Fanuc Corporation

Shouta Takizawa

Fumikazu Warashina

Junichirou Yoshida

Kazunori Ban

Tingting Zhong

Ryo Nihei

Shinsuke Sakakibara

Masahiro Morioka

Ichiro Kanno

Satoshi Adachi

Hidetoshi Kumiya

Yuuta Namiki

Yuusuke Oota

Yuusuke Murata

Yuutarou Takahashi

The parameters of image processing are adjusted for detecting a workpiece, by quantifying the quality of the parameters of the image processing. This image processing device automatically adjusts detection parameters that are used in image processing for detecting an imaging object. The image processing device includes a detection parameter generation unit that generates detection parameter combinations, an imaging condition setting unit that sets imaging conditions for each of the detection parameter combinations, a detectability determination unit that determines whether or not the imaging object is detectable for each combination of detection parameters and imaging conditions, an imaging range calculation unit that calculates a range of imaging conditions under which the imaging object is determined, by the detectability determination unit, to have been detected, and a parameter determination unit that determines a detection parameter combination for which the calculated range of imaging conditions is the widest.

Image processing device

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.

Image processing device and image processing method

Provided is a robot capable of automatically confirming the accuracy of a three-dimensional sensor and correcting the accuracy. The robot comprises: a three-dimensional sensor; a notification unit for notifying a determination timing for determining a deviation of an optical system of the three-dimensional sensor, on the basis of a change in a physical quantity related to the three-dimensional sensor; and a determination unit for determining whether or not there is a deviation at the optical system of the three-dimensional sensor. The change in the physical quantity includes at least one of acceleration and the number of times of acceleration and deceleration added to the three-dimensional sensor, a change in temperature of the three-dimensional sensor within a certain period, a change in temperature of the three-dimensional sensor within a total operating period, and the number of times of change in temperature of the three-dimensional sensor within the total operating period.

Robot

A 3D image-capturing device that includes at least one camera that acquires a 2D image and distance information of an object, a monitor that displays the 2D image acquired by the camera, and at least one processor including hardware. The processor acquires a first area for which the distance information is not required in the 2D image displayed on the monitor, and sets an image-capturing condition so that the amount of distance information acquired by the camera in the acquired first area is less than or equal to a prescribed first threshold and the amount of distance information acquired by the camera in a second area, which is at least part of an area other than the first area, is greater than a prescribed second threshold that is larger than the first threshold.

Three-dimensional image-capturing device and image-capturing condition adjusting method

A robot operating device includes a camera that is attached to a distal end of a robot arm or a position adjacent to the distal end and that acquires an image; a display which displays the image acquired by the camera; an operation-accepting unit which accepts an operation that is performed by an operator on the image displayed on the display unit; and a controller which moves the robot arm based on the operation accepted by the operation-accepting unit.

Robot operating device, robot, and robot operating method

A three-dimensional imaging device includes a distance image acquiring unit configured to acquire distance images by switching exposure conditions; an effective pixel count calculation unit that calculates an effective pixel count; an ineffective pixel identifying unit that identifies ineffective pixels; and an exposure condition adjusting unit that sets the exposure conditions. The exposure condition adjusting unit sets a reference exposure condition, determines whether a reference effective pixel count is equal to or less than a first threshold value, and, in response to the reference effective pixel count being equal to or less than the first threshold value, sets an additional exposure condition that maximizes a total effective pixel count of a total distance image, and repeats additional setting of the additional exposure condition using the total distance image as a new reference distance image until the total effective pixel count becomes larger than the first threshold value.

Three-dimensional imaging device and three-dimensional imaging condition adjusting method

It is possible to provide an inspection apparatus having a function of automatically checking a validity of an appearance inspection result without manual operation. An inspection apparatus for performing an appearance inspection using a plurality of images obtained by imaging an inspection target includes a determination unit that estimates an inspection result on each of the plurality of images based on a predetermined relationship model between the image and the inspection result and calculates a comprehensive inspection result based on reliability of each of the inspection results on the plurality of images.

Inspection apparatus

An image processing apparatus includes a two-dimensional image storage unit configured to store a plurality of two-dimensional image data captured by photographing an identical imaging target object under different exposure conditions; a distance image storage unit configured to store distance image data including a pixel array of a known relationship to a pixel array of the two-dimensional image data; a pixel extraction unit configured to extract, among pixels in each of the two-dimensional image data, a first pixel at which a difference in brightness between identical pixels is less than a predetermined value; and a distance image adjusting unit configured to specify a second pixel of the distance image data at a position corresponding to the first pixel in the pixel array, and to set the second pixel as a non-imaging pixel in the distance image data.

Image processing apparatus, image processing method, and robot system

An object inspection device capable of sharing an image or an inspection parameter for surface inspection of an object to be inspected among a plurality of object inspection devices. The object inspection device includes a camera, a robot relatively positioning the object and the camera, an index, and a controller controlling the camera and the robot. The controller is configured to control the robot to position the index and the camera at any relative position, cause the camera to image the index to acquire imaged data of the index, hold the robot at a position where the index is disposed at an index reference point in the image coordinate system based on the imaged data and coordinate data of the index reference point, and adjust an inspection position using the position of the robot at this time.

Object inspection device, object inspection system and method for adjusting inspection position

For calibration on a single camera or a stereo camera, a calibration range is set in advance in an image coordinate system and the calibration is performed in an arbitrary range. A visual sensor controller is a calibration device that associates a robot coordinate system at a robot and an image coordinate system at a camera by placing a target mark at the robot, moving the robot, and detecting the target mark at multiple points in a view of the camera. The calibration device comprises: an image range setting unit that sets an image range in the image coordinate system at the camera; and a calibration range measurement unit that measures an operation range for the robot corresponding to the image range before implementation of calibration by moving the robot and detecting the target mark.

Calibration device, calibration method, and computer readable medium for visual sensor

A projection pattern creation apparatus is configured to capture an image of a projection pattern projected from a pattern projection device by an imaging device to measure a three-dimensional position and/or a shape of an object. The projection pattern creation apparatus includes: a projection pattern deformation unit configured to reproduce deformation when a projected projection pattern is included in an image captured by the imaging device on the basis of characteristics of optical systems of the pattern projection device and the imaging device, and/or a positional relation between the pattern projection device and the imaging device and generate a deformation projection pattern; and a first projection pattern improvement unit configured to generate a second projection pattern obtained by improving a first projection pattern, on a basis of a first deformation projection pattern generated when the first projection pattern is projected toward evaluation surfaces having different positions and inclinations.

Projection pattern creation apparatus and three-dimensional measuring apparatus

A positioning system using a robot, capable of eliminating an error factor of the robot such as thermal expansion or backlash can be eliminated, and carrying out positioning of the robot with accuracy higher than inherent positioning accuracy of the robot. The positioning system has a robot with a movable arm, visual feature portions provided to a robot hand, and vision sensors positioned at a fixed position outside the robot and configured to capture the feature portions. The hand is configured to grip an object on which the feature portions are formed, and the vision sensors are positioned and configured to capture the respective feature portions.

Positioning system using robot

A camera abnormality cause estimation system for estimating the causes of abnormalities in a camera in a production system in which the camera controls a robot. The production system includes a robot, a camera that detects visual information of the robot or the surrounding thereof, and a controller that controls the robot based on an image signal obtained by the camera. The camera abnormality cause estimation system estimates the causes of abnormalities in the camera and includes an environment information acquisition unit that acquires environment information of the camera, and an abnormality cause estimation unit that estimates a probability that each of a plurality of predetermined abnormality cause items is the cause of an abnormality in the camera for the respective abnormality cause items using the environment information acquired by the environment information acquisition means and displays the estimated probability on a display unit for the respective abnormality cause items.

Visual sensor abnormality cause estimation system

An object recognition apparatus includes a two-dimensional sensor for acquiring two-dimensional information of an object at a first clock time, a three-dimensional sensor for acquiring three-dimensional information of the object at a second clock time, a storage unit that associates and stores a first position of the two-dimensional sensor and the two-dimensional information, and a second position of the three-dimensional sensor and the three-dimensional information, and an arithmetic operation unit that calculates the amount of change in orientation between the orientation of the two-dimensional sensor and the orientation of the three-dimensional sensor based on the stored first position and second position, that converts the three-dimensional information acquired at the second position into three-dimensional information acquired at the first position based on the calculated amount of change in orientation, and that calculates the state of the object based on the converted three-dimensional information and the two-dimensional information.

Object recognition apparatus

A robot system is provided with a three-dimensional sensor which acquires three-dimensional information of an object, and a robot which includes a gripping device for gripping an object. The robot system uses first three-dimensional information which relates to a state before an object is taken out and second three-dimensional information which relates to a state after an object is taken out as the basis to acquire three-dimensional shape information of an object, and uses the three-dimensional shape information of the object as the basis to calculate a position and posture of the robot when an object is placed at a target site.

Growing community of inventors

Yamanashi, Japan

Shouta Takizawa