CN117083869A

CN117083869A - Imaging control device, imaging control method, and program

Info

Publication number: CN117083869A
Application number: CN202280024401.3A
Authority: CN
Inventors: 石川博一
Original assignee: Nidec Corp
Current assignee: Nidec Corp
Priority date: 2021-03-30
Filing date: 2022-02-03
Publication date: 2023-11-17
Also published as: WO2022209272A1

Abstract

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

Description

Imaging control device, imaging control method, and program

Technical Field

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

Background

Conventionally, when a subject (recognition object) is photographed using a camera provided in a portable information terminal, there are cases where the recognition object cannot be determined from a photographed image due to a shift in a photographing angle caused by photographing the portable information terminal by holding the portable information terminal by hand or a change in a photographing manner of the recognition object such as a character corresponding to a photographing position.

In contrast, japanese patent application laid-open No. 2012-22474 discloses a portable information terminal in which an image including an identification object corresponding to a pre-stored 3D model is captured by a camera, an inclination angle of the camera with respect to a ground plane is acquired, the 3D model is rotated based on the acquired inclination angle, a comparison image group is generated based on the rotated 3D model, a coincidence detection between the captured image captured by the camera and the generated comparison image group is performed, and a gradient of the identification object captured in the captured image with respect to the camera is determined. The portable information terminal of patent document 1 intercepts an image corresponding to the character region based on the determined slope of the recognition target, corrects the distortion, and then performs character recognition. According to the portable information terminal of patent document 1, when the recognition object is determined in advance, it is possible to suppress the influence of the deviation of the shooting angle between the recognition object and the camera due to the hand holding and the influence of the standing position, to improve the detection accuracy of the recognition object, and to perform appropriate character recognition.

Prior art literature

Patent literature

Patent document 1: japanese patent application laid-open No. 2012-22474

Disclosure of Invention

Problems to be solved by the invention

However, in patent document 1, it is necessary to input and store a 3D model corresponding to a captured image including an identification object in advance, and for a captured image of an identification object that does not correspond to the 3D model, a matching image cannot be detected in the 3D model, and thus the captured image cannot be corrected, so that there is a problem that a clear captured image of the identification object cannot be obtained.

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

Means for solving the problems

The imaging control device of the present invention comprises: a first acquisition unit that acquires optical system slope information indicating a slope of an optical system of the imaging device; a second acquisition unit that acquires workpiece slope information indicating a slope of the workpiece imaged by the imaging device; and a control unit that controls a slope of the optical system or the workpiece based on the optical system slope information acquired by the first acquisition unit and the workpiece slope information acquired by the second acquisition unit.

The imaging device of the present invention includes the imaging control device and an imaging unit for imaging the workpiece.

The shooting control method of the present invention has the steps of: a first acquisition step of acquiring optical system slope information indicating a slope of an optical system of the imaging device; a second acquisition step of acquiring workpiece slope information indicating a slope of the workpiece imaged by the imaging device; and a control step of controlling a slope of the optical system or the workpiece based on the optical system slope information acquired in the first acquisition step and the workpiece slope information acquired in the second acquisition step.

The program of the present invention causes a computer to execute the steps of: a first acquisition step of acquiring optical system slope information indicating a slope of an optical system of the imaging device; a second acquisition step of acquiring workpiece slope information indicating a slope of the workpiece imaged by the imaging device; and a control step of controlling a slope of the optical system or the workpiece based on the optical system slope information acquired in the first acquisition step and the workpiece slope information acquired in the second acquisition step.

Effects of the invention

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

Drawings

Fig. 1 is a block diagram showing a configuration of an imaging device according to a first embodiment of the present invention.

Fig. 2 is a schematic diagram of an imaging device according to a first embodiment of the present invention.

Fig. 3 is a cross-sectional view of an optical unit of an imaging device according to a first embodiment of the present invention.

Fig. 4 is a view showing a use state of the imaging device according to the first embodiment of the present invention.

Fig. 5 is a flowchart showing the shooting control process according to the first embodiment of the present invention.

Fig. 6 is a flowchart showing a modification of the imaging control process according to the first embodiment of the present invention.

Fig. 7 is a block diagram showing a configuration of an imaging device according to a second embodiment of the present invention.

Detailed Description

Hereinafter, an imaging control device, an imaging control method, and a program according to exemplary embodiments of the present invention are described with reference to the drawings. The scope of the present invention is not limited to the following embodiments, and may be arbitrarily changed within the scope of the technical idea of the present invention. In the drawings below, the scale, the number, and the like in each structure may be different from those in an actual structure for easy understanding of each structure.

(first embodiment)

Structure of shooting device

Referring to fig. 1 and 2, the configuration of an imaging device 1000 according to an embodiment of the present invention will be described in detail.

The imaging device 1000 includes an imaging control device 50, a communication unit 60, an optical unit 100, a flexible wiring board 1900, and a cradle (Chassis) 2000. The imaging device 1000 is a portable terminal with a camera such as a smart phone or a tablet terminal.

The imaging control device 50 outputs a control signal to the communication unit 60, and the control signal controls the driving of the driving mechanism 500 or controls the driving of the stationary table 70 described later of the stationary imaging device 1000. The details of the configuration of the imaging control device 50 will be described later.

The communication unit 60 wirelessly transmits a control signal input from the imaging control device 50 to the stationary station 70. The communication unit 60 can receive a signal transmitted from the outside of the imaging device 50. The communication unit 60 performs wireless communication by Ethernet, bluetooth, wiFi, or the like.

The optical unit 100 is an imaging unit. In this specification, the optical unit (imaging unit) is sometimes referred to as a camera. When shake such as hand shake occurs in the imaging device 1000 during imaging, the optical unit 100 operates to cancel the influence of the shake. The optical unit 100 determines the slope 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 slope. The details of the structure 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.

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

Structure of shooting control device

Referring to fig. 1, the configuration of an imaging control device 50 according to a first embodiment of the present invention will be described in detail.

The imaging control device 50 includes an optical system gradient detecting unit 51, a workpiece gradient detecting unit 52, and a control unit 53.

The optical system slope detection unit 51 detects the slope of the optical system 1a of the imaging device with respect to the reference plane orthogonal to the vertical direction by detecting the slope of the imaging device 1000 with respect to the reference plane, and outputs an electrical signal corresponding to the detection result as optical system slope information to the control unit 53. Preferably, the optical system slope detecting unit 51 is a gravity sensor. The optical system slope detection unit 51 is an example of the first acquisition unit and the first detection unit of the present invention.

The workpiece slope detection unit 52 detects the slope of the workpiece with respect to the reference plane, which is imaged by the imaging device 1000, and outputs an electric signal corresponding to the detection result as workpiece slope information to the control unit 53. Preferably, the workpiece slope detecting section 52 is a distance sensor. The workpiece slope detecting unit 52 is an example of the second acquiring unit and the second detecting unit of the present invention.

The control unit 53 is constituted by, for example, one or a plurality of processors (CPU, MPU, GPU, etc.). The control unit 53 executes a control program stored in a storage unit, not shown, to control the operation of the entire imaging device 1000. The control unit 53 controls driving of the driving mechanism 500 of the optical unit 100 by energizing the driving mechanism 500 described later, or generates a control signal and outputs the control signal to the communication unit 60, based on the optical system slope information input from the optical system slope detection unit 51 and the workpiece slope information input from the workpiece slope detection unit 52. The control unit 53 controls driving of the driving mechanism 500 to cancel 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.

Structure of optical Unit

Referring to fig. 3, the structure of the optical unit 100 of the imaging device 1000 according to the first embodiment of the present invention will be described in detail.

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

The optical module 10 is swingably supported in the fixed body 20 by a gimbal mechanism 30. The optical module 10 receives a magnetic driving force from the driving mechanism 500, and thereby relatively displaces the optical system 1a of the imaging device with respect to the fixed body 20. The optical module 10 includes an imaging unit 1 and a square box-shaped cover 110 that houses the imaging unit 1 inside.

The imaging unit 1 has a function for imaging an object to be identified such as a character, and includes an optical system 1a of an imaging device. The optical system 1a of the photographing device is a lens.

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

The stationary body 20 includes a housing 200.

The case 200 covers the periphery of the optical module 10 in a state where the optical system 1a of the imaging device is exposed 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 has 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 or bonding or the like. The rectangular frame 25 is located on the 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 has a plate portion 273 and a receiving portion 280 protruding from the plate portion 273 to the inside in a hemispherical shape.

The movable frame 32 is rectangular when viewed from the Z-axis direction. The movable frame 32 is engaged with the receiving portion 280 of the rectangular frame 25 by a projection not shown in the drawings so as to be movable, and a pair of opposing first corners are swingably supported by the fixed body 20 and the rectangular frame 25 as viewed in the Z-axis direction, and are swingable about a first axis passing through the pair of first corners as viewed in the Z-axis direction. When the movable frame 32 is viewed in the Z-axis direction, the rectangular frame 42 is swingably supported by a pair of second corners other than the pair of first corners.

The rectangular frame 42 is located 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 capable of swinging about a second axis passing through a pair of second corners, as viewed in the Z-axis direction.

The first frame 41 is rectangular in shape as viewed in the Z-axis direction, and is adhesively fixed to the four side surface portions 11.

The second frame 42 is rectangular in shape as viewed in the Z-axis direction, and is adhesively fixed to the four side surface portions 11 with a predetermined interval from the first frame 41.

The driving mechanism 500 as the first driving mechanism is driven by the control of the imaging control device 50, and generates a magnetic driving force for relatively displacing the optical module 10 with respect to the fixed body 20 by the gimbal mechanism 30, thereby determining the gradient of the optical system 1a of the imaging device. The driving mechanism 500 is an optical shake correction mechanism provided in the imaging device 1000. The drive mechanism 500 has a magnet 520 and an air core coil 560. The driving mechanism 500 is an example of the first driving mechanism of the present invention.

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

The hollow coil 560 is provided at a position opposite to the magnet 520 on the inner surface side of the housing 200.

The magnet 520 and the air core coil 560 are arranged at positions offset in the Z-axis direction, and the center of the magnet 520 in the Z-axis direction is located on the side +z in the Z-axis direction than the center of the air core coil 560 in the Z-axis direction. 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 structure of the optical unit 100 according to the present embodiment is substantially the same as that of the optical unit 100 described in, for example, japanese patent application laid-open No. 2014-6522.

< action of imaging device >

The operation of the imaging device 1000 according to the embodiment of the present invention will be described in detail with reference to fig. 4.

Fig. 4 illustrates a case where, in an inspection process in a factory, the workpiece W mounted on the fixed table 70 is photographed by the photographing device 1000 fixed to the fixed table 70, and the inspection is performed using image data of the photographed image.

Here, the stationary table 70 for fixing the imaging device 1000 includes: a mounting portion 76 for supporting the workpiece W imaged by the imaging device 1000; a pillar 73 provided on the mounting portion 76; an arm 71 as a second driving mechanism, which is driven by a motor not shown, is mounted so as to be movable in the Z-axis direction and in a direction parallel to the X-Y plane with respect to the column 73; and a pair of fixing portions 72 provided on the arm 71 so as to be movable in a direction approaching or separating from each other.

First, the imaging device 1000 is held by the pair of fixing portions 72 of the fixing base 70 in a state in which the optical system 1a of the imaging device is opposed to the mounting portion 76 of the fixing base 70, whereby the imaging device 1000 is fixed to the arm 71 of the fixing base 70.

Next, the imaging control device 50 of the imaging device 1000 controls the driving of the driving mechanism 500 by executing imaging control processing described later, thereby controlling the gradient of the imaging device 1000, or wirelessly transmits a control signal for controlling the driving of a driving motor, not shown, of the stationary table 70 to a communication section, not shown, of the stationary table 70 via the communication section 60. At this time, the imaging control device 50 controls the slope of the imaging device 1000 so that the angle with respect to the state where the optical system 1a of the imaging device and the stationary table 70 are parallel falls within a predetermined angle range. The predetermined angle ranges, for example, from + -6 degrees.

The stationary table 70, which has received the control signal from the imaging control device 50, determines the slope of the arm 71 based on the received control signal, and drives the drive motor to change the slope of the adjustment arm 71. At this time, the imaging control device 50 controls the slope of the arm 71 so that the angle with respect to the state where the workpiece W of the stationary table 70 is parallel to the optical system 1a of the imaging device falls within a predetermined angle range. The predetermined angle ranges, for example, from + -6 degrees.

Instead of determining and adjusting the slope of the arm 71, the placement portion 76, which is a member for supporting the workpiece W, may be driven by the second driving mechanism. In this case, the imaging device 1000 transmits a control signal for driving the mounting portion 76 to the fixed stand 70. The stationary table 70 controls the slope of the placement portion 76 with respect to the reference surface based on the received control signal, thereby controlling the slope of the workpiece W.

By the above-described operation, the optical system 1a of the imaging device is parallel to the mounting portion 76, and thus the optical system 1a of the imaging device is parallel to the workpiece W. Therefore, the imaging device 1000 can obtain a clear captured image of the workpiece W set on the mounting portion 76, and can reliably recognize recognition targets such as character information of the workpiece W from the captured image.

When the imaging device 1000 receives an external force due to mechanical vibration or the like, the control unit 53 performs a normal shake correction process for controlling the driving mechanism 500 to cancel the influence of the external force detected by an acceleration sensor, not shown. Thus, even when the imaging device 1000 is affected by external force such as vibration, a clearer image of the workpiece W can be obtained.

Further, since a clear captured image of the workpiece W can be obtained by the imaging device 1000, inspection accuracy by AI processing, classical rule-based image processing, or the like can be improved, and in terms of management, recognition accuracy can be improved in various kinds of recognition such as code recognition or character recognition of a QR code (registered trademark) or the like.

As a situation when the above-described operation is performed, a case is assumed in which the workpiece W is tilted due to the skew of the tray on which the workpiece W is placed. In such a situation, when the workpiece W is photographed, the irradiation pattern of the illumination to the workpiece W is changed, and a phenomenon occurs in which no minute flaw is visible. When such a phenomenon occurs, the imaging device 1000 does not control the light source itself, but detects that the surface of the workpiece W from which light is reflected is changed, and performs control so that the surface of the workpiece W is parallel to the optical system 1a of the imaging device, whereby the influence on the captured image can be minimized, and the detection accuracy can be improved.

< shooting control Process >)

The shooting control processing of the first embodiment of the present invention will be described.

First, with reference to fig. 5, an imaging control process for controlling the slope of the optical system 1a of the imaging device will be described in detail.

At the timing (timing) when a predetermined menu displayed on the touch panel of the photographing device 1000 is selected, the photographing control process shown in fig. 5 is started.

The imaging control device 50 determines the workpiece W based on the detection result of the workpiece slope detection unit 52 or the image analysis of the captured image captured by the optical unit 100. The imaging control device 50 may also determine the workpiece W by a user's operation of the imaging device 1000.

Next, the photographing control device 50 detects the slope of the optical system 1a of the photographing device by the optical system slope detecting section 51, and detects the slope of the workpiece by measuring the distance between the photographing device 1000 and the workpiece of the mounting section 76 by the workpiece slope detecting section 52 (S1). Specifically, the optical system slope detection unit 51 detects the slopes of the X-axis, Y-axis, and Z-axis with respect to the reference plane. The workpiece slope detecting unit 52 detects slopes of the workpiece W relative to the reference plane in the X-axis, Y-axis, and Z-axis, respectively, based on point group data of distances from a plurality of points of the workpiece W. By detecting the slope of the workpiece W based on the point group data, the detection accuracy of the slope of the workpiece W can be improved.

Next, the control unit 53 of the imaging control device 50 calculates a correction value for making the optical system 1a of the imaging device parallel to the workpiece W of the mounting unit 76 based on the detected slope of the optical system 1a of the imaging device and the detected slope of the workpiece W (S2). Specifically, the control section 53 calculates the correction value using the X coordinate, the Y coordinate, and the Z coordinate. Here, the correction value is an angular offset amount with respect to an angle of a state where the optical system 1a of the photographing device is parallel to the workpiece W.

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 driving mechanism 500 based on the initial setting value, thereby controlling the slope of the optical system 1a of the photographing device by the gimbal mechanism 30 so that the optical system 1a of the photographing device is maintained in a parallel state with the workpiece W (S4).

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

If the predetermined number of times n of processing is set (yes in step S5), the control unit 53 ends the imaging control process.

On the other hand, if the number of times n of processing is not predetermined (step S5: NO), the control unit 53 determines whether or not the predetermined timing is set (S6). Here, the predetermined timing is timing at which the work W is placed on the placement unit 76 or timing at which a predetermined time elapses when a plurality of works W are placed on the placement unit 76 in sequence at predetermined intervals.

If the timing is not the predetermined timing (S6: no), the control unit 53 repeats the processing of step S6.

On the other hand, when the predetermined timing is set (yes in step S6), the control unit 53 increments (increment) the number of times n of processing (step S7), and returns to the processing in step S1. In this way, the control unit 53 increments the number of processing times n each time the processing from step S1 to step S6 is executed.

According to the photographing control process shown in fig. 5, a clearer image of the workpiece W can be always obtained when the workpiece W is repeatedly photographed.

Next, an imaging control process for controlling the slope of the stationary table 70 of the stationary imaging device 1000 will be described in detail with reference to fig. 6. In fig. 6, a description will be given of a photographing control process for controlling the slope of the mounting portion 76 of the stationary table 70.

In fig. 6, the same processing as that in fig. 5 is denoted by the same reference numeral, and the description thereof is omitted. In fig. 6, after step S2, step S11 is performed.

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

Next, the control unit 53 transmits a control signal for controlling the driving of the fixed table 70 to the fixed table 70 via the communication unit 60, and controls the slope of the workpiece W based on the reference position so that the workpiece W of the mounting unit 76 of the fixed table 70 is maintained in a parallel state with the optical system 1a of the imaging device (S12). Since the weight of the imaging device 1000 is relatively light, an inexpensive motor such as a servo motor can be used as the drive motor for the drive arm 71.

Then, the process proceeds to step S5 after the process of step S12.

According to the photographing control process shown in fig. 6, a clearer image of the workpiece W can be always obtained when the workpiece W is repeatedly photographed. The imaging control process shown in fig. 6 is effective when the imaging device is not provided with an optical shake correction mechanism.

The control unit 53 may execute either or both of the imaging control process shown in fig. 5 and the imaging control process shown in fig. 6.

As described above, according to the present embodiment, by controlling the slope of the optical system 1a of the imaging device or the workpiece W based on the acquired optical system slope information and the acquired workpiece slope information, when the workpiece W is imaged by the imaging device 1000, a clear image of the workpiece W can be obtained by making the optical system 1a of the imaging device parallel to the workpiece W without inputting and storing a 3D model in advance.

Further, according to the present embodiment, by flexibly using the gravity sensor and the distance sensor provided in the imaging device to perform the imaging control process, a clear captured image can be obtained without using a high-volume control system.

Further, according to the present embodiment, the photographing control process may be performed by hardware control.

In the present embodiment, the imaging device 1000 is fixed to the fixed stand 70, but the present invention is not limited to this, and the imaging device 1000 may be moved by hand or the like without fixing the imaging device 1000 to the fixed stand 70.

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 slope detection unit 51 and the workpiece slope detection unit 52, but the operation is not limited to this, and the operation may be performed so as to cancel the influence of the external force detected by the optical system slope detection unit 51 when the external force can be detected by the optical system slope detection unit 51.

(second embodiment)

Structure of shooting device

Referring to fig. 7, the configuration of imaging device 3000 according to the embodiment of the present invention will be described in detail.

In fig. 7, the same components as those in fig. 1 are denoted by the same reference numerals, and description thereof is omitted.

The imaging device 3000 includes a communication unit 60, an imaging control device 80, an optical unit 100, a flexible wiring board 1900, and a base 2000. The imaging device 3000 is a portable terminal with a camera such as a smart phone or a tablet terminal. In the present embodiment, the optical system gradient detecting unit 151 and the workpiece gradient detecting unit 152 are provided outside the imaging device 3000. For example, the optical system slope detection unit 151 is provided near the optical unit 100 of the imaging device 3000, and the workpiece slope detection unit 152 is provided near the workpiece placement unit 76.

The optical system slope detection unit 151 detects the slope of the optical system 1a of the imaging device with respect to the reference plane orthogonal to the vertical direction by detecting the slope of the imaging device 3000 with respect to the reference plane, and transmits the detection result to the imaging device 3000 as optical system slope information. The optical system gradient information transmitted from the optical system gradient 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 workpiece slope detection unit 152 detects the slope of the workpiece with respect to the reference plane imaged by the imaging device 3000, and transmits the detection result to the imaging device 3000 as workpiece slope information. The workpiece slope information transmitted from the workpiece slope 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. The details of the configuration of the imaging control device 80 will be described later.

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

The optical unit 100 determines the slope of the optical system 1a of the imaging device by the control of the imaging control device 80, and operates so that the optical system 1a of the imaging device becomes the determined slope.

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.

Structure of shooting control device

Referring to fig. 7, the configuration of an imaging control device 80 according to an embodiment of the present invention will be described in detail.

The imaging control device 80 includes a control unit 53, a first acquisition unit 81, and a second acquisition unit 82.

The control unit 53 executes a control program stored in a storage unit, not shown, to control the operation of the entire imaging device 3000. The control unit 53 controls driving of the driving mechanism 500 by energizing the driving mechanism 500 of the optical unit 100 based on the optical system gradient information input from the first acquisition unit 81 and the work gradient information input from the second acquisition unit 82, or generates a control signal and outputs the control signal to the communication unit 60.

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

The second acquisition unit 82 acquires the workpiece slope information from the workpiece slope detection unit 152, and outputs the acquired workpiece slope information to the control unit 53.

The operation of the imaging device 3000 is the same as that of the imaging device 1000 described above, and therefore, the description thereof is omitted. The imaging control process in this embodiment is the same as that in fig. 5 or 6, and therefore, the description thereof is omitted.

As described above, according to the present embodiment, by controlling the slope of the optical system 1a of the imaging device or the workpiece W based on the acquired optical system slope information and the acquired workpiece slope information, when the workpiece W is imaged by the imaging device 3000, it is not necessary to input and store a 3D model in advance, and by making the optical system 1a of the imaging device parallel to the workpiece W, a clear image of the workpiece W can be obtained.

In addition, according to the present embodiment, the imaging device 3000 may not be provided with the optical system slope detection unit 151 and the workpiece slope detection unit 152. For example, in the imaging device 3000 of the present embodiment, it is not necessary to provide a distance sensor (workpiece slope detecting section) provided in the imaging device of the first embodiment. Therefore, the manufacturing cost of the imaging device 3000 can be reduced.

In the present embodiment, the imaging device 3000 is fixed to the fixed base 70, but the present invention is not limited to this, and the imaging device 3000 may be moved by hand or the like without fixing the imaging device 3000 to the fixed base 70.

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 slope detection unit 151 and the workpiece slope detection unit 152, but the operation is not limited to this, and the operation may be performed so as to cancel the influence of the external force detected by the optical system slope detection unit 51 when the external force can be detected by the optical system slope detection unit 51.

In the present embodiment, the optical system slope detection unit 151 and the workpiece slope detection unit 152 are provided outside the imaging device 3000, but the present embodiment can be applied to a case where only the optical system slope detection unit 151 or only the workpiece slope detection unit 152 is provided outside the imaging device 3000.

The above embodiments are examples in all respects and should not be considered as limiting. The scope of the present invention is not shown by the above embodiments, but by the scope of the claims, and includes all modifications within the meaning and scope equivalent to the scope of the claims.

Specifically, in the first and second embodiments described above, the workpiece W mounted on the fixed table 70 is imaged, but the present invention is not limited thereto, and a clear imaged image can be obtained even when the quality of the tray mounted on the conveying device or the like or the conveying device itself is poor, by performing the imaging control process to correct the slope.

In the first and second embodiments, the optical system 1a for controlling the photographing device is parallel to the workpiece W, but the present invention is not limited thereto, and similar effects can be obtained by controlling the operation of the illumination device stage by the photographing device.

In the first and second embodiments described above, the imaging device 1000 and the stationary table 70 are connected by a wireless line, but the present invention is not limited thereto, and the imaging device and the stationary table may be connected by a wire.

Symbol description

1. Shooting unit

1a optical system of photographing device

10. Optical module

20. Fixing body

25. Rectangular frame

30 gimbal mechanism

32. Movable frame

41. First frame

42. Second frame

50. Shooting control device

51. Slope detecting part of optical system

52. Workpiece slope detecting part

53. Control unit

60. Communication unit

70. Fixed table

71. Arm

72. Fixing part

73. Support post

76. Mounting part

80. Shooting control device

81. A first acquisition unit

82. A second acquisition unit

100. Optical unit

110. Cover for vehicle

151. Slope detecting part of optical system

152. Workpiece slope detecting part

200. Shell body

500. Driving mechanism

520. Magnet

560. Hollow coil

1000. Image pickup apparatus

1900. Flexible wiring board

2000. Base seat

3000. And a photographing device.

Claims

1. An imaging control device is characterized by comprising:

a first acquisition unit that acquires optical system slope information indicating a slope of an optical system of the imaging device;

a second acquisition unit that acquires workpiece slope information indicating a slope of the workpiece imaged by the imaging device; and

and a control unit configured to control a slope of the optical system or the workpiece based on the optical system slope information acquired by the first acquisition unit and the workpiece slope information acquired by the second acquisition unit.

2. The photographing control device as claimed in claim 1, wherein the photographing control device has:

a first detection unit configured to detect a slope of the optical system and set the slope as the optical system slope information; and

and a second detection unit configured to detect a slope of the workpiece and set the slope as the workpiece slope information.

3. The photographing control apparatus as claimed in claim 2, wherein,

the first acquisition unit is the first detection unit,

the second acquisition unit is the second detection unit.

4. The photographing control apparatus according to claim 2 or 3, characterized in that,

the second detection unit detects a slope of the workpiece based on point group data of the workpiece detected from each of a plurality of detection positions.

5. The photographing control apparatus according to any one of claims 2 to 4, characterized in that,

the first detection part is a gravity sensor,

the second detection portion is a distance sensor.

6. The photographing control apparatus as claimed in claim 1, wherein,

the first acquisition unit acquires the optical system slope information from a signal received from the outside,

the second acquisition unit acquires the workpiece slope information from a signal received from the outside.

7. The photographing control apparatus according to any one of claims 1 to 6, characterized in that,

the control section controls the slope of the optical system or the workpiece at every predetermined timing.

8. The photographing control apparatus according to any one of claims 1 to 7, characterized in that

The slope of the optical system is determined by a first driving mechanism, and the slope of the workpiece is determined by a second driving mechanism,

the control section controls the first driving mechanism to control a slope of the optical system, and controls the second driving mechanism to control a slope of the workpiece.

9. The photographing control apparatus as claimed in claim 8, wherein,

the first driving mechanism is an optical shake correction mechanism provided in the imaging device.

10. The photographing control apparatus as claimed in claim 9, wherein,

the photographing control device has an external force detection part for detecting an external force applied to the photographing device,

the control unit controls the optical shake correction mechanism according to the detection result of the external force detection unit to eliminate the influence of the external force.

11. The photographing control apparatus according to any one of claims 8 to 10, characterized in that

The second driving mechanism is a mechanism for changing the slope of a member supporting the workpiece.

12. An imaging device, comprising:

the photographing control apparatus of any one of claims 1 to 11; and

and an imaging unit that images the workpiece.

13. The photographing device as claimed in claim 12, wherein,

the photographing device is provided with a box body,

the first acquisition unit and the second acquisition unit are provided in the case.

14. The photographing device as claimed in claim 12 or 13, characterized in that,

the shooting device is a smart phone or a tablet terminal.

15. A photographing control method, characterized by comprising the steps of:

a first acquisition step of acquiring optical system slope information indicating a slope of an optical system of the imaging device;

a second acquisition step of acquiring workpiece slope information indicating a slope of the workpiece imaged by the imaging device; and

and a control step of controlling a slope of the optical system or the workpiece based on the optical system slope information acquired in the first acquisition step and the workpiece slope information acquired in the second acquisition step.

16. A program for causing a computer to execute the steps of: