Abstract: A fixing device includes: a first roller on which an elastic layer is formed; and a second roller that forms a clamping portion at which a recording medium is clamped between the first roller and the second roller, a groove extending in an axial direction being formed in an outer peripheral surface of the second roller, and the second roller not including an elastic layer.

Abstract: A transportation device includes a first transporter, a second transporter movable between a contact position and a separate position toward and away from the first transporter to hold a to-be-transported object between the second transporter and the first transporter in the contact position, and a transportation unit that transports the to-be-transported object to a nip area where the first transporter and the second transporter hold the to-be-transported object therebetween while the second transporter is located in the separate position. The second transporter moves from the separate position to the contact position to hold the to-be-transported object transported to the nip area by the transportation unit between the second transporter and the first transporter to transport the to-be-transported object.

Abstract: A transport device includes: a first transport body; a second transport body that is movable between a contact position and a separate position with respect to the first transport body and that nips a transported material with the first transport body at the contact position; and a transport section that includes a holder to hold a leading end portion of the transported material and that transports the transported material toward a nip region where the first transport body and the second transport body nip the transported material in a state in which the second transport body is located at the separate position. After holding of the leading end portion by the holder for the transported material transported by the transport section has been released, the second transport body nips the transported material with the first transport body and transports the transported material.

Abstract: When a normal inspection and an inspection through deep learning processing is applicable, high inspection accuracy is obtained while reducing a processing time. The normal inspection processing is applied to a newly acquired inspection target image, the non-defective product determination or the defective product determination is confirmed for the inspection target image having the characteristic amount with which the non-defective product determination or the defective product determination is executable based on the characteristic amount within the inspection target image and the threshold for confirming the non-defective product determination or the threshold for confirming the defective product determination.

Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model obtained by forming a model of a three-dimensional shape of a workpiece; a bulk pile data generating unit 20 that generates virtual bulk pile data of a plurality of workpiece models piled up in a virtual work space as a virtually formed work space; a region estimating unit 22 that identifies an estimated region that is estimated to be three-dimensionally measurable by a sensor unit which is disposed above the work space, based on a position and a posture of each workpiece model in the bulk pile data; and a picking motion simulating unit 30 that executes a simulation for verifying the picking motion from the bulk pile of the workpiece models in the virtual work space, based on data of the estimated region identified by the region estimating unit 22.

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 robot setting apparatus includes a positioning unit that adjusts a position and an attitude of a workpiece model, and a grip position specifying unit that specifies a grip position at which the workpiece model is gripped by an end effector for at least one fundamental direction image in a state of displaying at least three height images in which the workpiece model positioned by the positioning unit on the virtual three-dimensional space is viewed from respective axis directions of three axes orthogonal to each other on the display unit as fundamental direction images.

Abstract: It is possible to apply normal inspection processing and deep learning processing, and it is possible to achieve both the rapidity of inspection processing and a high ability to cope with a complicated discrimination. A defect candidate portion is extracted based on a pixel value of an input inspection target image. An inspection window is set in a region including the extracted defect candidate portion. An image within the inspection window is input to the classifier, and thus, it is determined whether the inspection target image is classified into a first class or a second class.

Abstract: When a normal inspection and an inspection through deep learning processing is applicable, high inspection accuracy is obtained while reducing a processing time. The normal inspection processing is applied to a newly acquired inspection target image, the non-defective product determination or the defective product determination is confirmed for the inspection target image having the characteristic amount with which the non-defective product determination or the defective product determination is executable based on the characteristic amount within the inspection target image and the threshold for confirming the non-defective product determination or the threshold for confirming the defective product determination.

Abstract: A robot setting apparatus includes a grip reference point setting unit, a grip direction setting unit that defines a grip direction in which the end effector model grips the workpiece model, a workpiece side grip location designation unit that designates a grip position at which the end effector model grips the workpiece model in a state in which at least the workpiece model is displayed in an image display region, and a relative position setting unit that sets a relative position between the end effector model and the workpiece model such that the grip direction defined in the grip direction setting unit is orthogonal to a workpiece plane representing an attitude of the workpiece model displayed in the image display region, and the grip reference point is located at the grip position along the grip direction.

Abstract: A workpiece model is created based on three-dimensionally measured data obtained by performing a three-dimensional measurement on a working space in which the workpieces are loaded in bulk. Holding data including a holding position of the workpiece model and a posture of a holding unit of a robot are set by setting a model coordinate system. The setting of the model coordinate system and the setting of the holding data are repeated while sequentially changing the posture of the workpiece, and multiple pieces of holding data are stored such that the multiple pieces of holding data correspond to the workpiece models. A three-dimensional search process is performed on the obtained three-dimensionally measured data, and an operation of the holding unit of the robot is controlled based on the holding data set to the workpiece model.

Abstract: An exposure time is changed stepwise, a light receiving amount output from a light receiving section is obtained at each exposure time, which is changed stepwise, and height image data, in which each pixel value indicates a height of each portion of a surface of a measuring object, is generated based on the obtained light receiving amount. It is determined whether each pixel constituting each height image is valid or invalid based on the obtained light receiving amount. An exposure time, which corresponds to a height image in which the number of pixels determined to be valid satisfies a predetermined condition, is set as a set value.

Abstract: An exposure time is changed stepwise, a light receiving amount output from a light receiving section is obtained at each exposure time, which is changed stepwise, and height image data, in which each pixel value indicates a height of each portion of a surface of a measuring object, is generated based on the obtained light receiving amount. It is determined whether each pixel constituting each height image is valid or invalid based on the obtained light receiving amount. An exposure time, which corresponds to a height image in which the number of pixels determined to be valid satisfies a predetermined condition, is set as a set value.

Abstract: A robot setting apparatus includes a positioning unit that adjusts a position and an attitude of a workpiece model, and a grip position specifying unit that specifies a grip position at which the workpiece model is gripped by an end effector for at least one fundamental direction image in a state of displaying at least three height images in which the workpiece model positioned by the positioning unit on the virtual three-dimensional space is viewed from respective axis directions of three axes orthogonal to each other on the display unit as fundamental direction images.

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 workpiece model is created based on three-dimensionally measured data obtained by performing a three-dimensional measurement on a working space in which the workpieces are loaded in bulk. Holding data including a holding position of the workpiece model and a posture of a holding unit of a robot are set by setting a model coordinate system. The setting of the model coordinate system and the setting of the holding data are repeated while sequentially changing the posture of the workpiece, and multiple pieces of holding data are stored such that the multiple pieces of holding data correspond to the workpiece models. A three-dimensional search process is performed on the obtained three-dimensionally measured data, and an operation of the holding unit of the robot is controlled based on the holding data set to the workpiece model.

Abstract: A robot setting apparatus includes a grip reference point setting unit, a grip direction setting unit that defines a grip direction in which the end effector model grips the workpiece model, a workpiece side grip location designation unit that designates a grip position at which the end effector model grips the workpiece model in a state in which at least the workpiece model is displayed in an image display region, and a relative position setting unit that sets a relative position between the end effector model and the workpiece model such that the grip direction defined in the grip direction setting unit is orthogonal to a workpiece plane representing an attitude of the workpiece model displayed in the image display region, and the grip reference point is located at the grip position along the grip direction.

Abstract: The robot simulation apparatus includes: a workpiece model setting unit 11 that sets a workpiece model obtained by forming a model of a three-dimensional shape of a workpiece; a bulk pile data generating unit 20 that generates virtual bulk pile data of a plurality of workpiece models piled up in a virtual work space as a virtually formed work space; a region estimating unit 22 that identifies an estimated region that is estimated to be three-dimensionally measurable by a sensor unit which is disposed above the work space, based on a position and a posture of each workpiece model in the bulk pile data; and a picking motion simulating unit 30 that executes a simulation for verifying the picking motion from the bulk pile of the workpiece models in the virtual work space, based on data of the estimated region identified by the region estimating unit 22.

Abstract: A three-dimensional image processing apparatus includes: a distance image generating part capable of generating a distance image based on a plurality of images captured in an image capturing part; a pattern generating part for generating a first projection pattern and a second projection pattern whose fringe direction is different from that of the first projection pattern as a plurality of projection patterns obtained by changing a fringe direction of a projection pattern; and an incorrect-height determining part for making comparison in height information of a corresponding portion of an inspection target between a first distance image, generated in the distance image generating part based on a first pattern projected image, and a second distance image, generated based on a second pattern projected image, to determine height information of a portion where a difference not smaller than a predetermined value has occurred as incorrect.

Abstract: The present invention provides a defect detection apparatus for detecting a defect even on a uniformly continuous background pattern, a method used in the apparatus, and a computer program for making a computer execute processing in the method. A defect size is set and stored, and an instruction to a first direction in which a background pattern is uniformly continuous is accepted. A reduced image reduced in the first direction using an image reduction ratio according to the defect size is generated. A filter processing is executed in the first direction for removing a defect, and the reduced image that is subjected to the filter processing is enlarged in the first direction with an image enlargement ratio corresponding to the reciprocal of the reduction ratio to generate a first enlarged image. A difference image is generated by calculating a difference between the multi-valued image and the first enlarged image.