The operation teaching device according to the present invention is an operation teaching device used for operation teaching when moving and / or rotating an object 2 h in order to adjust to a predetermined position and direction, A TOF type distance image camera 40 for obtaining dimensional shape information and a luminance image of the object obtained from the information on the received light intensity received by the light receiving means from the projection light reflected from the object, An extraction means for extracting a characteristic region from the three-dimensional shape information acquired by the image camera 40, three-dimensional shape information including a feature region of the object in a predetermined position and direction, and current position and direction And generating means for calculating information deviating from the three-dimensional shape information including the feature region of the target object and generating information for operation teaching.本発明に係る操作教示装置は、予め定められた位置及び方向に合わせるため、対象物2hの移動及び/又は回転の操作を行う際の操作教示に用いる操作教示装置であって、対象物の3次元形状情報を得るためのTOF式距離画像カメラ40と、対象物から反射された投射光を受光手段が受光した受光強度の情報から得られた当該対象物の輝度画像を用いて、TOF式距離画像カメラ40で取得した3次元形状情報中から特徴的領域を抽出する抽出手段と、予め定められた位置及び方向での対象物の特徴領域を含む3次元形状情報と、現在の位置及び方向での対象物の特徴領域を含む3次元形状情報との偏差を算出して、操作教示のための情報を生成する生成手段と、を備えることを特徴としている。
