Data generation device for vision sensor and detection simulation system

A data generation device configured to generate data used in a detection process using a vision sensor, based on positions of a three-dimensional model of a robot, a three-dimensional model of the vision sensor and a three-dimensional model of an object which are positioned in a virtual space, the data generation device comprising:

• a robot placement position designating part configured to designate a placement position of the three-dimensional model of the robot in the virtual space based on a reference coordinate system defined in the virtual space;
• a vision sensor placement position designating part configured to designate a placement position of the three-dimensional model of the vision sensor in the virtual space based on the reference coordinate system;
• a placement position storing part configured to store the placement positions of the three-dimensional model of the robot and the three-dimensional model of the vision sensor;
• a positional relationship calculating part configured to calculate a positional relationship between a robot coordinate system defined in relation to the three-dimensional model of the robot and a sensor coordinate system defined in relation to the three-dimensional model of the vision sensor, based on the placement positions of the three-dimensional model of the robot and the three-dimensional model of the vision sensor, without carrying out a calibration for associating the robot with the vision sensor;
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• a positional relationship storing part configured to store the positional relationship between the robot coordinate system and the sensor coordinate system as data used in a detection process of the vision sensor.