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Imaging device and imaging method

  • US 10,365,090 B2
  • Filed: 12/18/2017
  • Issued: 07/30/2019
  • Est. Priority Date: 06/29/2015
  • Status: Active Grant
First Claim
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1. An imaging device that images an object to be inspected including a flat surface, the imaging device comprising:

  • an imaging unit that includes a plurality of imaging parts taking a plurality of images having parallax;

    a pan/tilt mechanism that rotates the imaging unit in each of a pan direction and a tilt direction;

    an angle calculation unit that calculates an angle between an imaging direction of the imaging unit and a normal direction of the flat surface of the object to be inspected on the basis of the plurality of images taken by the imaging unit and showing the object to be inspected;

    a pan/tilt control unit that controls the pan/tilt mechanism and sets the angle between the imaging direction of the imaging unit and the normal direction of the flat surface of the object to be inspected to an angle within an allowable angle range; and

    an imaging control unit that makes at least one imaging part of the imaging unit take images for inspection showing the object to be inspected to acquire the images for inspection in a case in which the angle between the imaging direction of the imaging unit and the normal direction of the flat surface of the object to be inspected is an angle within the allowable angle range.

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