Industrial system control device, industrial system, and image acquisition method

Abstract

One aspect of the present disclosure is an industrial system control device that controls: an imaging device that has an imaging element that generates captured images by capturing video of an object of which an image is formed at an imaging surface; and at least one industrial machine that has a plurality of drive shafts that produce relative movement between the imaging device and the object. The industrial system control device comprises an imaging count determination unit that determines an imaging count for the imaging device, an imaging instruction unit that instructs the imaging device to perform imaging, a displacement amount determination unit that determines necessary displacement amounts for the image formation position of the object at the imaging surface, a drive amount calculation unit that calculates drive amounts for the drive shafts to displace the image formation position of the object exactly the displacement amounts, a drive instruction unit that instructs the drive shafts to perform drive of exactly the drive amounts, an operation adjustment unit that, before and after the drive instruction unit performs drive instruction, repeatedly makes the imaging instruction unit perform imaging instruction until the imaging count is reached, and an image synthesis unit that synthesizes a plurality of captured images captured by the imaging device to produce a single synthesized image.

Description

[Technical Field]

[0001] The present invention relates to an industrial system control device, an industrial system, and an image acquisition method. [Background technology]

[0002] For example, in an industrial system including industrial machinery such as a machine tool that processes a workpiece, an image of an object such as a workpiece is captured by an imaging device, and various judgments are made based on the image. In order to make highly accurate judgments, it is sometimes desirable to capture images with high resolution (number of pixels). Generally, image resolution depends on the imaging element, and imaging devices capable of capturing high-resolution images are expensive.

[0003] In addition, in general imaging devices, each pixel uses an imaging element that detects the intensity of one of the three primary colors (RGB), and the intensity of the remaining two colors is interpolated based on the detection results of surrounding pixels. This type of interpolation can result in false colors that differ from the actual color of the pixel, making it difficult to obtain accurate color information.

[0004] As a method for obtaining an image with accurate color information and high resolution, a technology has been proposed in which multiple images taken by moving the image sensor by, for example, half the pixel pitch are combined with multiple images taken by moving the image sensor by the full pixel pitch to obtain a high-quality image (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2017-11329 Summary of the Invention [Problem to be solved by the invention]

[0006] Imaging devices that move imaging elements to synthesize high-quality images are also relatively expensive. Therefore, there is a demand for technology that can acquire high-quality images relatively inexpensively in industrial systems. [Means for solving the problem]

[0007] An industrial system control device according to one aspect of the present disclosure is an industrial system control device that controls an imaging device having an imaging element that captures an image of an object that is imaged on an imaging surface to generate a captured image, and one or more industrial machines having a plurality of drive axes that cause relative movement between the object and the imaging device, and includes: an imaging number determination unit that determines the number of images to be captured by the imaging device; an imaging instruction unit that instructs the imaging device to capture an image; a displacement amount determination unit that determines a required displacement amount of the imaging position of the object on the imaging surface; a drive amount calculation unit that calculates a drive amount of the drive axis that displaces the imaging position of the object by the displacement amount; a drive instruction unit that instructs the drive axis to drive by the drive amount; an operation adjustment unit that repeatedly executes the imaging instruction by the imaging instruction unit, with drive instructions from the drive instruction unit in between, until the number of images is reached; and an image synthesis unit that synthesizes the plurality of images captured by the imaging device to generate a single synthetic image. [Effects of the Invention]

[0008] According to the present disclosure, high-quality images can be obtained relatively inexpensively in industrial systems. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram illustrating a configuration of an industrial system according to a first embodiment of the present disclosure. [Figure 2] 2 is a flowchart showing the procedure of an embodiment of an image acquisition method in the industrial system of FIG. 1. [Figure 3] FIG. 10 is a schematic diagram illustrating a configuration of an industrial system according to a second embodiment of the present disclosure. [Figure 4] 4 is a flowchart showing the procedure of an embodiment of an image acquisition method in the industrial system of FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Fig. 1 is a schematic diagram showing the configuration of an industrial system 1 according to a first embodiment of the present disclosure.

[0011] The industrial system 1 includes an imaging device 10 that captures an image of an object W to generate a captured image, a machine tool 20 that movably holds the object W, and a numerical control device 100 that controls the imaging device 10 and the machine tool 20. The machine tool 20 is a type of industrial machine and can cause relative movement between the object W and the imaging device 10. The numerical control device 100 is itself an embodiment of an industrial system control device according to the present disclosure. The numerical control device 100 is also a device that automatically performs an embodiment of an image acquisition method according to the present disclosure in the industrial system 1.

[0012] The imaging device 10 is a digital camera having an imaging element that captures an image of an object formed on an imaging surface to generate a captured image, an optical system that focuses light from the object on the imaging element, and an electronic circuit that outputs the image signal generated by the imaging element as data of the captured image. In this embodiment, the imaging device 10 can be fixed to a main part of the machine tool 20, that is, a position where it can capture an image of the object W placed on the machine tool 20, for example, above the machine tool 20.

[0013] In this embodiment, machine tool 20 is a machine tool having a table 21 that holds object W so that it can be positioned, and a machining head 22 that machines object W with a rotary tool T. Machine tool 20 in this embodiment has multiple drive shafts that position table 21 and therefore object W at least in the horizontal direction, multiple drive shafts that position rotary tool T, and a spindle that drives rotary tool T.

[0014] The numerical control device 100 controls the machine tool 20 in accordance with a machining program. The numerical control device 100 has a memory, a processor, an input / output interface, etc., and can be realized by one or more computer devices that execute an appropriate control program.

[0015] The numerical control device 100 includes a storage unit 101, a program reading unit 102, an analysis unit 103, an interpolation control unit 104, a servo control unit 105, an image capture number determination unit 106, a displacement amount determination unit 107, a drive amount calculation unit 108, an image capture instruction unit 109, a drive instruction unit 110, an operation adjustment unit 111, and an image synthesis unit 112. These components categorize the functions of the numerical control device 100, and do not necessarily have to be clearly distinguishable in terms of physical configuration and program configuration.

[0016] The storage unit 101 stores a machining program that specifies the operation of the machine tool 20 that machines the workpiece W, the specifications of the imaging device 10 (pixel arrangement information, focal length, etc.), the axis configuration of the machine tool 20, etc. The machining program can be written as a well-known numerical control program, specifying a path along which the rotary tool T should move relative to the workpiece W, and a plurality of command points that each indicate the coordinates through which the rotary tool T should pass.

[0017] The program reading unit 102 reads the machining program from the storage unit 101 and inputs it to the analysis unit 103 in a processable format, for example, in units of blocks.

[0018] The analysis unit 103 analyzes the input machining program and calculates the positions or speeds of the drive axes that realize the positions or speeds required for the table 21 that holds the workpiece W and the machining head 22.

[0019] The interpolation control unit 104 calculates the position or speed of each drive axis between command points described in the machining program.

[0020] The servo control unit 105 adjusts the power supplied to the servo motor of each drive axis so that the position or speed of each drive axis matches the position or speed calculated by the interpolation control unit 104.

[0021] The number-of-images determination unit 106 determines the number of images required to acquire images of the object W having the image quality required by the processing program. The number of images is preferably determined from integer multiples of 4 according to pixel layout information of the imaging device 10, and is typically set to 4 or 16. The number of images is the number of captured images required to perform well-known image composition for high image quality, and may be a fixed number or a number preset corresponding to a mode selected by the processing program or user input. In other words, the number-of-images determination unit 106 may be configured to acquire a preset number of images.

[0022] The displacement amount determination unit 107 determines the displacement amount of the imaging position of the object W on the imaging plane required between captured images used for image synthesis based on information such as the pixel arrangement of the imaging element. The displacement amount may be determined corresponding to the number of images to be captured determined by the number-of-images determination unit 106 depending on the selected mode, etc. Specifically, the displacement amount to obtain an image with improved resolution is preferably a distance of 0.5 pixels on the imaging element, and the displacement amount to obtain an image without false color is preferably a distance of 1.0 pixels on the imaging element, i.e., 0.5 times (half pixel pitch) or 1.0 times the pixel pitch of the imaging element, or an integer multiple of these. Therefore, the displacement amount determination unit 107 may be configured to obtain a preset displacement amount.

[0023] The drive amount calculation unit 108 calculates the drive amounts of the drive axes of the machine tool 20, which move the object W in a plane perpendicular to the optical axis of the imaging device 10, so as to displace the imaging position of the object W by the displacement amount determined by the displacement amount determination unit 107. When the coordinate system of the imaging device 10 (the imaging plane direction and the optical axis direction) does not coincide with the coordinate system of the machine tool 20, the drive amount calculation unit 108 preferably converts the displacement amount in the coordinate system of the imaging device 10 into a displacement amount in the coordinate system of the machine tool 20 by coordinate transformation, calculates the movement amount of the object W corresponding to the displacement amount, and calculates the drive amounts of each drive axis based on this movement amount. Furthermore, the drive amount required to move the imaging position of the object W by the displacement amount, i.e., the relative movement amount of the actual object W with respect to the imaging device 10, increases as the distance between the object W and the imaging device 10 increases, even if the displacement amount is constant. Therefore, the drive amount calculation unit 108 is preferably configured to calculate the drive amount taking into account the axial configuration of the machine tool 20 and the distance between the object W and the imaging device 10 calculated from the position of each drive axis. Furthermore, even if the distance between the object W and the imaging device 10 is the same, the displacement amount varies depending on the optical system information at the focal position of the imaging device 10 relative to the object W. Specifically, it is inversely proportional to the focal length and imaging magnification of the optical system. For this reason, it is preferable to configure the drive amount to be calculated depending on the focal length and imaging magnification information of the optical system. Furthermore, even if the displacement amount is the same, the drive amount may also vary depending on the position and orientation of the object W and the imaging device 10, i.e., the current positions of each drive axis. Therefore, the drive amount calculation unit 108 may be configured to calculate the drive amount taking these factors into consideration. Note that if the imaging device 10 is fixed, the position of the optical system within the imaging device does not change, and the axis configuration of the machine tool 20 allows the object to move only in a direction perpendicular to the optical axis, a drive amount that corresponds one-to-one to the displacement amount may be preset.

[0024] The image capture instruction unit 109 instructs the image capture device 10 to capture an image. That is, the image capture instruction unit 109 outputs a command signal instructing the image capture device 10 to capture an image.

[0025] The drive instruction unit 110 inputs a command signal to the servo control unit 105 to drive the drive shaft by the drive amount calculated by the drive amount calculation unit 108 .

[0026] The operation adjustment unit 111 adjusts the output timing of signals from the imaging instruction unit 109 and the drive instruction unit 110. Specifically, the operation adjustment unit 111 causes the imaging instruction unit 109 to repeatedly execute the imaging instruction until the number of images to be captured is reached, sandwiching between drive instructions from the drive instruction unit 110. In other words, the operation adjustment unit 111 controls the imaging instruction unit 109 and the drive instruction unit 110 to repeatedly capture an image using the imaging device 10 and move the machine tool 20 to displace the imaging position of the object W by the displacement amount.

[0027] The image synthesis unit 112 acquires the number of captured images from the imaging device 10 and synthesizes the number of captured images to generate an image with accurate color information for each pixel, high resolution (large number of recorded pixels), or a single synthesized image with accurate color information and high resolution. The combination of the number of captured images and the amount of displacement and the synthesis of images are well known techniques, so detailed explanations will be omitted.

[0028] One embodiment of the image acquisition method according to the present disclosure, which is implemented by the numerical control device 100 in the industrial system 1, includes, as shown in FIG. 2, a step of positioning the object W by the machine tool 20 at an imaging start position (step S01), a step of acquiring imaging device information (step S02), a step of determining the amount of displacement in the coordinate system of the imaging device 10 (step S03), a step of converting the amount of displacement in the coordinate system of the imaging device 10 to the amount of displacement in the coordinate system of the machine tool 20 (step S04), a step of calculating the drive amount of the drive axis that displaces the imaging position of the object W by the amount of displacement (step S05), a step of determining the number of images to be taken (step S06), a step of positioning the object W at the imaging position by the machine tool 20 (step S07), a step of having the imaging device 10 take an image (step S08), a step of checking whether the number of images has been reached (step S09), and a step of combining the multiple captured images (step S10).

[0029] In the image acquisition method of this embodiment, if the number of times images have been taken in step S09 reaches the number of images to be taken, the process proceeds to step S10, but if the number of images has not been taken, the process returns to step S07. That is, in the image acquisition method of this embodiment, the step of causing image capture device 10 to capture images (step S08) is repeated until the number of images to be taken is reached, with a step of driving the drive axis to move the imaging position of object W on the imaging plane (step S07) in between. The drive amount of the drive axis of machine tool 20 in the drive axis driving step of step S07 is determined by a method including a step of determining the necessary displacement amount of the imaging position of object W on the imaging plane (step S03) and a step of calculating the drive amount of the drive axis to displace the imaging position of object W by the displacement amount (step S05).

[0030] In the industrial system 1, the numerical control device 100 causes the machine tool 20 to move the object W, thereby enabling the imaging device 10, which does not have the function of moving the imaging element, to acquire multiple captured images that are displaced by a certain amount of displacement. By combining these multiple captured images, the industrial system 1 can acquire a high-quality composite image with high color accuracy despite having a relatively inexpensive configuration.

[0031] Next, a second embodiment of the present disclosure will be described. Fig. 3 is a schematic diagram showing the configuration of an industrial system 1A according to a third embodiment of the present disclosure. In the description of this embodiment, components similar to those in the first embodiment are denoted by the same reference numerals, and redundant description may be omitted.

[0032] The industrial system 1A includes an imaging device 10 that captures an image of an object W and generates a captured image; a machine tool 20 that is a first industrial machine that can cause relative movement between the object W and the imaging device 10; a robot 30 that is a second industrial machine that exchanges the object W and holds the imaging device 10 so that it can be positioned; a numerical control device 100A that controls the imaging device 10 and the machine tool 20; and a robot control device 200 that controls the imaging device 10 and the robot 30. The numerical control device 100A and the robot control device 200 are another embodiment of an industrial system control device according to the present disclosure. The numerical control device 100A and the robot control device 200 are also devices that automatically perform another embodiment of an image acquisition method according to the present disclosure in the industrial system 1A.

[0033] 3, the robot 30 may be a vertical articulated robot, but is not limited to this and may be, for example, a Cartesian coordinate robot, a SCARA robot, a parallel link robot, etc. The robot 30 has attached to its tip a hand 31 for grasping the object W and an imaging device 10. In other words, the robot 30 can cause relative movement between the object W and the imaging device 10 by positioning the imaging device 10.

[0034] The numerical control device 100A can be realized by a computer device similar to the numerical control device 100 of the first embodiment. The numerical control device 100A includes a storage unit 101, a program reading unit 102, an analysis unit 103, an interpolation control unit 104, a servo control unit 105, a drive instruction unit 110, and an operation adjustment unit 111. In other words, the numerical control device 100A omits some of the functions of the numerical control device 100 of the first embodiment.

[0035] The robot control device 200 can be realized by one or more computer devices that have a memory, a processor, an input / output interface, etc. and execute an appropriate control program. The robot control device 200 includes a storage unit 201, an analysis unit 202, a trajectory control unit 203, a servo control unit 204, an imaging instruction unit 205, and an image synthesis unit 206. The components of the robot control device 200 are also categorized by function and do not necessarily have to be clearly distinguished.

[0036] The memory unit 201 of the robot control device 200 stores a work program for operating the robot 30 to perform the work of replacing the target object W, axis configuration information of the robot 30, etc. The analysis unit 202 analyzes the work program and identifies the movement of the robot 30. The trajectory control unit 203 complements the movement described in the work program as necessary and calculates the position or speed of each drive axis of the robot 30 at each time. The servo control unit 204 controls the servo motor of each drive axis of the robot 30 to achieve the position or speed calculated by the trajectory control unit 203.

[0037] The imaging instruction unit 205 and image composition unit 206 of the robot control device 200 are functionally similar to the imaging instruction unit 109 and image composition unit 112 of the numerical control device 100 of the first embodiment. These components exchange various types of data with the drive instruction unit 110 and operation adjustment unit 111 of the numerical control device 100A, thereby implementing an image acquisition method that can acquire high-quality images similar to those of the numerical control device 100 of the first embodiment.

[0038] The image acquisition method carried out in cooperation between the numerical control device 100A and the robot control device 200 in the industrial system 1A includes, as shown in FIG. 4, a machine tool control procedure in which the numerical control device 100A controls the machine tool 20, and a robot control procedure in which the robot control device 200 controls the robot 30 and the imaging device 10.

[0039] The machine tool control procedure includes a step of receiving notification from the robot control device 200 that the imaging device 10 has been positioned at the imaging start position (step S101), a step of positioning the object W at a predetermined imaging start position (step S102), a step of acquiring imaging device information (step S103), a step of determining the amount of displacement of the imaging position (step S104), a step of performing coordinate conversion of the amount of displacement (step S105), a step of calculating the drive amount of the drive axis (step S106), a step of determining the number of images to be taken (step S107), a step of positioning the object W at the imaging position (step S108), a step of instructing the robot control device 200 to take an image (step S109), a step of receiving notification from the robot control device 200 that imaging has ended (step S110), a step of checking whether the number of images has been reached (step S111), and a step of instructing the robot control device 200 to synthesize images (step S112). If the number of images has not been reached in step S111, the process returns to step S108.

[0040] The robot control procedure includes a step of using the robot 30 to position the imaging device 10 at a predetermined imaging start position (step S201), a step of notifying the numerical control device 100A of the placement of the robot 30 at the imaging start position (step S202), a step of receiving an instruction from the numerical control device 100A (step S203), a step of checking whether the instruction from the numerical control device 100A is an instruction for image synthesis (step S204), a step of having the imaging device 10 take an image (step S205), which is executed if the instruction from the numerical control device 100A is not an instruction for image synthesis, a step of notifying the numerical control device 100A of the imaging (step S206), and a step of synthesizing multiple captured images (step S206), which is executed if the instruction from the numerical control device 100A is an instruction for image synthesis.

[0041] In the industrial system 1A, the imaging device 10 is positioned using a robot 30 that handles the object W, so the object W can be imaged from any direction. Also, in the industrial system 1A, multiple captured images can be acquired while the machine tool 20 fine-tunes the relative position of the object W with respect to the imaging device 10, so high-quality images can be acquired.

[0042] Although the embodiments of the present disclosure have been described above, the present invention is not limited to the above-described embodiments. Furthermore, the effects described in the above-described embodiments are merely a list of preferred effects resulting from the present invention, and the effects of the present invention are not limited to those described in the above-described embodiments.

[0043] In the present invention, the industrial machine that positions the imaging device and the object may be any type; for example, the imaging device may be movably held by a machining head of a machine tool, or the object may be held by a robot. Also, in the present invention, the imaging device may be moved to move the imaging position of the object by the displacement amount. For example, an industrial system according to the present invention may include a first industrial machine (e.g., a machine tool) that holds the object in a positionable manner, and a second industrial machine (e.g., a robot) that holds the imaging device in a positionable manner, and the drive amount calculation unit may be configured to drive one of the first and second industrial machines whose drive shaft has a higher resolution for the displacement amount. [Explanation of symbols]

[0044] 1,1A Industrial Systems 10. Imaging device 20 Machine tools 21 tables 22 Processing head 30 Robot 31 hands 100,100A Numerical Control Device 101 Storage section 102 Program reading section 103 Analysis Department 104 Interpolation control section 105 Servo control unit 106 Imaging number determination unit 107 Displacement determination unit 108 Drive amount calculation unit 109 Imaging instruction unit 110 Drive instruction unit 111 Operation adjustment section 112 Image synthesis unit 201 Storage section 202 Analysis Department 203 Trajectory control unit 204 Servo control unit 205 Imaging instruction unit 206 Image synthesis unit T Rotary tool W Object

Claims

1. An industrial system control device that controls an imaging device having an imaging element that captures an image of an object that is imaged on an imaging surface to generate a captured image, and one or more industrial machines having a plurality of drive shafts that cause relative movement between the object and the imaging device, an image capture number determination unit that determines the number of images to be captured by the image capture device; an imaging instruction unit that instructs the imaging device to capture an image; a displacement amount determination unit that determines a necessary displacement amount of the image formation position of the object on the imaging plane; a drive amount calculation unit that calculates a drive amount of the drive axis that displaces the imaging position of the object by the displacement amount; a drive instruction unit that instructs the drive shaft to drive by the drive amount; an operation adjustment unit that repeatedly executes the image capture instruction from the image capture instruction unit, with the drive instruction from the drive instruction unit in between, until the number of images captured is reached; an image synthesis unit that synthesizes a plurality of photographed images captured by the imaging device to generate a single synthesized image; Equipped with The drive amount calculation unit calculates the drive amount in consideration of a distance between the object and the imaging device, the distance being calculated from positions of the plurality of drive axes of the industrial machine.

2. An industrial system control device that controls an imaging device having an imaging element that captures an image of an object that is imaged on an imaging surface to generate a captured image, and one or more industrial machines having a plurality of drive shafts that cause relative movement between the object and the imaging device, an image capture number determination unit that determines the number of images to be captured by the image capture device; an imaging instruction unit that instructs the imaging device to capture an image; a displacement amount determination unit that determines a necessary displacement amount of the image formation position of the object on the imaging plane; a drive amount calculation unit that calculates a drive amount of the drive axis that displaces the imaging position of the object by the displacement amount; a drive instruction unit that instructs the drive shaft to drive by the drive amount; an operation adjustment unit that repeatedly executes the image capture instruction from the image capture instruction unit, with the drive instruction from the drive instruction unit in between, until the number of images captured is reached; an image synthesis unit that synthesizes a plurality of photographed images captured by the imaging device to generate a single synthesized image; Equipped with The industrial system control device, wherein the displacement amount is an integer multiple of a half pixel pitch or an integer multiple of the pixel pitch of the imaging element.

3. An industrial system control device that controls an imaging device having an imaging element that captures an image of an object that is imaged on an imaging surface to generate a captured image, and one or more industrial machines having a plurality of drive shafts that cause relative movement between the object and the imaging device, an image capture number determination unit that determines the number of images to be captured by the image capture device; an imaging instruction unit that instructs the imaging device to capture an image; a displacement amount determination unit that determines a necessary displacement amount of the image formation position of the object on the imaging plane; a drive amount calculation unit that calculates a drive amount of the drive axis that displaces the imaging position of the object by the displacement amount; a drive instruction unit that instructs the drive shaft to drive by the drive amount; an operation adjustment unit that repeatedly executes the image capture instruction from the image capture instruction unit, with the drive instruction from the drive instruction unit in between, until the number of images captured is reached; an image synthesis unit that synthesizes a plurality of photographed images captured by the imaging device to generate a single synthesized image; Equipped with The industrial system control device, wherein the image capture number determination unit determines the image capture number from among integer multiples of four in accordance with pixel layout information of the image capture device.

4. 4. An industrial system comprising: an imaging device that captures an image of an object; one or more industrial machines that cause relative movement between the object and the imaging device; and the industrial system control device according to claim 1.

5. The industrial system according to claim 4 , wherein the industrial machine includes a machine tool that holds the object in a positionable manner and processes the object.

6. The industrial system according to claim 4 , wherein the industrial machine includes a robot that holds the imaging device in a positionable manner.

7. the industrial machine includes a first industrial machine that holds the object in a positionable manner, and a second industrial machine that holds the imaging device in a positionable manner, 5. The industrial system according to claim 4, wherein the drive amount calculation unit calculates the drive amount so as to drive one of the first industrial machine and the second industrial machine, which has a higher resolution of the drive shaft with respect to the displacement amount.

8. 1. An image acquisition method for acquiring an image of an object in an industrial system including an imaging device having an imaging element that captures an image of an object formed on an imaging surface to generate a captured image, and one or more industrial machines having a plurality of drive shafts that cause relative movement between the object and the imaging device, comprising: determining the number of images to be captured by the imaging device; determining a required displacement of the image position of the object on the imaging plane; calculating a drive amount of the drive shaft that displaces the object by the displacement amount; a step of repeating the step of causing the imaging device to capture an image, interposed between steps of driving the drive shaft so as to move an imaging position of the object on the imaging plane, until the number of images captured reaches the number of images; a step of synthesizing a plurality of images captured by the imaging device to generate one composite image; Equipped with an image acquisition method, wherein in the step of calculating the drive amount, the drive amount is calculated taking into consideration a distance between the object and the imaging device, the distance being calculated from positions of the plurality of drive shafts of the industrial machine;

9. 1. An image acquisition method for acquiring an image of an object in an industrial system including an imaging device having an imaging element that captures an image of an object formed on an imaging surface to generate a captured image, and one or more industrial machines having a plurality of drive shafts that cause relative movement between the object and the imaging device, comprising: determining the number of images to be captured by the imaging device; determining a required displacement of the image position of the object on the imaging plane; calculating a drive amount of the drive shaft that displaces the object by the displacement amount; a step of repeating the step of causing the imaging device to capture an image, interposed between steps of driving the drive shaft so as to move an imaging position of the object on the imaging plane, until the number of images captured reaches the number of images; a step of synthesizing a plurality of images captured by the imaging device to generate one composite image; Equipped with The image acquisition method, wherein the displacement amount is an integer multiple of a half pixel pitch or an integer multiple of the pixel pitch of the imaging element.

10. 1. An image acquisition method for acquiring an image of an object in an industrial system including an imaging device having an imaging element that captures an image of an object formed on an imaging surface to generate a captured image, and one or more industrial machines having a plurality of drive shafts that cause relative movement between the object and the imaging device, comprising: determining the number of images to be captured by the imaging device; determining a required displacement of the image position of the object on the imaging plane; calculating a drive amount of the drive shaft that displaces the object by the displacement amount; a step of repeating the step of causing the imaging device to capture an image, interposed between steps of driving the drive shaft so as to move an imaging position of the object on the imaging plane, until the number of images captured reaches the number of images; a step of synthesizing a plurality of images captured by the imaging device to generate one composite image; Equipped with an image acquisition method, wherein in the step of determining the number of images to be captured, the number of images to be captured is determined from among integer multiples of four in accordance with pixel layout information of the imaging device;

Images