture taken by the workpiece model, as a posture condition, when the workpiece model set by the workpiece model setting unit 11 is disposed in a virtual work space as a virtually formed work space; a bulk pile data generating unit 20 that generates bulk pile data of the plurality of workpiece models piled up in the virtual work space, in accordance with the posture condition set by the posture condition setting unit 16; and a picking motion simulating unit 30 that executes a picking motion simulation for verifying the picking motion of the workpiece models in the virtual work space, with respect to the bulk pile data generated by the bulk pile data generating unit 20.

Abstract: The robot simulation apparatus includes: a picking motion simulating unit 30 that verifies a picking motion from a bulk pile of workpiece models in a virtual work space, with respect to bulk pile data generated by a bulk pile data generating unit 20. A physical simulation unit 60 is configured to re-execute a physical simulation with respect to the bulk pile data of a state obtained after one workpiece model is picked up after the picking motion simulating unit 30 grasps the workpiece model and at least a picking-up motion is started. The bulk pile data generating unit 20 is configured to update bulk pile data according to the result of the physical simulation executed by the physical simulation unit 60 during the simulation of the picking motion by the picking motion simulating unit 30.

Abstract: A head section includes: a light projecting part for projecting incident light as structured illumination of a predetermined projection pattern; the image capturing part for acquiring reflected light that is projected by the light projecting part and reflected on an inspection target, to capture a plurality of pattern projected images; a distance image generating part capable of generating a distance image based on the plurality of pattern projected images captured in the image capturing part; a head-side storage part for holding the distance image generated in the distance image generating part; and a head-side communication part for transmitting the distance image held in the storage part to the controller section. The controller section includes: a controller-side communication part for communicating with the head-side communication part; and an inspection executing part for executing predetermined inspection processing on the distance image received in the controller-side communication part.

Abstract: A head section includes: a light projecting part for projecting incident light as structured illumination of a predetermined projection pattern; the image capturing part for acquiring reflected light that is projected by the light projecting part and reflected on an inspection target, to capture a plurality of pattern projected images; a distance image generating part capable of generating a distance image based on the plurality of pattern projected images captured in the image capturing part; a head-side storage part for holding the distance image generated in the distance image generating part; and a head-side communication part for transmitting the distance image held in the storage part to the controller section. The controller section includes: a controller-side communication part for communicating with the head-side communication part; and an inspection executing part for executing predetermined inspection processing on the distance image received in the controller-side communication part.

Abstract: A three-dimensional image processing apparatus includes: an image capturing part for acquiring reflected light to capture a plurality of pattern projected images; a distance image generating part capable of generating a distance image based on the plurality of pattern projected images; a tone conversion part for tone-converting the distance image generated in the distance image generating part to a low-tone distance image that has a lower number of tones than the number of tones of the distance image and is obtained by replacing height information in the distance image with a shade value of the image; and a tone conversion condition automatic setting part for automatically setting, based on the height information in the distance image, a tone conversion parameter for prescribing a tone conversion condition at the time of tone-converting the distance image to the low-tone distance image in the tone conversion part.

Abstract: The invention provides an image processing apparatus, capable of detecting even a defect that exists in proximity to a contour line with high accuracy and determining a non-defective item with high accuracy. Edge intensities in two different directions are calculated for each pixel in the obtained first multivalued images, and a mean value of the edge intensities is calculated for each pixel in the first multivalued images. An intercorrelation distribution region of the edge intensities is calculated for each pixel in first multivalued images with the calculated mean value being the center. Edge intensities are calculated for each pixel in a second multivalued image of a determination target object, and determination is made as to whether the calculated edge intensities for each pixel in the second multivalued image are included in the calculated intercorrelation distribution region of the edge intensities for each pixel in the first multivalued images.

Abstract: A plurality of first multivalued images of non-defective items picked up by an image pickup device are obtained, and a plurality of characteristic amounts at least including a pixel value of a color component and edge intensities in two different directions are extracted for each pixel in the obtained first multivalued images. Selection of any one of the plurality of extracted characteristic amounts is received, and the characteristic amount of which selection is received is extracted, whereby a distribution range for determining the non-defective item is calculated. A second multivalued image of a determination target object is obtained, and the characteristic amount of which selection is received is extracted for each pixel in the obtained second multivalued image, whereby determination is made as to whether the characteristic amount is included in the distribution range corresponding to the extracted characteristic amount.

Abstract: The invention provides an image processing apparatus, capable of detecting even a defect that exists in proximity to a contour line with high accuracy and determining a non-defective item with high accuracy. Edge intensities in two different directions are calculated for each pixel in the obtained first multivalued images, and a mean value of the edge intensities is calculated for each pixel in the first multivalued images. An intercorrelation distribution region of the edge intensities is calculated for each pixel in first multivalued images with the calculated mean value being the center. Edge intensities are calculated for each pixel in a second multivalued image of a determination target object, and determination is made as to whether the calculated edge intensities for each pixel in the second multivalued image are included in the calculated intercorrelation distribution region of the edge intensities for each pixel in the first multivalued images.

Abstract: A plurality of first multivalued images of non-defective items picked up by an image pickup device are obtained, and a plurality of characteristic amounts at least including a pixel value of a color component and edge intensities in two different directions are extracted for each pixel in the obtained first multivalued images. Selection of any one of the plurality of extracted characteristic amounts is received, and the characteristic amount of which selection is received is extracted, whereby a distribution range for determining the non-defective item is calculated. A second multivalued image of a determination target object is obtained, and the characteristic amount of which selection is received is extracted for each pixel in the obtained second multivalued image, whereby determination is made as to whether the characteristic amount is included in the distribution range corresponding to the extracted characteristic amount.

Abstract: Plural window elements are set in one edge window, and edge detection is performed every each the window element, and calculation and determination about its result are made inside an image processing apparatus. A user can freely set a width of the window element and a distance between the adjacent window elements.

Abstract: An image processing apparatus has a trigger receiving section for receiving an external trigger and a trigger generation section including a timer. When a trigger from the outside is inputted, in synchronization with this trigger, the timer of the trigger generation section operates and a predetermined number of internal triggers are generated at predetermined intervals. After each image pickup data picked up by the external trigger and the internal triggers is processed by an image processing section statistical processing is internally performed by a statistical processing section and the maximum value, the minimum value, the average value, etc. of variations in the workpiece are calculated and the results are outputted.

Abstract: In an image processing device capable of collectively estimating an object based upon results of plural times of inspection, regions (1(1)) and (1(2)) to be photographed are defined on opposite end portions of an object (w). When an image of the left end portion of the object (w) is captured in response to a first trigger, the image processing device acquires corresponding image data, and the length (x1) of a projection extending in the x-direction at the left end of the object (w). When an image of the right end portion of the object (2) is next captured in response to a second trigger, the image processing device captures corresponding image data and measures the length (x2) of a projection extending in the x-direction at the right end of the work (w). Thereafter, the device finds the sum (x1+x2) of the lengths (x1, x2) inside, and outputs a result externally.

Abstract: An image processing apparatus has a trigger receiving section for receiving an external trigger and a trigger generation section including a timer. When a trigger from the outside is inputted, in synchronization with this trigger, the timer of the trigger generation section operates and a predetermined number of internal triggers are generated at predetermined intervals. After each image pickup data picked up by the external trigger and the internal triggers is processed by an image processing section statistical processing is internally performed by a statistical processing section and the maximum value, the minimum value, the average value, etc. of variations in the workpiece are calculated and the results are outputted.

Abstract: Plural window elements are set in one edge window, and edge detection is performed every each the window element, and calculation and determination about its result are made inside an image processing apparatus. A user can freely set a width of the window element and a distance between the adjacent window elements.

Abstract: In an image processing device capable of collectively estimating an object based upon results of plural times of inspection, regions (1(1)) and (1(2)) to be photographed are defined on opposite end portions of an object (w). When an image of the left end portion of the object (w) is captured in response to a first trigger, the image processing device acquires corresponding image data, and the length (x1) of a projection extending in the x-direction at the left end of the object (w). When an image of the right end portion of the object (2) is next captured in response to a second trigger, the image processing device captures corresponding image data and measures the length (x2) of a projection extending in the x-direction at the right end of the work (w). Thereafter, the device finds the sum (x1+x2) of the lengths (x1, x2) inside, and outputs a result externally.

Abstract: A binarization method of binarizing an image by extracting lightness (brightness, density) as a feature amount from the image. When a pixel is selected in an image, a sensitivity is added to and/or subtracted from the value concerning the Y value of the selected pixel to set a threshold value range. Next, when another pixel is selected, the sensitivity is added to or subtracted from the value concerning the Y value of the selected pixel and a new threshold value range is set containing the calculation result and the already setup threshold value range. The pixel with the value concerning the Y value of any pixel in the image within the threshold value range is extracted as the same brightness as the selected pixel and the extraction result is displayed.

Abstract: In an image display method, each pixel belonging to one or more extraction areas with the lightness of the original image containing the pixel being contained in all lightness ranges set for the extraction areas is displayed in a first display color, each pixel belonging to one or more extraction areas with the lightness of the original image containing the pixel being out of all lightness ranges set for the extraction areas is displayed in a second display color, each pixel belonging to more than one extraction area with the lightness of the original image containing the pixel being contained in any of the lightness ranges set for the extraction areas and out of any of the lightness ranges is displayed in a third display color, and each pixel not belonging to any extraction area is displayed in the display color of the original image containing the pixel.