WO2022209272A1

WO2022209272A1 - Imaging control device, imaging device, imaging control method, and program

Info

Publication number: WO2022209272A1
Application number: PCT/JP2022/004196
Authority: WO
Inventors: 博一石川
Original assignee: 日本電産株式会社
Priority date: 2021-03-30
Filing date: 2022-02-03
Publication date: 2022-10-06
Also published as: CN117083869A

Abstract

An imaging control device characterized by comprising: a first acquisition unit that acquires optical system incline information indicating the incline of an optical system of an imaging device; a second acquisition unit that acquires workpiece incline information indicating the incline of a workpiece to be imaged by the imaging device; and a control unit that controls the incline of the optical system or the incline of the workpiece on the basis of the optical system incline information acquired by the first acquisition unit and the workpiece incline information acquired by the second acquisition unit.

Description

IMAGING CONTROL DEVICE, IMAGING DEVICE, IMAGING CONTROL METHOD AND PROGRAM

The present invention relates to an imaging control device, an imaging device, an imaging control method, and a program.

Conventionally, when a subject (recognition target) is photographed using a camera provided in a portable information terminal, the angle of photographing shifts due to the photograph being taken while the portable information terminal is held by hand, or the characters corresponding to the photographing position. In some cases, the recognition target cannot be determined from the captured image due to a change in how the recognition target is photographed.

On the other hand, in Japanese Patent Application Laid-Open No. 2012-22474, an image including a recognition target corresponding to a pre-stored 3D model is captured with a camera, and the tilt angle of the camera with respect to the ground plane is acquired. The 3D model is rotated based on the obtained tilt angle, a group of comparative images is created from the rotated 3D model, and matching between the captured image taken by the camera and the created group of comparative images is detected, and the captured image is captured. Disclosed is a personal digital assistant that determines the tilt of a recognition target relative to a camera. Then, the portable information terminal of Patent Document 1 cuts out an image corresponding to the character area according to the determined inclination of the recognition target, corrects the distortion, and then performs character recognition. According to the portable information terminal disclosed in Patent Document 1, when the recognition target is predetermined, the influence of the shift in the shooting angle of the recognition target and the camera due to hand-holding and the standing position can be suppressed, and the detection accuracy of the recognition target can be improved. Character recognition can be performed.

Japanese publication: JP 2012-22474

However, in Patent Document 1, it is necessary to input and store in advance a 3D model corresponding to the captured image including the recognition target, and the captured image of the recognition target that does not correspond to the 3D model is stored in the 3D model. Since the photographed image cannot be corrected due to the inability to detect a match, there is a problem that a clear photographed image of the recognition target cannot be obtained.

An object of the present invention is to obtain a clear image of a workpiece by making the optical system of the imaging device parallel to the workpiece without inputting and storing a 3D model in advance when the workpiece is imaged by the imaging device. It is to provide an imaging control device, an imaging device, an imaging control method, and a program that can obtain

An imaging control apparatus according to the present invention includes a first acquisition unit that acquires optical system tilt information indicating the tilt of an optical system of an imaging device; 2 an acquisition unit, and a control unit that controls the inclination of the optical system or the workpiece based on the optical system inclination information acquired by the first acquisition unit and the workpiece inclination information acquired by the second acquisition unit; , has

An imaging device according to the present invention includes the imaging control device described above and an imaging unit that captures an image of the workpiece.

An imaging control method according to the present invention comprises a first obtaining step of obtaining optical system tilt information indicating the tilt of an optical system of an imaging device; a control step of controlling the inclination of the optical system or the work based on the optical system inclination information acquired in the first acquisition step and the work inclination information acquired in the second acquisition step; , has

A program according to the present invention provides a computer with a first acquisition step of acquiring optical system tilt information indicating the tilt of an optical system of an imaging device, and acquiring workpiece tilt information indicating the tilt of a workpiece imaged by the imaging device. and a control step of controlling the inclination of the optical system or the work based on the optical system inclination information acquired in the first acquisition step and the work inclination information acquired in the second acquisition step. and let it run.

According to the present invention, when an image of a workpiece is captured by an imaging device, a clear image of the workpiece can be obtained by making the optical system of the imaging device and the workpiece parallel without inputting and storing a 3D model in advance. can be obtained.

1 is a block diagram showing the configuration of an imaging device according to a first embodiment of the present invention; FIG. 1 is a schematic diagram of an imaging device according to a first embodiment of the present invention; FIG. 2 is a cross-sectional view of an optical unit of the imaging device according to the first embodiment of the invention; FIG. It is a figure which shows the use condition of the imaging device which concerns on the 1st Embodiment of this invention. FIG. 4 is a flowchart showing imaging control processing according to the first embodiment of the present invention; FIG. 9 is a flowchart showing a modification of imaging control processing according to the first embodiment of the present invention; FIG. 3 is a block diagram showing the configuration of an imaging device according to a second embodiment of the present invention; FIG.

An imaging control device, an imaging device, an imaging control method, and a program according to exemplary embodiments of the present invention will be described below with reference to the drawings. The scope of the present invention is not limited to the following embodiments, and can be arbitrarily changed within the scope of the technical idea of the present invention. Also, in the drawings below, the scale, number, etc. of each structure may be different from the scale, number, etc. of the actual structure in order to make each configuration easier to understand.

(First embodiment)
<Structure of Imaging Device>
A configuration of an imaging apparatus 1000 according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2. FIG.

The imaging device 1000 has an imaging control device 50 , a communication section 60 , an optical unit 100 , a flexible wiring board 1900 and a chassis 2000 . The imaging device 1000 is a camera-equipped mobile terminal such as a smart phone or a tablet terminal.

The imaging control device 50 outputs to the communication unit 60 a control signal for controlling driving of the drive mechanism 500 or controlling driving of a later-described fixing base 70 fixing the imaging device 1000 . Details of the configuration of the imaging control device 50 will be described later.

The communication unit 60 wirelessly transmits the control signal input from the imaging control device 50 to the fixing base 70 . Also, the communication unit 60 can receive a signal transmitted from the outside of the imaging device 50 . The communication unit 60 performs wireless communication using Ethernet, Bluetooth, WiFi, or the like.

The optical unit 100 is an imaging section. Incidentally, in this specification, the optical unit (imaging unit) may be referred to as a camera. The optical unit 100 operates so as to cancel out the influence of the shake when the image pickup apparatus 1000 is shaken during image pickup. Further, the optical unit 100 determines the tilt of the optical system 1a of the imaging device under the control of the imaging control device 50, and operates so that the optical system 1a of the imaging device has the determined tilt. Details of the configuration of the optical unit 100 will be described later.

The flexible wiring board 1900 supplies power to the optical unit 100 and electrically connects the optical unit 100 and the imaging control device 50 .

A chassis 2000 is a housing for the imaging device 1000 . The chassis 2000 supports the optical unit 100 and accommodates the imaging control device 50 , the communication section 60 , the optical unit 100 and the flexible wiring board 1900 .

<Configuration of imaging control device>
The configuration of the imaging control device 50 according to the first embodiment of the present invention will be described in detail with reference to FIG.

The imaging control device 50 includes an optical system tilt detection section 51 , a work tilt detection section 52 and a control section 53 .

The optical system tilt detection unit 51 detects the tilt of the optical system 1a of the imaging device with respect to the reference plane by detecting the tilt of the imaging device 1000 with respect to the reference plane perpendicular to the vertical direction, and optically transmits an electric signal according to the detection result. It is output to the control unit 53 as system tilt information. The optical system tilt detector 51 is preferably a gravity sensor. The optical system tilt detection section 51 is an example of the first acquisition section and the first detection section of the present invention.

The work tilt detection unit 52 detects the tilt of the work imaged by the imaging device 1000 with respect to the reference plane, and outputs an electrical signal according to the detection result to the control unit 53 as work tilt information. The workpiece inclination detector 52 is preferably a distance sensor. The workpiece inclination detection unit 52 is an example of the second acquisition unit and the second detection unit of the present invention.

The control unit 53 is composed of, for example, one or more processors (CPU, MPU, GPU, etc.). The control unit 53 controls the overall operation of the imaging apparatus 1000 by executing a control program stored in advance in a storage unit (not shown). Based on the optical system tilt information input from the optical system tilt detection unit 51 and the work tilt information input from the work tilt detection unit 52, the control unit 53 controls a driving mechanism 500 of the optical unit 100, which will be described later. energizes the drive mechanism 500 or generates a control signal and outputs it to the communication unit 60 . The control unit 53 controls driving of the drive mechanism 500 so as to cancel out the influence of the external force applied to the imaging device 1000 detected by an acceleration sensor (not shown) as an external force detection unit.

<Configuration of optical unit>
The configuration of the optical unit 100 of the imaging device 1000 according to the first embodiment of the invention will be described in detail with reference to FIG.

The optical unit 100 includes an optical module 10, a fixed body 20, a gimbal mechanism 30, a first frame 41, a second frame 42, and a driving mechanism 500.

The optical module 10 is swingably supported within the fixed body 20 by the gimbal mechanism 30 . The optical module 10 receives a magnetic driving force from the drive mechanism 500 to displace the optical system 1a of the imaging device relative to the fixed body 20 . The optical module 10 has an imaging unit 1 and a rectangular box-shaped cover 110 that houses the imaging unit 1 inside.

The imaging unit 1 has a function of imaging recognition targets such as characters, and includes an optical system 1a of an imaging device. The optical system 1a of the imaging device is a lens.

The cover 110 constitutes the outer peripheral portion of the optical module 10 and has four side portions 11 .

The fixed body 20 has a case 200 .

The case 200 covers the optical module 10 while exposing the optical system 1a of the imaging device to the outside.

The gimbal mechanism 30 supports the optical module 10 so that the optical module 10 can be displaced with respect to the fixed body 20. The gimbal mechanism 30 includes a rectangular frame 25 , a movable frame 32 and a rectangular frame 42 .

The rectangular frame 25 is fixed to the case 200 by welding, bonding, or the like. The rectangular frame 25 is positioned on one side +Z in the Z-axis direction with respect to the movable frame 32 and is larger than the movable frame 32 . The rectangular frame 25 includes a plate portion 273 and a receiving portion 280 protruding inward from the plate portion 273 in a hemispherical shape.

The movable frame 32 is rectangular when viewed from the Z-axis direction. A projection (not shown) of the movable frame 32 is movably engaged with the receiving portion 280 of the rectangular frame 25 , so that a pair of first corners facing each other when viewed from the Z-axis direction are attached to the fixed body 20 and the rectangular frame 25 . It is swingably supported and swingable around a first axis passing through the pair of first corners when viewed from the Z-axis direction. The movable frame 32 swingably supports the rectangular frame 42 at a pair of second corners other than the pair of first corners when viewed from the Z-axis direction.

The rectangular frame 42 is positioned on the other side −Z in the Z-axis direction with respect to the movable frame 32 and is smaller than the movable frame 32 . The rectangular frame 42 is swingable about a second axis passing through a pair of second corners when viewed from the Z-axis direction.

The first frame 41 has a rectangular shape when viewed from the Z-axis direction, and is adhered and fixed to the four side portions 11 .

The second frame 42 has a rectangular shape when viewed from the Z-axis direction, and is adhered and fixed to the four side portions 11 with a predetermined spacing from the first frame 41 .

The driving mechanism 500 as the first driving mechanism is driven under the control of the imaging control device 50 to generate a magnetic driving force for relatively displacing the optical module 10 with respect to the fixed body 20 by the gimbal mechanism 30, whereby the imaging device determines the inclination of the optical system 1a. A drive mechanism 500 is an optical shake correction mechanism included in the imaging apparatus 1000 . The drive mechanism 500 includes a magnet 520 and an air core coil 560 . Drive mechanism 500 is an example of the first drive mechanism of the present invention.

The magnets 520 are provided on the outer surfaces of the four side surfaces 11 of the cover 110 between the first frame 41 and the second frame 42, and are magnetized with different polarities on the outer surface side and the inner surface side. The magnet 520 is divided into two in the direction of the optical axis L, and magnetized so that the magnetic poles located on the side of the air-core coil 560 are different.

The air-core coil 560 is provided at a position facing the magnet 520 on the inner surface side of the case 200 .

The magnet 520 and the air-core coil 560 are arranged at positions shifted in the Z-axis direction. Located at +Z. Therefore, when the air-core coil 560 is energized, a large moment can be applied to the optical module 10 around the swing center O of the optical module 10 .

The configuration of the optical unit 100 of this embodiment is substantially the same as that of the optical unit 100 described in JP-A-2014-6522, for example.

<Operation of Imaging Device>
Operations of the imaging device 1000 according to the embodiment of the present invention will be described in detail with reference to FIG.

FIG. 4 shows a case in which an image of a workpiece W placed on a fixing table 70 is imaged by an imaging device 1000 fixed to the fixing table 70 in an inspection process in a factory, and the image data of the imaged image is used for inspection. exemplified.

Here, the fixing table 70 to which the imaging device 1000 is fixed includes a mounting portion 76 which is a member supporting the workpiece W to be imaged by the imaging device 1000, a support 73 provided on the mounting portion 76, An arm 71 as a second drive mechanism, which is driven by a motor (not shown) and is mounted movably in the Z-axis direction and in the direction parallel to the XY plane with respect to a post 73, moves toward or away from each other. and a pair of fixing portions 72 provided on the arm 71 as possible.

First, the imaging device 1000 is sandwiched between the pair of fixing portions 72 of the fixing base 70 with the optical system 1 a of the imaging device facing the mounting portion 76 of the fixing base 70 . is fixed to the arm 71 of the .

Next, the imaging control device 50 of the imaging device 1000 executes imaging control processing, which will be described later, to control driving of the drive mechanism 500 to control the inclination of the imaging device 1000 or to control the tilt of the fixing table 70 . A control signal for controlling the driving of the drive motor (not shown) is wirelessly transmitted to the communication part (not shown) of the fixed base 70 via the communication part 60 . At this time, the image pickup control device 50 controls the inclination of the image pickup device 1000 so that the optical system 1a of the image pickup device and the fixed base 70 are within a predetermined angle range with respect to the parallel angle. The predetermined angle range is, for example, ±6 degrees.

The fixing base 70 that has received the control signal from the imaging control device 50 determines the inclination of the arm 71 based on the received control signal, and drives the drive motor to change and adjust the inclination of the arm 71 . At this time, the imaging control device 50 controls the inclination of the arm 71 so that the workpiece W on the fixing table 70 and the optical system 1a of the imaging device are parallel to each other within a predetermined angle range. . The predetermined angle range is, for example, ±6 degrees.

The placement section 76, which is a member for supporting the workpiece W, may be driven by the second drive mechanism without determining and adjusting the inclination of the arm 71. In this case, the imaging device 1000 transmits a control signal for driving the mounting section 76 to the fixed base 70 . Then, the fixing table 70 controls the inclination of the workpiece W by controlling the inclination of the mounting section 76 with respect to the reference plane based on the received control signal.

By the above operation, the optical system 1a of the imaging device and the mounting portion 76 become parallel, so that the optical system 1a of the imaging device and the workpiece W become parallel. Therefore, the imaging device 1000 can obtain a clear captured image of the work W set on the placement section 76, and can reliably recognize recognition targets such as character information of the work W from the captured image.

Further, when the imaging apparatus 1000 receives an external force such as mechanical vibration, the control unit 53 performs normal shake correction processing to control the driving mechanism 500 so as to cancel out the influence of the external force detected by an acceleration sensor (not shown). . As a result, a clearer image of the workpiece W can be obtained even when the imaging device 1000 is affected by an external force such as vibration.

In addition, since a clear captured image of the workpiece W can be obtained by the imaging device 1000, inspection accuracy can be improved by AI processing or classical rule-based image processing. It is possible to improve the recognition accuracy in various types of recognition such as code recognition such as trademark) or character recognition.

　As a situation when performing the above operation, it is assumed that the work W is tilted because the tray on which the work W is placed is distorted. In such a situation, when an image of the work W is captured, the way in which the work W is illuminated changes, and a phenomenon occurs in which fine flaws cannot be seen. When such a phenomenon occurs, the imaging device 1000 does not control the light source itself, but detects a change in the surface of the work W that reflects the light, and detects the change in the surface of the work W and the optics of the imaging device. By controlling the system 1a to be parallel, the influence on the captured image can be minimized, and the detection accuracy can be improved.

<Imaging control processing>
An imaging control process according to the first embodiment of the present invention will be described.

First, the imaging control process for controlling the tilt of the optical system 1a of the imaging device will be described in detail with reference to FIG.

The imaging control process shown in FIG. 5 is started at the timing when a predetermined menu displayed on the touch panel of the imaging device 1000 is selected.

The imaging control device 50 identifies the workpiece W based on the result of detection by the workpiece inclination detection unit 52 or image analysis of the captured image captured by the optical unit 100 . Note that the imaging control device 50 may specify the work W by a user's operation on the imaging device 1000 .

Next, the imaging control device 50 detects the inclination of the optical system 1a of the imaging apparatus by the optical system inclination detection section 51, and measures the distance between the imaging apparatus 1000 and the workpiece on the placement section 76 by the work inclination detection section 52. By doing so, the inclination of the work is detected (S1). Specifically, the optical system tilt detector 51 detects tilts relative to the reference plane in each of the X-axis, Y-axis, and Z-axis. In addition, the work tilt detection unit 52 detects the tilt of the work W with respect to the reference plane in each of the X-axis, Y-axis, and Z-axis based on the point cloud data of the distances from the plurality of points of the work W. By detecting the tilt of the work W based on the point cloud data, the detection accuracy of the tilt of the work W can be improved.

Next, the control unit 53 of the imaging control device 50 aligns the optical system 1a of the imaging device and the workpiece W on the mounting unit 76 in parallel based on the detected inclination of the optical system 1a of the imaging device and the inclination of the workpiece W. A correction value for this is calculated (S2). Specifically, the control unit 53 calculates the correction value using the X coordinate, Y coordinate and Z coordinate. Here, the correction value is the amount of deviation of the angle with respect to the angle when the optical system 1a of the imaging device and the workpiece W are parallel.

Next, the control unit 53 sets the calculated correction value as an initial set value (S3).

Next, the control unit 53 controls the driving of the drive mechanism 500 based on the initial set values, so that the optical system 1a of the imaging device and the work W are kept parallel to each other, and the gimbal mechanism 30 performs imaging. The tilt of the optical system 1a of the apparatus is controlled (S4).

Next, the control unit 53 determines whether or not it is a predetermined number of times of processing n (n is a positive integer) (S5).

The control unit 53 ends the imaging control process when the predetermined number of times of processing is n (step S5: Yes).

On the other hand, if the number of times of processing is not the predetermined number n (step S5: No), the control unit 53 determines whether or not it is the predetermined timing (S6). Here, the predetermined timing is the timing at which the workpieces W are placed on the placement unit 76 when a plurality of works W are sequentially placed on the placement unit 76 at predetermined time intervals, or the predetermined time. is the timing that has passed.

If it is not the predetermined timing (S6: No), the control unit 53 repeats the process of step S6.

On the other hand, if it is the predetermined timing (S6: Yes), the control unit 53 increments the number of times of processing n (step S7), and returns to the process of step S1. In this manner, the control unit 53 increments the number of times of processing n each time the processing of step S1 to step S6 is executed.

According to the imaging control process shown in FIG. 5, a clearer image of the workpiece W can always be obtained when repeatedly imaging the workpiece W.

Next, imaging control processing for controlling the tilt of the fixing base 70 that fixes the imaging device 1000 will be described in detail with reference to FIG. With reference to FIG. 6, imaging control processing for controlling the inclination of the mounting portion 76 of the fixing table 70 will be described.

In addition, in FIG. 6, parts that are the same processing as in FIG. In FIG. 6, step S11 is performed after step S2.

The control unit 53 sets the calculated correction value as the reference position at the start of control of the fixing table 70 (S11).

Next, the control unit 53 transmits a control signal for controlling the driving of the fixing table 70 to the fixing table 70 via the communication unit 60, and moves the workpiece W on the mounting part 76 of the fixing table 70 based on the reference position. and the optical system 1a of the imaging device are controlled to maintain a parallel state (S12). Since the imaging device 1000 is relatively lightweight, an inexpensive motor such as a servomotor can be used as the drive motor for driving the arm 71 .

After the process of step S12, the process proceeds to step S5.

According to the imaging control process shown in FIG. 6, a clearer image of the workpiece W can always be obtained when the workpiece W is repeatedly imaged. Also, the imaging control processing shown in FIG. 6 is effective when the imaging apparatus does not have an optical shake correction mechanism.

Note that the control unit 53 may execute either one of the imaging control process shown in FIG. 5 and the imaging control process shown in FIG. 6, or may execute both.

As described above, according to the present embodiment, by controlling the inclination of the optical system 1a of the imaging apparatus or the workpiece W based on the acquired optical system inclination information and the acquired workpiece inclination information, the imaging apparatus 1000 can tilt the workpiece. When capturing an image of W, a clear image of the work W can be obtained by making the optical system 1a of the imaging device parallel to the work W without inputting and storing a 3D model in advance.

Further, according to the present embodiment, a clear captured image can be obtained without using an expensive control system by executing the imaging control process utilizing the gravity sensor and the distance sensor provided in the imaging device. .

Also, according to this embodiment, the imaging control process can be executed by hardware control.

Although the imaging device 1000 is fixed to the fixed base 70 in this embodiment, the imaging device 1000 may be moved by hand or the like without being fixed to the fixed base 70 .

In the present embodiment, an acceleration sensor provided separately from the optical system tilt detection unit 51 and the workpiece tilt detection unit 52 operates to cancel out the influence of the external force detected by the acceleration sensor. If the external force can be detected by the optical system tilt detection unit 51, it may be operated to cancel the influence of the external force detected by the optical system tilt detection unit 51. FIG.

(Second embodiment)
<Structure of Imaging Device>
A configuration of the imaging device 3000 according to the embodiment of the present invention will be described in detail with reference to FIG.

In addition, in FIG. 7, parts having the same configurations as those in FIG.

The imaging device 3000 has a communication section 60 , an imaging control device 80 , an optical unit 100 , a flexible wiring board 1900 and a chassis 2000 . The imaging device 3000 is a camera-equipped mobile terminal such as a smart phone or a tablet terminal. In this embodiment, the optical system tilt detection unit 151 and the work tilt detection unit 152 are provided outside the imaging device 3000 . For example, the optical system tilt detection unit 151 is provided near the optical unit 100 of the imaging device 3000, and the work tilt detection unit 152 is provided near the work placement unit .

The optical system tilt detection unit 151 detects the tilt of the optical system 1a of the imaging device with respect to the reference plane by detecting the tilt of the imaging device 3000 with respect to the reference plane perpendicular to the vertical direction, and images the detection result as optical system tilt information. Send to device 3000 . Optical system tilt information transmitted from the optical system tilt detection unit 151 to the imaging device 3000 is acquired by the first acquisition unit 81 of the imaging control device 80 via the communication unit 60 .

The work tilt detection unit 152 detects the tilt of the work imaged by the imaging device 3000 with respect to the reference plane, and transmits the detection result to the imaging device 3000 as work tilt information. The work tilt information transmitted from the work tilt detection unit 152 to the imaging device 3000 is acquired by the second acquisition unit 82 of the imaging control device 80 via the communication unit 60 .

The imaging control device 80 controls driving of the driving mechanism 500 or outputs a control signal for controlling driving of the workpiece to the communication unit 60 . Details of the configuration of the imaging control device 80 will be described later.

The communication unit 60 wirelessly transmits the control signal input from the imaging control device 80 .

The optical unit 100 determines the tilt of the optical system 1a of the imaging device under the control of the imaging control device 80, and operates so that the optical system 1a of the imaging device has the determined tilt.

The flexible wiring board 1900 supplies power to the optical unit 100 and electrically connects the optical unit 100 and the imaging control device 80 .

<Configuration of imaging control device>
A configuration of the imaging control device 80 according to the embodiment of the present invention will be described in detail with reference to FIG.

The imaging control device 80 includes a control section 53, a first acquisition section 81, and a second acquisition section .

The control unit 53 controls the overall operation of the imaging device 3000 by executing a control program stored in advance in a storage unit (not shown). The control unit 53 energizes the driving mechanism 500 of the optical unit 100 based on the optical system tilt information input from the first acquisition unit 81 and the work tilt information input from the second acquisition unit 82. Thus, it controls driving of the drive mechanism 500 or generates a control signal and outputs it to the communication unit 60 .

The first acquisition unit 81 acquires optical system tilt information from the optical system tilt detection unit 151 and outputs the acquired optical system tilt information to the control unit 53 .

The second acquisition section 82 acquires work inclination information from the work inclination detection section 152 and outputs the acquired work inclination information to the control section 53 .

Note that the operation of the imaging device 3000 is the same as the operation of the imaging device 1000 described above, so description thereof will be omitted. Also, the imaging control processing in this embodiment is the same processing as in FIG. 5 or 6, so the description thereof will be omitted.

As described above, according to the present embodiment, by controlling the inclination of the optical system 1a of the imaging device or the workpiece W based on the acquired optical system inclination information and the acquired workpiece inclination information, the imaging device 3000 can tilt the workpiece. When capturing an image of W, a clear image of the work W can be obtained by making the optical system 1a of the imaging device parallel to the work W without inputting and storing a 3D model in advance.

Further, according to this embodiment, the imaging device 3000 does not need to be provided with the optical system tilt detection unit 151 and the workpiece tilt detection unit 152 . For example, the imaging apparatus 3000 of the present embodiment does not need to be provided with the distance sensor (work tilt detection unit) provided in the imaging apparatus of the first embodiment. Therefore, the manufacturing cost of the imaging device 3000 can be reduced.

Although the imaging device 3000 is fixed to the fixed base 70 in this embodiment, the imaging device 3000 is not limited to being fixed to the fixed base 70, and the imaging device 3000 may be moved by hand or the like.

Further, in the present embodiment, the operation is performed so as to cancel the influence of the external force detected by the acceleration sensor provided separately from the optical system tilt detection unit 151 and the workpiece tilt detection unit 152. However, the optical system tilt detection unit is not limited to this. If the external force can be detected by the optical system tilt detection unit 51, it may be operated to cancel the influence of the external force detected by the optical system tilt detection unit 51. FIG.

Also, in the present embodiment, the optical system tilt detection unit 151 and the work tilt detection unit 152 are provided outside the imaging device 3000, but only the optical system tilt detection unit 151 or only the work tilt detection unit 152 However, the present embodiment can also be applied when provided outside the imaging device 3000 .

The above-described embodiments should be considered illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above-described embodiments, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

Specifically, in the first embodiment and the second embodiment, the image of the work W placed on the fixed table 70 is imaged. Even if the quality of the conveying device itself is poor, a clear captured image can be obtained by executing the imaging control process and correcting the tilt.

Further, in the first and second embodiments, the optical system 1a of the imaging device and the workpiece W are controlled to be parallel. A similar effect can be obtained by controlling.

Further, in the first and second embodiments, the imaging device 1000 and the fixing base 70 are connected by a wireless line, but the imaging device and the fixing base may be connected by a wire. good.

Reference Signs List 1 Imaging unit 1a Optical system of imaging device 10 Optical module 20 Fixed body 25 Rectangular frame 30 Gimbal mechanism 32 Movable frame 41 Third 1st frame 42 Second frame 50 Imaging control device 51 Optical system tilt detector 52 Work tilt detector 53 Control unit 60 Communication unit 70 Fixed Base 71 Arm 72 Fixing Part 73 Post 76 Placement Part 80 Imaging Control Device 81 First Acquisition Part 82 Second Acquisition Part 100 Optical unit 110 Cover 151 Optical system tilt detector 152 Work tilt detector 200 Case 500 Drive mechanism 520 Magnet 560 Air-core coil 1000 Imaging device 1900 Flexible wiring board 2000 Chassis 3000 Imaging device

Claims

a first acquisition unit that acquires optical system tilt information indicating the tilt of the optical system of the imaging device;
a second acquisition unit that acquires work tilt information indicating the tilt of the work imaged by the imaging device;
a control unit that controls the inclination of the optical system or the workpiece based on the optical system inclination information acquired by the first acquisition unit and the workpiece inclination information acquired by the second acquisition unit;
An imaging control device comprising:
a first detection unit that detects the tilt of the optical system and uses it as the optical system tilt information;
a second detection unit that detects the inclination of the workpiece and uses it as the workpiece inclination information;
2. The imaging control device according to claim 1, characterized by comprising:
The first acquisition unit is the first detection unit,
The second acquisition unit is the second detection unit,
3. The imaging control device according to claim 2, wherein:
The second detection unit is
detecting the inclination of the work based on point cloud data of the work detected from a plurality of detection positions;
4. The imaging control apparatus according to claim 2, wherein:
The first detection unit is
is a gravity sensor,
The second detection unit is
is a distance sensor,
5. The imaging control apparatus according to any one of claims 2 to 4, characterized in that:
The first acquisition unit
Acquiring the optical system tilt information from a signal received from the outside,
The second acquisition unit
Acquiring the work inclination information by a signal received from the outside;
2. The imaging control device according to claim 1, wherein:
The control unit
controlling the tilt of the optical system or the workpiece at each predetermined timing;
7. The imaging control apparatus according to any one of claims 1 to 6, characterized by:
The tilt of the optical system is determined by a first drive mechanism, and the tilt of the workpiece is determined by a second drive mechanism,
The control unit
controlling the first drive mechanism to control the tilt of the optical system, and controlling the second drive mechanism to control the tilt of the workpiece;
8. The imaging control apparatus according to any one of claims 1 to 7, characterized by:
The first drive mechanism is
An optical shake correction mechanism provided in the imaging device,
9. The imaging control device according to claim 8, wherein:
Having an external force detection unit that detects an external force applied to the imaging device,
The control unit
controlling the optical shake correction mechanism so as to cancel out the influence of the external force based on the detection result of the external force detection unit;
10. The imaging control device according to claim 9, wherein:
The second drive mechanism is
A mechanism for changing the inclination of the member supporting the work,
11. The imaging control apparatus according to any one of claims 8 to 10, characterized in that:
an imaging control device according to any one of claims 1 to 11;
an imaging unit that images the workpiece;
An imaging device characterized by comprising:
having a housing,
The first acquisition unit and the second acquisition unit are
provided within the housing,
13. The imaging apparatus according to claim 12, characterized by:
The imaging device is
a smartphone or tablet,
14. The imaging apparatus according to claim 12 or 13, characterized in that:
a first acquisition step of acquiring optical system tilt information indicating the tilt of the optical system of the imaging device;
a second obtaining step of obtaining work tilt information indicating the tilt of the work imaged by the imaging device;
a control step of controlling the inclination of the optical system or the workpiece based on the optical system inclination information acquired in the first acquisition step and the workpiece inclination information acquired in the second acquisition step;
An imaging control method, comprising:
to the computer,
a first acquisition step of acquiring optical system tilt information indicating the tilt of the optical system of the imaging device;
a second obtaining step of obtaining work tilt information indicating the tilt of the work imaged by the imaging device;
a control step of controlling the inclination of the optical system or the workpiece based on the optical system inclination information acquired in the first acquisition step and the workpiece inclination information acquired in the second acquisition step;
program to run.