Patent ID: 11930262
Assignee: CANON MACHINERY INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC H

Claim 0:
1. A three-dimensional shape detection device, comprising:
a photographing unit comprising a photographing part, which is allowed to perform photographing under a plurality of illumination conditions, and is configured to acquire images of a workpiece having different focal points by relatively approaching and retreating from the workpiece with an illumination condition being set to be variable; and
a controller configured to control the photographing unit, and to detect a three-dimensional shape of the workpiece,
wherein the controller comprises:
a photographing scenario generator configured to generate a photographing scenario that is a condition for photographing the workpiece based on a condition set in advance;
an illumination adjuster configured to switch, with the illumination condition of the photographing unit being set to be variable, the illumination condition to each of the plurality of illumination conditions; and
an omnifocal image creator configured to create, under each of the illumination conditions, an omnifocal image obtained by evaluating a focus for each local area based on a plurality of pieces of image data having different focal points, which have been acquired through photographing under the same illumination condition, and performing compositing of the image data from a combination of in-focus local images, wherein

during a one-time relative approach or retreat between the photographing part and the workpiece, the illumination adjuster switches to each of the plurality of illumination conditions, and the photographing part acquires, under each of the illumination conditions, the plurality of pieces of image data having different focal points based on the photographing scenario set in the photographing scenario generator, and
the omnifocal image creator forms the omnifocal image under each of the illumination conditions.