Machine control device

A machine control device that controls a machine performing a predetermined operation on an object, the machine control device being configured to control a relative position of the machine and the object based on an image including the object imaged by an imaging device, the machine control device comprising:

• an imaging control unit that controls a position and orientation of the imaging device, and controls the imaging device to capture two or more images including the object at two or more different imaging positions based on a control command;
• an imaging position information acquiring unit that acquires positional information of the two or more imaging positions;
• a measurement distance restoring unit that restores a measurement distance of the object as positional information of the object based on at least two images among the two or more images, distance information between at least two imaging positions corresponding to the at least two images among the two or more imaging positions, and a parameter of the imaging device by using a stereo camera method;
• an area specifying unit that specifies a partial area of the object as a specified area;
• and
• a predetermined precision position calculating unit that calculates distance information between the at least two imaging positions at which the measurement precision of the object satisfies a predetermined precision based on the at least two images, the measurement distance of the object, and the parameter of the imaging device, or calculates a measurement distance of the object at which the measurement precision of the object satisfies a predetermined precision based on the at least two images, the distance information between the at least two imaging positions, and the parameter of the imaging device in the specified area,
• wherein the machine control device controls the position and orientation of the imaging device based on the distance information between the at least two imaging positions or the measurement distance of the object calculated by the predetermined precision position calculating unit, and changes at least one of the at least two imaging positions.