公开(公告)号：US20230129785A1

公开(公告)日：2023-04-27

申请号：US17905330

申请日：2021-02-26

Applicant: FANUC CORPORATION

Inventor： Kouta I ,  Junichirou YOSHIDA

IPC: G06T7/70 ,  G06V10/25 ,  G06V10/46 ,  G06V10/75 ,  G06V10/74

Abstract: A control device includes a processing unit for processing a first image captured by a first camera and a second image captured by a second camera. The processing unit performs control using block matching. A first determination value on a block matching score and a second determination value greater than the first determination value are determined in advance. The processing unit generates a first distance image using the first determination value and a second distance image using the second determination value. The processing unit adopts distance information for a pixel contained in the first distance image for a region corresponding to the contour of a workpiece and distance information for a pixel contained in the second distance image for a region other than the region corresponding to the contour to generate a synthesized distance image.

公开(公告)号：US20230040615A1

公开(公告)日：2023-02-09

申请号：US17790970

申请日：2021-02-22

Applicant: FANUC CORPORATION

Inventor： Junichirou YOSHIDA ,  Shouta TAKIZAWA

IPC: H04N13/239 ,  H04N13/296 ,  H04N5/235 ,  B25J13/08 ,  G01B11/25 ,  G01C3/08

Abstract: 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.

公开(公告)号：US20180315210A1

公开(公告)日：2018-11-01

申请号：US15951739

申请日：2018-04-12

Applicant: FANUC CORPORATION

Inventor： Shouta TAKIZAWA ,  Junichirou YOSHIDA ,  Fumikazu WARASHINA

IPC: G06T7/70 ,  G06K9/00

CPC classification number: G06T7/70 ,  G06K9/00201 ,  G06K2209/19 ,  G06T2207/10012

Abstract: 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.