Abstract: A training data generation device generates training data for generating a trained model that takes a two-dimensional image of a robot captured by a camera as well as the distance and tilt between the camera and the robot as inputs, and that estimates angles of a plurality of joint shafts included in the robot when the two-dimensional image was captured and a two-dimensional posture indicating the locations of the centers of the plurality of joint shafts in the two-dimensional image. The training data generation device comprising: an input data acquisition unit for acquiring a two-dimensional image of the robot captured by the camera as well as the distance and tilt between the camera and the robot; and a label acquisition unit for acquiring, as label data, the two-dimensional posture and the angles of the plurality of joint shafts when the two-dimensional image was captured.

Abstract: According to the present invention, the operating area of a robot is easily checked. This augmented reality display device comprises: a camera; a display unit; and a display control unit which displays, on the display unit, an image of a robot captured by the camera and an augmented reality image of the operating area of the robot.

Abstract: A robot decelerates or stops, without using an area sensor, when a worker enters a robot operating area. The safety vision device includes a human three-dimensional skeleton estimation model, a robot three-dimensional skeleton estimation model, an input unit for inputting a two-dimensional image of a worker and a robot captured by an external camera, and a distance and a tilt between the camera and the robot, an estimation unit that inputs, to the models, the two-dimensional image and the distance and tilt, to estimate three-dimensional joint point data indicating the three-dimensional coordinate values of the position of a joint point of the worker, and the angles of a plurality of joint axes included in the robot, and an approach determination unit that calculates a worker area and a robot area, and outputs an instruction to decelerate or stop the robot, depending on the degree of overlap of the areas.

Abstract: A method able to easily fit a movable shaft part in the corresponding hole. The method includes grasping the base part by the robot and arranging the base part at vertically upward of the top face of the female component so that the plurality of shaft parts are suspended from the base part, moving the base part downward by the robot, and, if a tip end (106c) of at least one shaft part is not inserted into the hole so as to butt against the top face of the female component when moving the base part vertically downward by the robot, moving each of portions of the base part, from which the shaft parts are suspended, in a horizontal direction.

Abstract: A method able to easily fit a movable shaft part in the corresponding hole. The method includes grasping the base part by the robot and arranging the base part at vertically upward of the top face of the female component so that the plurality of shaft parts are suspended from the base part, moving the base part downward by the robot, and, if a tip end (106c) of at least one shaft part is not inserted into the hole so as to butt against the top face of the female component when moving the base part vertically downward by the robot, moving each of portions of the base part, from which the shaft parts are suspended, in a horizontal direction.