Abstract: The control system includes: a plurality of controllers that respectively control a plurality of devices including at least robots; and an environment manager that is communicable with the plurality of controllers. The environment manager includes an environment information storage that stores environment information, and an information update unit that updates environment information according to an operation of the plurality of devices. Each of the plurality of controllers includes a condition monitor that monitors whether environment information stored in the environment device storage satisfies a predetermined condition and an operation execution unit that controls a corresponding device of the plurality of devices to execute a predetermined operation in a case where the environment information satisfies a predetermined condition.

Abstract: A measurement system includes an irradiator, an image capturer, and an arithmetic processor. The irradiator irradiates a first irradiation line with a laser beam at a first irradiation angle, and irradiates second irradiation lines with the laser beam respectively at second irradiation angles. The second irradiation lines intersect the first irradiation line. The image capturer acquires a two-dimensional image of an area including the first irradiation line and the second irradiation lines. The arithmetic processor calculates the second irradiation angles based on the first irradiation angle, based on a first position, in the two-dimensional image, of a first point on the first irradiation line, and based on second positions, in the two-dimensional image, of second points of the second irradiation lines, and calculates three-dimensional coordinates of the second points based on the second irradiation angles and the second positions.

Abstract: A three-dimensional scanner according to one aspect of the embodiments includes an irradiation unit, an imaging unit, a position detecting unit, and a scanning-region determining unit. The irradiation unit emits a slit-shaped light beam while changing an irradiation position with respect to a measuring object. The imaging unit sequentially captures images of the measuring object irradiated with the light beam. The position detecting unit detects a position of the light beam in an image captured by the imaging unit by scanning the image. The scanning-region determining unit determines a scanning region in an image as a scanning target by the position detecting unit based on a position of the light beam in an image captured by the imaging unit before the image as a scanning target.

Abstract: A robot system includes: a robot arm; a camera; a calibration jig with a marker that allows image recognition; and a calibration apparatus configured to derive a correlation between camera coordinates being coordinates in a photographed image and robot coordinates using the robot arm as a reference. The robot arm is configured to have a posture corresponding to a relative position of the camera with respect to the marker. The calibration apparatus sets a plurality of photographing positions by changing the relative position, acquires the camera coordinates of the marker in the plurality of photographing positions and information of the posture of the robot arm, and derives the correlation.

Abstract: A robot system includes a robot. The robot includes a holder to hold a first workpiece from among workpieces stored in a stocker. A sensor performs shape recognition of the workpieces stored in the stocker and detects a holding state of the first workpiece held by the robot. A controller controls the sensor to perform the shape recognition of the workpieces stored in the stocker, controls the robot to hold the first workpiece based on the shape recognition and transfer the first workpiece to a particular position in a sensor area of the sensor, controls the sensor to detect the holding state of the first workpiece held by the robot, and controls the robot to place the first workpiece at a predetermined position or in a predetermined posture based on the detected holding state.

Abstract: A robot system includes a first robot, a second robot, a stocker, and a controller. The first robot includes a first sensor. The second robot includes a second sensor. The stocker is configured to accommodate a plurality of workpieces that are to be held by at least one of the first robot and the second robot. The controller is configured to control the first robot and the second robot. When the first robot holds a first workpiece among the plurality of workpieces, the controller is configured to control the first sensor to recognize shapes of the plurality of workpieces in the stocker and control the second sensor to detect a holding state of the first workpiece held by the first robot.

Abstract: A three-dimensional shape measuring apparatus according to the embodiment includes an irradiating unit, an imaging unit, a position detector, a changing unit. The irradiating unit applies a slit light beam while changing an irradiation position in an area under measurement. The imaging unit images reflected light of the light beam. The position detector scans an image taken by the imaging unit to detect a position of the light beam on the image. The changing unit changes a position of an imaging area of the imaging unit in accordance with the irradiation position of the light beam.

Abstract: A shape detection system includes a distance image sensor that detects an image of a plurality of detection objects and distances to the detection objects, the detection objects being randomly arranged in a container, a sensor controller that detects a position and an orientation of each of the detection objects in the container on the basis of the result of the detection performed by the distance image sensor and a preset algorithm, and a user controller that selects the algorithm to be used by the sensor controller and sets the algorithm for the sensor controller.

Abstract: A transfer apparatus includes a container that contains workpieces to be transferred, a sensor that detects a position and a posture of the workpiece existing in a predetermined detection area, and a robot that takes out the workpiece and transfers the workpiece to a transfer destination on the basis of a detection result of the sensor. The sensor includes an area storage that stores a plurality of detection areas, a condition storage that stores a switching condition for switching the detection areas, and a controller that switches the detection areas in a predetermined order when the switching condition is satisfied.

Abstract: A shape detection system includes a distance image sensor that detects an image of a plurality of detection objects and distances to the detection objects, the detection objects being randomly arranged in a container, a sensor controller that detects a position and an orientation of each of the detection objects in the container on the basis of the result of the detection performed by the distance image sensor and a preset algorithm, and a user controller that selects the algorithm to be used by the sensor controller and sets the algorithm for the sensor controller.

Abstract: A robot system includes: a projecting unit for projecting a slit light on a specified placement region and moving the slit light in a specified direction; an imaging unit for imaging the slit light moving on a work on the placement region; an estimated projection region determining unit for determining an estimated projection region such that the length of the estimated projection region in a direction substantially parallel to the moving direction grows larger toward the center of the image in the intersection direction; a projection position detecting unit for detecting a projection position of the slit light within the estimated projection region. The robot system further includes a robot for gripping the workpiece.

Abstract: A three-dimensional scanner according to one aspect of the embodiments includes an irradiation unit, an imaging unit, a position detecting unit, and a scanning-region determining unit. The irradiation unit emits a slit-shaped light beam while changing an irradiation position with respect to a measuring object. The imaging unit sequentially captures images of the measuring object irradiated with the light beam. The position detecting unit detects a position of the light beam in an image captured by the imaging unit by scanning the image. The scanning-region determining unit determines a scanning region in an image as a scanning target by the position detecting unit based on a position of the light beam in an image captured by the imaging unit before the image as a scanning target.

Abstract: A transfer apparatus includes a container that contains workpieces to be transferred, a sensor that detects a position and a posture of the workpiece existing in a predetermined detection area, and a robot that takes out the workpiece and transfers the workpiece to a transfer destination on the basis of a detection result of the sensor. The sensor includes an area storage that stores a plurality of detection areas, a condition storage that stores a switching condition for switching the detection areas, and a controller that switches the detection areas in a predetermined order when the switching condition is satisfied.

Abstract: A shape detection system includes a distance image sensor that detects an image of a plurality of detection objects and distances to the detection objects, the detection objects being randomly arranged in a container, a sensor controller that detects a position and an orientation of each of the detection objects in the container on the basis of the result of the detection performed by the distance image sensor and a preset algorithm, and a user controller that selects the algorithm to be used by the sensor controller and sets the algorithm for the sensor controller.