Imaging device and imaging method
First Claim
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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Accused Products
Abstract
In an aspect of the invention, first and second images having parallax are acquired by an imaging unit (202) including a first imaging part (202A) and a second imaging part (202B), and an angle between an imaging direction of the imaging unit (202) and a normal direction of a flat surface of an object to be inspected having the flat surface is calculated on the basis of the acquired first and second images. The pan/tilt of the imaging unit (202) are controlled by a pan/tilt control unit (210), but images for inspection showing the object to be inspected are taken and acquired by the imaging unit in a case in which the calculated angle is controlled to an angle within an allowable angle range.
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Citations
15 Claims
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1. An imaging device that images an object to be inspected including a flat surface, the imaging device comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An imaging method of imaging an object to be inspected including a flat surface, the imaging method comprising:
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a step of taking a plurality of images having parallax by an imaging unit including a plurality of imaging parts; a step of calculating 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, which are taken by the imaging unit and show the object to be inspected, by an angle calculation unit; a step of controlling a pan/tilt mechanism, which rotates the imaging unit in each of a pan direction and a tilt direction, and setting 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 a step of making 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. - View Dependent Claims (14, 15)
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Specification