Abstract: The present invention facilitates detection of an object imaged by a three-dimensional sensor. The image processing device includes: a distance calculating unit that, on the basis of three-dimensional data acquired by the three-dimensional sensor, calculates a distance between each of points in the three-dimensional data and a reference plane; a distance image creating unit that creates a distance image having pixel values constituted by values each calculated on the basis of the distance calculated by the distance calculating unit; and an image processing unit that carries out image processing on the distance image. The reference plane may be a bearing surface bearing the object or a surface parallel with the bearing surface. The reference plane may also be a surface of the object. The image processing device may include the three-dimensional sensor.

Abstract: Provided is an off-line simulation system that enables performance of efficient vision correction training. This vision correction training system for vision correction training is provided with a head mount display capable of displaying an image in a virtual space, and a teaching device communicably connected to the head mount display. The teaching device has: a vision correction unit that, on the basis of a captured image captured by a camera after the position of a workpiece has been moved, performs vision correction on a predetermined movement; and a correction confirmation unit that confirms that the vision correction is appropriately performed on the predetermined movement.

Abstract: The present invention facilitates detection of an object imaged by a three-dimensional sensor. The image processing device includes: a distance calculating unit that, on the basis of three-dimensional data acquired by the three-dimensional sensor, calculates a distance between each of points in the three-dimensional data and a reference plane; a distance image creating unit that creates a distance image having pixel values constituted by values each calculated on the basis of the distance calculated by the distance calculating unit; and an image processing unit that carries out image processing on the distance image. The reference plane may be a bearing surface bearing the object or a surface parallel with the bearing surface. The reference plane may also be a surface of the object. The image processing device may include the three-dimensional sensor.

Abstract: Provided is an off-line simulation system that enables performance of efficient vision correction training. This vision correction training system for vision correction training is provided with a head mount display capable of displaying an image in a virtual space, and a teaching device communicably connected to the head mount display. The teaching device has: a vision correction unit that, on the basis of a captured image captured by a camera after the position of a workpiece has been moved, performs vision correction on a predetermined movement; and a correction confirmation unit that confirms that the vision correction is appropriately performed on the predetermined movement.

Abstract: A distance image display apparatus includes: a distance range specifying unit that allows an operator to specify a partial distance range desired to be displayed within a first distance image in which, based on three-dimensional information of an object acquired by a three-dimensional camera, a color or density corresponding to a distance from the three-dimensional camera of the object positioned at each pixel is assigned to each of the pixels; a distance image generation unit that generates a second distance image in which a color or density of each of the pixels positioned within the specified distance range is reassigned so as to correspond to a distance from the three-dimensional camera; and a display unit that displays the generated second distance image.

Abstract: A robot controller, a measurement system and a calibration method, by which measurement regions for improving positioning accuracy of a robot can be appropriately generated. First and second measurement regions are specified in a movable range of the robot, the calibration of a mechanical parameter of the robot is executed in each measurement region, and calibration results are stored as first and second calibration results. When the difference between the calibration results exceeds a predetermined threshold, a third measurement region is specified between the first and second measurement regions, and the calibration is further executed in the third measurement region. The result of the further calibration is stored as a third calibration result.

Abstract: A robot control apparatus includes a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot and a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit. The storage unit stores the kinematic parameter before updating, and the drive unit corrects position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter.

Abstract: A robot controller, a measurement system and a calibration method, by which measurement regions for improving positioning accuracy of a robot can be appropriately generated. First and second measurement regions are specified in a movable range of the robot, the calibration of a mechanical parameter of the robot is executed in each measurement region, and calibration results are stored as first and second calibration results. When the difference between the calibration results exceeds a predetermined threshold, a third measurement region is specified between the first and second measurement regions, and the calibration is further executed in the third measurement region. The result of the further calibration is stored as a third calibration result.

Abstract: A measurement system able to perform measurement by a simpler manner when performing measurement a plurality of times for a plurality of targets. The measurement system utilizes the light receiving device to measure targets fastened to the machine tool. The robot is moved so that the difference between a target on a light receiving surface of the light receiving device and an image acquired by the light receiving device in the state where the machine tool is stopped at each stop position and the robot is placed in the measurement position and posture becomes within a predetermined error. A plurality of stop positions and a plurality of end point positions and postures after the movement are used as the basis to simultaneously find the error of the mechanical parameters of the robot and the relative relationship between the robot coordinate system ?b and the machine tool coordinate system ?m.

Abstract: A robot control apparatus includes a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot and a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit. The storage unit stores the kinematic parameter before updating, and the drive unit corrects position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter.

Abstract: A coloring composition including: (A) a colorant; (C) a binder resin; (D) a polymerizable compound; and (F) a solvent, wherein the colorant (A) comprises (A1) a pigment having a structure represented by the following Formula (X), and (A2) an isoindoline pigment, and wherein the solvent (F) comprises (G) at least one member selected from the group consisting of an alcohol, a ketone, and an alkyl lactate: and wherein, in the Formula (X), Ra and Rb each independently represent a monovalent organic group, and p and q each independently represent an integer from 0 to 5.

Abstract: A measurement system able to perform measurement by a simpler manner when performing measurement a plurality of times for a plurality of targets. The measurement system utilizes the light receiving device to measure targets fastened to the machine tool. The robot is moved so that the difference between a target on a light receiving surface of the light receiving device and an image acquired by the light receiving device in the state where the machine tool is stopped at each stop position and the robot is placed in the measurement position and posture becomes within a predetermined error. A plurality of stop positions and a plurality of end point positions and postures after the movement are used as the basis to simultaneously find the error of the mechanical parameters of the robot and the relative relationship between the robot coordinate system ?b and the machine tool coordinate system ?m.

Abstract: A photosensitive composition, suitable for a hardened film capable of sufficiently blocking light in the visible range and sufficiently transmitting light in the near infrared region, is provided. The photosensitive composition contains a colorant, a compound having an ethylenic unsaturated group, a photopolymerization initiator and a solvent. The colorant contains (A1) to (A3); (A1) a colorant of the following formula (1): (A2) a blue colorant, a green colorant, or both, and (A3) a yellow colorant, a red colorant, or both. R1 and R2 is a hydrogen atom, a hydroxyl group, a methoxy group or an acetyl group. R3 and R4 is a phenylene group or a direct bond. R5 and R6 is a direct bond or an alkanediyl group having 1 to 10 carbon atoms, with the proviso that R3 and R5 are not simultaneously direct bonds, and R4 and R6 are not simultaneously direct bonds.

Abstract: In the invention, a circuit control device controlling a semiconductor switching element having a control terminal and driven by voltage inputted to the control terminal, has an input voltage detector, a desired voltage setting portion and a control input generation portion. The input voltage detector detects inputted voltage to the switching element. The desired voltage setting portion sets a desired value of the voltage to be inputted to the switching element. The control input generation portion is connected to the control terminal of the switching element, the control input generation portion generating control input to the switching element such that the value to be detected by the input voltage detector closes to the set desired value. The desired voltage setting portion sets the desired value of the voltage on the basis of predetermined characteristics information and operating parameters of the switching element. The operating parameters include temperature of the switching element, Vce, Ice etc.

Abstract: In the invention, a circuit control device controlling a semiconductor switching element having a control terminal and driven by voltage inputted to the control terminal, has an input voltage detector, a desired voltage setting portion and a control input generation portion. The input voltage detector detects inputted voltage to the switching element. The desired voltage setting portion sets a desired value of the voltage to be inputted to the switching element. The control input generation portion is connected to the control terminal of the switching element, the control input generation portion generating control input to the switching element such that the value to be detected by the input voltage detector closes to the set desired value. The desired voltage setting portion sets the desired value of the voltage on the basis of predetermined characteristics information and operating parameters of the switching element. The operating parameters include temperature of the switching element, Vce, Ice etc.

Abstract: A photosensitive composition, suitable for a hardened film capable of sufficiently blocking light in the visible range and sufficiently transmitting light in the near infrared region, is provided. The photosensitive composition contains a colorant, a compound having an ethylenic unsaturated group, a photopolymerization initiator and a solvent. The colorant contains (A1) to (A3); (A1) a colorant of the following formula (1): (A2) a blue colorant, a green colorant, or both, and (A3) a yellow colorant, a red colorant, or both. R1 and R2 is a hydrogen atom, a hydroxyl group, a methoxy group or an acetyl group. R3 and R4 is a phenylene group or a direct bond. R5 and R6 is a direct bond or an alkanediyl group having 1 to 10 carbon atoms, with the proviso that R3 and R5 are not simultaneously direct bonds, and R4 and R6 are not simultaneously direct bonds.