Learning dataset generation device and learning dataset generation method

A learning dataset generation device comprising:

• a memory that stores three-dimensional CAD data of a workpiece and a container;
• and
• one or more processors comprising hardware,
• wherein the one or more processors are configured to:
• use the three-dimensional CAD data of the workpiece and the container, stored in the memory, to generate, in a three-dimensional virtual space, a plurality of imaging objects in which a plurality of the workpieces are bulk-loaded in different forms inside the container,
• acquire a plurality of virtual distance images by measuring each of the generated imaging objects by means of a virtual three-dimensional measurement machine disposed in the three-dimensional virtual space,
• accept at least one teaching position for each of the acquired virtual distance images,
• generate a learning dataset by associating the accepted teaching position with each of the virtual distance images, and
• use a distance image of the container in a three-dimensional real space, which is acquired by means of a three-dimensional measurement machine installed in the three-dimensional real space, to set the position of the virtual three-dimensional measurement machine relative to the container in the three-dimensional virtual space to a position matching the arrangement of the three-dimensional measurement machine relative to the container.