US 12,219,121 B2
Imaging device for acquiring three-dimensional information of workpiece surface and two-dimensional image of workpiece
Zeyuan Sun, Yamanashi (JP); and Kentaro Koga, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/000,933
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Jun. 14, 2021, PCT No. PCT/JP2021/022570
§ 371(c)(1), (2) Date Dec. 7, 2022,
PCT Pub. No. WO2021/256437, PCT Pub. Date Dec. 23, 2021.
Claims priority of application No. 2020-105456 (JP), filed on Jun. 18, 2020.
Prior Publication US 2023/0224450 A1, Jul. 13, 2023
Int. Cl. H04N 13/286 (2018.01); G06T 3/20 (2006.01); G06T 7/521 (2017.01); G06T 7/593 (2017.01); H04N 13/239 (2018.01); H04N 13/254 (2018.01)
CPC H04N 13/286 (2018.05) [G06T 3/20 (2013.01); G06T 7/521 (2017.01); G06T 7/593 (2017.01); H04N 13/239 (2018.05); H04N 13/254 (2018.05); G06T 2207/30164 (2013.01)] 3 Claims
OG exemplary drawing
 
1. An imaging device for imaging a workpiece moved in a predetermined direction by a carrier machine driven by a motor, the imaging device comprising:
a vision sensor including:
a three-dimensional sensor configured to detect three-dimensional information of a surface of the workpiece, and
a two-dimensional sensor configured to acquire a two-dimensional image of the surface of the workpiece; and
a processor configured to;
process an output of the three-dimensional sensor and an output of the two-dimensional sensor,
generate three-dimensional information based on the output of the three-dimensional sensor,
acquire a two-dimensional image from the two-dimensional sensor, and
change a relative position of the three-dimensional information with respect to the two-dimensional image in a sensor coordinate system whose origin is fixed to the vision sensor,
wherein
the carrier machine includes a position detector configured to detect a position of a movement member moved by the motor,
the vision sensor is configured to image the workpiece to obtain the three-dimensional information and the two-dimensional image while the carrier machine moves the workpiece during a period in which the workpiece is inside an imaging range of the vision sensor,
a timing for acquiring the three-dimensional information differs from a timing for acquiring the two-dimensional image,
a moving direction of the three-dimensional information in the sensor coordinate system is predetermined to correspond to a movement path of the workpiece,
the processor is further configured to:
calculate a movement amount of the workpiece corresponding to a difference between a first position of the movement member when the three-dimensional information is acquired and a second position of the movement member when the two-dimensional image is acquired,
move a plurality of measurement points included in the three-dimensional information in a direction parallel to the moving direction in the sensor coordinate system in a manner to correspond to the movement amount of the workpiece, and
move the plurality of measurement points into a region of the two-dimensional image of the workpiece,
an image coordinate system whose origin is set at a predetermined point of the two-dimensional image is predetermined,
a ratio of a movement distance of the plurality of measurement points in the image coordinate system to an actual movement distance of the workpiece is preset, and
the processor is configured to move the plurality of measurement points into the region of the two-dimensional image of the workpiece based on the ratio.