Fanuc Corporation

Yuuki Takahashi

Atsushi Watanabe

Minoru Nakamura

Yoshinori Murakami

This imaging device comprises: an orientation detection unit that detects the orientation of a camera with respect to the direction of gravity; and a parameter setting unit that sets parameters for calculating a three-dimensional position corresponding to a specific position in an image captured by the camera. A storage unit stores setting information for setting parameters corresponding to the orientation of the camera. The parameter setting unit sets parameters on the basis of the direction of gravity, the orientation of the camera, and the setting information.

Imaging device for calculating three-dimensional position on the basis of image captured by visual sensor

An object monitoring system includes means for determining an arrangement relationship between a monitoring area and an external object on a basis of a distance measurement value of the external object, and calculating an influence degree of the external object on an object distance measurement in the monitoring area in accordance with the determined arrangement relationship.

Object monitoring system including distance measuring device

A distance measurement device includes a light emission unit which is capable of emitting measurement light to be irradiated toward an object, a light reception unit configured to receive light from the object via an optical filter through which light having the same wavelength band as the measurement light passes, a distance calculation unit configured to calculate a distance to the object based on each charge amount obtained by accumulating a charge corresponding to the received light at a plurality of timings which are delayed by a predetermined phase with respect to emission timing of the measurement light, and an external light intensity calculation unit configured to calculate external light illuminance of external light illuminating the object at the spectral sensitivity of the optical filter based on the charge amounts acquired at the light reception unit and a reflectivity of the object.

Distance measurement device having external light illuminance measurement function and external light illuminance measurement method

A distance-measuring apparatus includes an optical window incorporating a first polarizing filter that polarizes reference light and a second polarizing filter that polarizes incident light in a direction inclined at 90 degrees relative to a polarization direction of the first polarizing filter.

Distance measuring apparatus comprising deterioration determination of polarizing filters based on a reflected polarized intensity from a reference reflector

A distance-measuring apparatus includes a precision calculation section that calculates a precision for each pixel, the precision based on a relation among the amounts of the electric charges stored at a plurality of timings that respectively delay by certain phases from a timing of the emission of the measuring light, wherein the precision is outputted from the distance-measuring apparatus.

Distance-measuring apparatus that outputs precision information

An object monitoring system includes a distance measuring device which generates, while repeating an imaging cycle having different imaging modes, a distance image of a target space for each of the imaging modes, and a computing device which determines presence or absence of an object within a monitoring area set in the target space based on the distance image.

A distance measuring apparatus includes a reference object distance calculation section which calculates a distance to a reference object based on a two-dimensional image in which the reference object, which includes a plurality of feature points having obvious three-dimensional coordinate correlations, is captured, and a correction amount calculation section which calculates a correction amount for correcting a distance image by comparing the calculated distance to the reference object with a distance measurement value to the reference object in the distance image.

Distance measuring apparatus having distance correction function

A distance measuring apparatus includes an optical system abnormality detection section for detecting abnormalities of an optical system of the distance measuring apparatus by comparing a relationship between a measured distance value d and a light intensity Ls with a reference value K, K, K, or K.

Distance measuring apparatus which detects optical system abnormality

An object monitoring system includes means for calculating an arrangement of an external object in a target space based on a distance measurement value of the external object, and estimating a shift amount of the distance measurement value caused by the external object in accordance with the calculated arrangement, and means for correcting, based on the estimated shift amount, determination of whether or not a monitored object is present in a monitoring area set in the target space.

The object detection system includes a TOF sensor which outputs an image of a target space on the basis of a phase difference between reference light emitted toward the target space and reflected light from the target space, an object detection section which detects a position of an object present in the target space on the basis of the output image, an imaging conditions calculation section which calculates imaging conditions including at least one of an integration time and a light emission period of the TOF sensor on the basis of an image of the detected object, and an imaging conditions changing section which changes a configuration of the TOF sensor to the calculated imaging conditions, and the object detection section detects a position of the object on the basis of the image output under the changed imaging conditions.

Object detection system using TOF sensor

A distance image generation device includes a light projection unit for projecting reference light onto a subject, a light reception unit having a plurality of two-dimensionally arrayed pixels, an optical system for guiding light from the subject to the light reception unit, an influence calculation means for calculating, based on an amount of light received by a target pixel and peripheral pixels thereof among the plurality of pixels, an influence of optical phenomena on the target pixel and the peripheral pixels, an impact calculation means for calculating the impact exerted by the peripheral pixels on the target pixel based on the influence, and a distance image generation means for generating a distance image of the subject based on the impact.

Distance image generation device which corrects distance measurement abnormalities

Provided is a robot system including a robot, a distance image sensor that temporally continuously acquires, from above an operating space of the robot, distance image information around the operating space, and an image processing device that processes the acquired distance image information, the image processing device defining, around the operating space, a monitoring area that includes a boundary for enabling entrance into the operating space from the outside, including a storing unit that stores reference distance image information, and detecting, based on the distance image information acquired by the distance image sensor and the reference distance image information stored in the storing unit, whether a stationary object present in the monitoring area is blocking the boundary in a visual field of the distance image sensor.

Robot system

A robot system includes a robot installed such that the working space thereof is within a first area, an image acquisition unit that sequentially acquires images of the vicinity of a boundary of the first area and a second area that are adjacent to each other with the boundary therebetween, a monitoring-area setting unit that sets a monitoring area in a space adjacent to the boundary in the second area in the images acquired by the image acquisition unit, an object detecting unit that detects a moving object in the monitoring area set by the monitoring-area setting unit by processing the images acquired by the image acquisition unit, and a controller that performs control so as to restrict the operation of the robot when the moving object is detected by the object detecting unit.

A three-dimensional data generation apparatus using measurement data from a three-dimensional sensor. The apparatus includes a measured coordinates obtaining section for obtaining measured coordinates of an object in a three-axis rectangular coordinate system set in an observation area, based on measurement data from a three-dimensional sensor measuring the observation area; and a subdivision information preparing section for defining a reference plane parallel to an X-Y plane of the three-axis rectangular coordinate system in the observation area, uniformly divide the reference plane into a plurality of subdivisions, and assign to a subdivision, among the subdivisions, that contains X-Y coordinate values of the measured coordinates of the object, a Z value of the same measured coordinates as a representative height of the subdivision. Three-dimensional data of the observation area is generated by using a position and dimensions in the reference plane and the representative height, of each of the subdivisions.

Apparatus and method of generating three-dimensional data, and monitoring system including three-dimensional data generation apparatus

A laser processing system having a measurement function. The laser processing system includes a processing head configured to irradiate an object with a laser beam in a scanning manner via an optical system for processing; an illumination-light emitting section provided in the processing head, and configured to cause illumination light to be emitted from the processing head toward the object along an optical axis of the optical system for processing; a light receiving section located in a predetermined positional relationship with the illumination-light emitting section, and configured to receive a reflection of the illumination light reflected at an irradiated point on the object; and a measurement section configured to process the reflection received by the light receiving section and obtain three-dimensional measurement data of the irradiated point.

Growing community of inventors

Yamanashi, Japan

Yuuki Takahashi