Patent ID: 8208718

Claim:
A method for deriving a parameter for three-dimensional measurement processing, in which the parameter expressing a measurement condition of three-dimensional measurement is set to a three-dimensional visual sensor such that the three-dimensional visual sensor outputs numerical data indicating a recognition result concerning a predetermined recognition-target object, the three-dimensional visual sensor imaging the recognition-target object with an imaging unit, the three-dimensional visual sensor performing three-dimensional measurement using a recognition-target object image produced by the imaging, the three-dimensional visual sensor performing predetermined recognition processing based on a three-dimensional measurement result to output the recognition result as numerical data, the method comprising: a first step of performing, by one or more computers, processing for imaging a real model of the recognition-target object with the imaging unit and processing for receiving a manipulation of setting the parameter to a predetermined value, performing the three-dimensional measurement and the recognition processing based on the parameter of the received setting value using the real model image produced by the imaging, and displaying information indicating a recognition result of the recognition processing; a second step of specifying, by the one or more computers, a numerical range of the parameter, which is set while numerical data in which an amount of difference with sample data falls within a predetermined value, by performing a step A and a step B in a plurality of cycles, numerical data indicating the recognition result being set to the sample data in the step A when a manipulation of adopting the displayed recognition result is performed, the setting value of the parameter being changed every time within a predetermined numerical range including the parameter value set in the first step in the step A, the three-dimensional measurement being performed by the set parameter using the real model image in the step A, recognition processing being performed based on the three-dimensional measurement result of the step A to check numerical data indicating the recognition result with the sample data in the step B; and a third step of registering, by the one or more computers, a numerical value in a memory of the three-dimensional visual sensor, the numerical value being located at predetermined distances from an upper limit and a lower limit of the numerical range specified in the second step.