An appearance inspection system includes a setting part, a movement mechanism, and a control part. The setting part sets a route passing through a plurality of imaging positions in order. The setting part sets the route so that a first time necessary for the movement mechanism to move an imaging device from a first imaging position to a second imaging position among the plurality of imaging positions is longer than a second time necessary for a process of changing a first imaging condition corresponding to the first imaging position to a second imaging condition corresponding to the second imaging position by the control part. The control part starts the process of changing the first imaging condition to the second imaging condition earlier by the second time or more than a scheduled time at which the imaging device arrives at the second imaging position.

A robot control device executes: capturing, using a hand-eye camera, a first image for use in image processing for determining a first target motion of a robot, and a second image for use in image processing for determining a second target motion following the first target motion; performing the image processing for determining the first target motion and the second target motion based on the first image and the second image, respectively; controlling the motion of the robot based on the first target motion and the second target motion. The image processing for determining the second target motion based on the second image is performed while the robot is in motion based on the first target motion. An image capturing device 82 captures the second image before the motion of a robot 60 based on the first target motion is completed.

A system including a robot mean to move a member by using a first camera coupled to the robot, a second camera coupled to the robot, a control device configured to control position of the robot in order to minimize a pixel-wise distance between the member and a target based on alternating input from the first camera and the second camera.

Apparatuses, systems, and techniques estimate a pose of an object based on images generated from a combined image volume. In at least one embodiment, the combined image volume is obtained from a plurality of image volumes generated based on a plurality of images of an object.

An appearance inspection system enabling a route to be easily set when a target is imaged while causing a relative position of an imaging device with respect to the target to be different is provided. A decision part decides a plurality of relative position candidates of the imaging device with respect to the target at which focus of a lens module is possible on the inspection target position with regard to each of a plurality of the inspection target positions on the target. A selection part selects relative positions one by one from corresponding plurality of relative position candidates for each of the plurality of inspection target positions and selects a route candidate satisfying a preset requirement from a plurality of route candidates generated by sequentially connecting the plurality of selected relative positions as a designation route.

A path generating device is configured to generate a path for a robot formed by connecting a plurality of units that are each bendable to have a desired single curvature, and the path generating device includes: an analysis unit configured to output position posture information indicating a position and a posture of the robot corresponding to an operation amount, using a robot model with which the position and the posture are able to be simulated in a virtual space; a generating unit configured to generate a path extending from a predetermined entry position to a target position in the virtual space; and a specification unit configured to specify an operation amount for making the robot model advance along the path, while making a position of a connection portion of each of the units of the robot model match the path.

A robot system includes a robot, a vision sensor, a controller, and an input unit. The vision sensor configured to measure a feature point and obtain a measured coordinate value. The controller configured to control the robot. The input unit configured to receive an input from a user toward the controller. The controller obtains, via the input unit, setting information data on a determination point which is different from the feature point. The robot system uses a coordinate value of the determination point and the measured coordinate value, and determines whether the robot is taking a target position and orientation.

In an example, a system for registering a three-dimensional (3D) pose of a workpiece relative to a robotic device is disclosed. The system comprises the robotic device, where the robotic device comprises one or more mounted lasers. The system also comprises one or more sensors configured to detect laser returns from laser rays projected from the one or more mounted lasers and reflected by the workpiece. The system also comprises a processor configured to receive a tessellation of the workpiece, wherein the tessellation comprises a 3D representation of the workpiece made up of cells, convert the laser returns into a 3D point cloud in a robot frame, based on the 3D point cloud, filter visible cells of the tessellation of the workpiece to form a tessellation included set, and solve for the 3D pose of the workpiece relative to the robotic device based on the tessellation included set.

In an example, a system for registering a three-dimensional (3D) pose of a workpiece relative to a robotic device is disclosed. The system comprises the robotic device, where the robotic device comprises one or more mounted lasers. The system also comprises one or more sensors configured to detect laser returns from laser rays projected from the one or more mounted lasers and reflected by the workpiece. The system also comprises a processor configured to receive a tessellation of the workpiece, wherein the tessellation comprises a 3D representation of the workpiece made up of cells, convert the laser returns into a 3D point cloud in a robot frame, based on the 3D point cloud, filter visible cells of the tessellation of the workpiece to form a tessellation included set, and solve for the 3D pose of the workpiece relative to the robotic device based on the tessellation included set.

On the basis of a measured shape, which is a three-dimensional shape of a subject measured by means of a measuring unit using an image captured when an image capturing unit is disposed in a first position and a first attitude, a movement control unit determines a second position and a second attitude for capturing an image of the subject again, and sends an instruction to a movement mechanism. The three-dimensional shape is represented by means of height information from a reference surface. The movement control unit extracts, from the measured shape, a deficient region having deficient height information, and determines the second position and the second attitude on the basis of the height information around the deficient region of the measured shape. The position and attitude of the image capturing unit can be determined in such a way as to make it easy to eliminate the effects of shadows.