公开(公告)号：US20230130830A1

公开(公告)日：2023-04-27

申请号：US17905642

申请日：2021-03-08

Applicant: FANUC CORPORATION

Inventor： Minoru NAKAMURA ,  Fumikazu WARASHINA ,  Yuuki TAKAHASHI

IPC: G06V10/74 ,  G06T5/50 ,  G06V10/25 ,  B25J9/16

Abstract: A distance image capturing system including: an image acquisition unit for capturing a plurality of images of an object at the same image capturing position and in the same image capturing orientation with respect to the object to acquire a plurality of first distance images; an image synthesis unit for synthesizing the plurality of first distance images to generate a second distance image; and a number-of-image-capturing-operation determination unit for estimating a distance measurement error in the second distance image and determining the number of image capturing operations for the first distance images at which the estimated distance measurement error is equal to or less than a predetermined target error.

公开(公告)号：US20180131922A1

公开(公告)日：2018-05-10

申请号：US15794408

申请日：2017-10-26

Applicant: FANUC CORPORATION

Inventor： Minoru NAKAMURA ,  Yuuki TAKAHASHI ,  Atsushi WATANABE

IPC: H04N13/00 ,  H04N13/02

CPC classification number: H04N13/167 ,  G01S7/4816 ,  G01S17/00 ,  G01S17/36 ,  G01S17/89 ,  H04N13/254 ,  H04N2213/005

Abstract: To provide an image capture device capable of doing multiple image captures by using multiple image capture units and capable of measuring a distance between each of the image capture units and a target more correctly. An image capture device according to the present invention is an image capture device with multiple image capture units. The image capture device comprises: one light emission unit for distance measurement that emits a reference beam; and the multiple image capture units that capture images of a reflected beam of the reference beam while having common timing of image capture.

公开(公告)号：US20240185455A1

公开(公告)日：2024-06-06

申请号：US18552899

申请日：2021-05-20

Applicant: FANUC CORPORATION

Inventor： Yuuki TAKAHASHI

IPC: G06T7/73 ,  G06T7/571 ,  H04N23/67 ,  H04N23/695

CPC classification number: G06T7/73 ,  G06T7/571 ,  H04N23/675 ,  H04N23/695 ,  G06T2207/30164

Abstract: This imaging device comprises a focus position detection unit for detecting a focus position when a visual sensor is in focus. The imaging device comprises a parameter setting unit for setting a parameter for calculating a three-dimensional position corresponding to a specific position in an image captured by the visual sensor. The imaging device comprises a characteristic position calculation unit for calculating the three-dimensional position of a characteristic portion using the parameter set by the parameter setting unit. The parameter setting unit sets the parameter on the basis of the focus position.

公开(公告)号：US20240054610A1

公开(公告)日：2024-02-15

申请号：US18260314

申请日：2022-01-07

Applicant: FANUC CORPORATION

Inventor： Yuuki TAKAHASHI ,  Yuta NAMIKI

IPC: G06T5/50 ,  G06T5/00 ,  H04N23/73 ,  H04N23/741 ,  H04N23/72 ,  H04N23/71 ,  B25J9/20

CPC classification number: G06T5/50 ,  G06T5/009 ,  H04N23/73 ,  H04N23/741 ,  H04N23/72 ,  H04N23/71 ,  B25J9/20 ,  G06T2207/20092 ,  G06T2207/20221 ,  G06T2207/30164

Abstract: An image generation device, a robot control device and a computer program are provided which enable widening the range of pixel values in a composite image. This image generation device, for generating a composite image by combining images, is provided with: an image capture number setting unit which sets the number of captured images captured of a subject; an exposure time setting unit which sets the exposure time of the captured images; a brightness range setting unit which sets the brightness range of the subject; an imaging control unit which performs control such that the imaging unit images the subject on the basis of the aforementioned number of captured images and exposure time; and an image combining unit which combines the aforementioned captured images on the basis of the brightness range and generates a composite image.

公开(公告)号：US20210158562A1

公开(公告)日：2021-05-27

申请号：US17029037

申请日：2020-09-23

Applicant: FANUC CORPORATION

Inventor： Minoru NAKAMURA ,  Yuuki TAKAHASHI ,  Atsushi WATANABE

IPC: G06T7/70 ,  H04N5/235 ,  G06K9/62 ,  H04N5/225 ,  G01S17/89

Abstract: 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.

公开(公告)号：US20180336402A1

公开(公告)日：2018-11-22

申请号：US15958133

申请日：2018-04-20

Applicant: FANUC CORPORATION

Inventor： Yuuki TAKAHASHI ,  Atsushi WATANABE ,  Minoru NAKAMURA

IPC: G06K9/00 ,  G07C9/00 ,  G06T7/11

Abstract: A monitor apparatus includes a camera that captures a three-dimensional image and an image processing device that processes the output signal of the camera. A part of an image capturing region of the camera is set as a monitor region. The image processing device includes a region setting unit that sets a plurality of spatial regions by dividing the monitor region. The region setting unit divides the monitor region at a plurality of cutting planes radially extending from the camera serving as a start point. The region setting unit sets the spatial region on one end as a precaution region and sets the spatial region on the other end as a limit region.

公开(公告)号：US20230043994A1

公开(公告)日：2023-02-09

申请号：US17759099

申请日：2021-02-12

Applicant: FANUC CORPORATION

Inventor： Yuuki TAKAHASHI ,  Fumikazu WARASHINA ,  Minoru NAKAMURA

IPC: G01B11/24

Abstract: A three-dimensional measurement device includes a camera for acquiring position information for three-dimensional points on the surface of an object on the basis of the time of flight of light, and a control device. The camera acquires, at a plurality of relative positions of the camera with respect to a workpiece, three-dimensional point position information. A plurality of evaluation regions are defined for the workpiece. The control device specifies, for each evaluation region, the three-dimensional point closest to a reference plane from among three-dimensional points detected in the evaluation region. The control device generates, on the basis of the multiple three-dimensional points specified for the respective evaluation regions, three-dimensional point position information in which multiple pieces of three-dimensional point position information acquired by the camera are combined.

公开(公告)号：US20200033475A1

公开(公告)日：2020-01-30

申请号：US16420161

申请日：2019-05-23

Applicant: FANUC CORPORATION

Inventor： Minoru NAKAMURA ,  Yuuki TAKAHASHI ,  Atsushi WATANABE

IPC: G01S17/36 ,  G01S7/491 ,  G01S17/89

Abstract: 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 Kρ, Kρ1, KLs0d0, or KAb0.

公开(公告)号：US20190128667A1

公开(公告)日：2019-05-02

申请号：US16167555

申请日：2018-10-23

Applicant: FANUC CORPORATION

Inventor： Minoru NAKAMURA ,  Atsushi WATANABE ,  Yuuki TAKAHASHI

IPC: G01B11/28 ,  G01B9/02

CPC classification number: G01B11/28 ,  G01B9/02041 ,  G01B9/02089 ,  G01B11/002 ,  G01C15/00

Abstract: An object monitoring apparatus including sensors. The apparatus includes first and second sensors that measure mutually corresponding spatial areas; a first judging unit that judges whether an object is present in a predetermined monitored area, based on measurement data of the first sensor; a second judging unit that judges whether an object is present in an extended area extending toward an outside of the monitored area, based on measurement data of the second sensor; a first signal-output unit that outputs a first object-sensing signal, when the first judging unit judges that an object is present in the monitored area; and a second signal-output unit that outputs a second object-sensing signal, when the first judging unit judges that an object is present in the monitored area and in a case where the second judging unit judges that an object is present in the extended area.

公开(公告)号：US20180295342A1

公开(公告)日：2018-10-11

申请号：US15946297

申请日：2018-04-05

Applicant: FANUC CORPORATION

Inventor： Yuuki TAKAHASHI ,  Atsushi WATANABE ,  Minoru NAKAMURA

IPC: H04N13/128 ,  H04N13/254 ,  H04N13/156 ,  G06T1/00 ,  G06T7/80

Abstract: An image processing device of an image apparatus includes a distance image generation unit that generates a first distance image and a second distance image from the output signals of a first camera and a second camera based on flight times of light. The image processing device includes a stereo image generation unit that generates a stereo image from the output signals of the cameras. The image processing device includes an image comparison unit that compares the stereo image and the distance image and detects an abnormality of at least one of the first distance image and the second distance image.