Image processing device

An image processing device used for controlling a robot that performs, in cycles, a picking motion of holding and taking out a predetermined workpiece one by one from among a plurality of workpieces stowed in a work space, the image processing device comprising:

• an imaging sensor that captures an image of the work space where the plurality of workpieces are stowed in accordance with a trigger command and outputs image data;
• and
• a processor that determines, based on the image data output from the imaging sensor, a workpiece to be held from among the workpieces stowed in the work space and sets a path of a hand extending from where the hand holds the workpiece to where the hand places the workpiece at a predetermined placing position, wherein
• the processor sets a virtual solid figure having an outer shape along an edge of the capture range of the imaging sensor to determine whether the hand interferes with the virtual solid figure, and determines that timing at which the hand does not interfere with the virtual solid figure is timing at which the hand moves out of the capture range of the imaging sensor, and determines timing of issuing a trigger that causes the imaging sensor to capture a next image to dynamically change capture timing of the imaging sensor for each cycle of the picking motion based on the timing at which the hand moves out of the capture range of the imaging sensor,
• the processor creates a path creation result based on the timing, the path creation result including
• coordinates of a plurality of via points successively provided on the path, and
• trigger issue information specifying a coordinate of a via point among the plurality of via points as a point where the trigger needs to be issued,
• the processor outputs, to a robot controller that controls the robot, the path creation result.