WO2021187003A1 - Inspection system, method for displaying inspection method, and display program - Google Patents

Abstract

The present invention is an inspection device in which the presence of a defect in an object being inspected is inspected on the basis of a plurality of partial images, and in which the result of inspection is displayed on a display unit, the inspection device having: a storage unit that stores position data indicating the positions of a plurality of sites being inspected relative to the object being inspected; a defect extraction unit that, for each defect, selectively extracts a defect-containing image from among the plurality of partial images in which an image of a defect is reflected; and a display control unit that obtains position information pertaining to the defect-containing image on a three-dimensional image of the object being inspected on the basis of position data, and causes a display unit to display the defect-containing image and an overall image obtained by adding the position information to the three-dimensional image of the object being inspected.

Description

Inspection system, inspection result display method and display program

The present invention relates to an inspection system that inspects the presence or absence of defects in an inspection object based on an image obtained by imaging the inspection object, a display method of inspection results, and a display program.

The specification, drawings and claims of the Japanese application shown below are incorporated herein by reference in their entirety:
Japanese Patent Application No. 2020-048597 (filed on March 19, 2020).

Conventionally, forged parts having a three-dimensional shape used in and around the driving part of automobiles and the like are visually inspected to find defects by a person looking at the forged parts from various angles. This visual inspection can be replaced, for example, with an inspection using an optical instrument including a camera and lighting.

Then, for example, by attaching an optical device (corresponding to an example of the "imaging unit" of the present invention) to the tip of an industrial robot arm having a structure similar to a human arm, an inspection object (also referred to as a "work") is attached. A defect inspection device capable of freely imaging a desired portion of the above is considered (for example, Patent Document 1 and the like). According to such a defect inspection device, for example, even a large workpiece that is difficult to handle by visual inspection by a human can be inspected.

Japanese Unexamined Patent Publication No. 2006-208259

In the apparatus described in Patent Document 1, only the image captured by the optical device and the defect detection image are displayed in parallel, and it is easy to determine where the image corresponds to the entire inspection object. I can't figure it out. As a result, it is not possible to confirm the location where the defect has occurred and the content of the defect quickly.

The present invention has been made in view of the above problems, and provides an inspection system, an inspection result display method, and a display program capable of satisfactorily confirming the content and location of defects occurring in an inspection object. With the goal.

The first aspect of the present invention is an inspection system, in which the relative position of the image pickup unit with respect to the inspection object is changed in multiple stages, and the imaged portion of the inspection object imaged by the image pickup unit is different. An imaging device that acquires a plurality of partial images by imaging a part under a plurality of different lighting conditions, and an inspection that inspects the presence or absence of defects in the inspection object based on the plurality of partial images and displays the inspection result on the display unit. The inspection device includes a device, a storage unit that stores position data indicating the positions of a plurality of images to be imaged with respect to an object to be inspected, and a defect inclusion from a plurality of partial images in which an image of the defect is reflected for each defect. The defect extraction unit that selectively extracts the image and the position information of the defect-containing image on the three-dimensional image of the inspection target are obtained based on the position data, and the position information is added to the three-dimensional image of the inspection target as a whole. It is characterized by having a display control unit for displaying an image and a defect-containing image on the display unit.

Further, in the second aspect of the present invention, a plurality of images to be imaged are different from each other while changing the relative position of the image pickup unit with respect to the object to be inspected in multiple stages to make the imaged part of the imaged object to be imaged by the image pickup unit different. It is a display method of inspection results in an inspection system that inspects the presence or absence of defects in an inspection object based on a plurality of partial images obtained by imaging under the lighting conditions of the above, and an image of the defects is reflected for each defect. The process of selectively extracting the defect-containing image from a plurality of partial images, the position information of the defect-containing image on the three-dimensional image of the inspection object is obtained, and the position information is added to the three-dimensional image of the inspection object as a whole. It is characterized by including a step of displaying an image and a defect-containing image on a display unit.

Further, in the third aspect of the present invention, a plurality of images to be imaged are different from each other while changing the relative position of the image pickup unit with respect to the object to be inspected in multiple stages to make the imaged areas of the imaged object to be imaged by the image pickup unit different. It is a display program of inspection results in an inspection system that inspects the presence or absence of defects in an inspection object based on a plurality of partial images obtained by imaging under the lighting conditions of the above, and an image of the defects is reflected for each defect. The process of selectively extracting the defect-containing image from a plurality of partial images, the position information of the defect-containing image on the three-dimensional image of the inspection object is obtained, and the position information is added to the three-dimensional image of the inspection object as a whole. It is characterized in that a computer executes a step of displaying an image and a defect-containing image on a display unit.

In the present invention, the defect-containing image is selectively extracted from a plurality of partial images in which the image of the defect is reflected for each defect, and is displayed on the display unit together with the entire image including the position information of the defect-containing image. Therefore, it is possible to satisfactorily confirm the content and location of defects occurring in the inspection object.

The plurality of components of each aspect of the present invention described above are not all essential, and may be used to solve some or all of the above-mentioned problems, or part or all of the effects described herein. In order to achieve the above, it is possible to change, delete, replace some of the plurality of components with new other components, and partially delete the limited contents, as appropriate. In addition, in order to solve a part or all of the above-mentioned problems, or to achieve a part or all of the effects described in the present specification, the technical features included in the above-mentioned aspect of the present invention. It is also possible to combine some or all with some or all of the technical features contained in the other aspects of the invention described above to form an independent form of the invention.

It is a figure which shows typically the whole structure of one Embodiment of the inspection system which concerns on this invention. It is a figure which shows typically the structure of the loading device. It is a figure which shows typically the structure of the surface image pickup apparatus. It is a flowchart which shows the inspection method executed by the inspection system shown in FIG. It is a flowchart for demonstrating the surface side inspection. It is a figure which shows typically an example of the partial image acquired in the surface side inspection. It is a flowchart for demonstrating the back side inspection. It is a flowchart which shows the display control of the inspection result by the arithmetic processing part. It is a schematic diagram which shows the display example of the inspection result.

FIG. 1 is a diagram schematically showing an overall configuration of an embodiment of an inspection system according to the present invention. The inspection system 1 includes, for example, an input device 2, a front surface imaging device 3, an inversion device 4, a back surface imaging device 5, and an ejection device 6. In the inspection system 1, the input device 2, the front surface imaging device 3, the reversing device 4, the back surface imaging device 5, and the discharging device 6 are arranged in this order in the X direction. Then, when an inspection object (hereinafter referred to as “work”) W such as a forged part having a three-dimensional shape is thrown into the loading device 2, each part of the device operates in response to a command from the control device 9 that controls the entire system. Then, the work W is inspected while being conveyed in the X direction. In addition, in order to clarify the arrangement relationship of each part of the apparatus in FIG. 1 and FIGS. In addition to being referred to as "direction", the back side of the device is referred to as "+ Y direction". Further, the upward direction and the downward direction in the vertical direction Z are referred to as "+ Z direction" and "-Z direction", respectively.

FIG. 2 is a diagram schematically showing the configuration of the loading device. The loading device 2 is a device in which the work W is loaded from the outside of the inspection system 1. The loading device 2 is located at the uppermost stream of the inspection system 1 in the transport direction X. Although not shown in FIG. 2, the loading device 2 is provided with a loading port (not shown) for loading the work W. Further, a belt conveyor 2Cv is arranged in the vicinity of the loading port, and the work W can be placed on the upper surface of the belt conveyor 2Cv via the loading port by an operator or a loading robot (not shown). That is, the belt conveyor 2Cv corresponds to an example of the "mounting portion" of the present invention.

Here, when the work W is loaded by the loading robot, the work W is mounted on the belt conveyor 2Cv in a constant mounting posture programmed in the loading robot in advance, and the loading operation is performed by the operator. In some cases, it is not always easy to keep the placement posture constant. Therefore, in the present embodiment, the projection unit 21 is provided at a position above the belt conveyor 2Cv, and an image showing the mounting position of the work W on the belt conveyor 2Cv in response to the video signal from the projection control unit 96 of the control device 9. Project the GW. Thereby, the operator can place the work W on the belt conveyor 2Cv according to the projected image GW. As a result, the placement posture of the work W can be stabilized, and the work W can be inspected in a constant posture at all times.

The belt conveyor 2Cv conveys the work W in the above-described posture in the X direction in response to a transfer command from the transfer control unit 94 of the control device 9. The front surface imaging device 3, the reversing device 4, the back surface imaging device 5, and the discharging device 6 are also provided with belt conveyors 3Cv, 4Cv, 5Cv, and 6Cv, respectively, and are provided with each other in response to a transfer command from the transfer control unit 94. It is possible to synchronize between adjacent belt conveyors. By this synchronous operation, the work W is conveyed in the order of the loading device 2, the front surface imaging device 3, the reversing device 4, the back surface imaging device 5, and the discharging device 6.

The work is transferred from the loading device 2 to the surface imaging device 3 between the belt conveyors 2Cv and 3Cv, and the work W is conveyed to the surface imaging device 3 in the same mounting posture as when it is mounted on the image GW. NS. The surface imaging device 3 images the exposed surface of the work W in the mounted posture. In the present specification, the surface exposed in the placed posture state is referred to as a "front surface", and the surface exposed in the inverted posture state inverted by the next reversing device 4 is referred to as a "back surface".

FIG. 3 is a diagram schematically showing the configuration of the surface imaging device. The surface imaging device 3 has the belt conveyor 3Cv and two imaging robots 31 and 32. The imaging robots 31 and 32 are arranged to face each other with the belt conveyor 3Cv in the Y direction. More specifically, the imaging robots 31 and 32 are arranged on the (+ Y) direction side and the (−Y) direction side of the belt conveyor 3Cv, respectively. The imaging robots 31 and 32 basically have the same configuration.

The imaging robot 31 is an articulated robot in which a plurality of arms are connected, and an imaging unit 311 and an illumination unit (not shown) are attached to the tip of the tip arm 312. The image pickup unit 311 has, for example, an image pickup element such as a charge-coupled device (CCD) and a lens section as an optical system for forming an optical image of a work W on the image pickup device. .. On the other hand, for example, a planar illumination in which a plurality of light emitting diodes (Light Emitting Diodes: LEDs) are two-dimensionally arranged is applied to the illumination unit. Therefore, the work W can be illuminated with a plurality of illumination patterns over a wide range. The imaging robot 31 is controlled according to an operation command from the robot control unit 95 of the control device 9, and the relative positions of the imaging unit 311 and the lighting unit with respect to the work W on the belt conveyor 3Cv can be changed in multiple stages.

Further, the imaging robot 32 is also an articulated robot like the imaging robot 31, and an imaging unit 321 and an illumination unit (not shown) are attached to the tip of the tip arm 322. The imaging robot 32 is controlled according to an operation command from the robot control unit 95 of the control device 9, and the relative positions of the imaging unit 321 and the lighting unit with respect to the work W on the belt conveyor 3Cv can be changed in multiple stages. ..

The two imaging robots 31 and 32 configured as described above can move separately with respect to the work W on the belt conveyor 3Cv to image the work W at various imaging positions. Further, even in the same imaging position, it is possible to illuminate the work W under various illumination conditions (illumination pattern of the work W) by changing the illumination pattern of the illumination unit provided in the imaging robots 31 and 32. It has become. That is, in the surface imaging device 3, the relative positions of the imaging units 311 and 321 with respect to the work W to be inspected are changed in multiple stages, and the imaged portions of the work W imaged by the imaging units 311 and 321 are different. It is possible to acquire a plurality of partial images by imaging the imaged portion under a plurality of different lighting conditions. Then, the image data of these partial images is sent to the control device 9 and temporarily stored in the storage unit 92. Then, as will be described in detail later, the presence or absence of defects on the surface of the work W is inspected based on a plurality of partial images.

When a plurality of partial images of the surface of the work W are acquired by the surface image pickup device 3, the work W is conveyed from the surface image pickup device 3 to the inversion device 4. The transport at this time is performed between the belt conveyors 3Cv and 4Cv, and the work W is conveyed to the reversing device 4 in the same mounting posture as when it is mounted on the image GW.

The reversing device 4 is composed of a reversing robot 41 having a holding mechanism capable of holding the work W and an elevating / reversing mechanism for raising / lowering / reversing the holding mechanism. The reversing robot 41 operates the holding mechanism and the elevating / reversing mechanism as follows in response to a command from the robot control unit 95 of the control device 9. That is, the reversing device 4 picks up the work W in the mounted posture state conveyed from the surface imaging device 3 from the belt conveyor 4Cv, reverses the work W above the belt conveyor 4Cv, and works W in the reversing posture state. Is returned to the belt conveyor 4Cv in this order.

When the work W is returned onto the belt conveyor 4Cv in the inverted posture state in this way, the work W is conveyed from the reversing device 4 to the back surface imaging device 5 in the inverted posture by the belt conveyor 4Cv and 5Cv.

The back surface imaging device 5 has the same configuration as the front surface imaging device 3 except that the image pickup target is the exposed surface of the work W in the inverted posture, that is, the back surface of the work W. That is, in the back surface imaging device 5, the relative positions of the imaging units 511 and 521 with respect to the work W, which is the inspection target, are changed in multiple stages so that the imaged portion of the work W imaged by the imaging units 511 and 521 is different. It is possible to acquire a plurality of partial images by imaging the imaged portion under a plurality of different lighting conditions. Then, the image data of these partial images is sent to the control device 9 and temporarily stored in the storage unit 92. Then, as will be described in detail later, it is inspected whether or not a defect exists on the back surface of the work W based on a plurality of partial images.

The work W for which the defect inspection on both sides has been completed is conveyed from the back surface imaging device 5 to the discharge device 6. The transfer at this time is performed between the belt conveyors 5 Cv and 6 Cv, and the work W is conveyed to the reversing device 4 in the reversing posture. An opening (not shown) for discharging the inspected work W from the inspection system 1 is provided on the (+ X) side wall of the discharge device 6. Then, the belt conveyor 6Cv that has received the inspection-completed work W operates in response to a transfer command from the transfer control unit 94 to move the work W to the vicinity of the opening and position it. On the other hand, the operator and the discharging robot (not shown) take out the inspected work W from the opening.

As shown in FIG. 1, a display unit 61 is arranged at a position visible to the operator on the (+ X) side wall of the discharge device 6 arranged at the discharge position of the work W thus inspected. The display unit 61 displays an inspection result (for example, FIG. 9 described later) in which the arithmetic processing unit 91 of the control device 9 inspects the defect based on the plurality of partial images.

The control device 9 is provided at an appropriate position inside the inspection system 1, a well-known CPU (Central Processing Unit) that executes logical calculations, a ROM (Read Only Memory) that stores initial settings, and the like, and each device is in operation. It is composed of a RAM (Random Access Memory) that temporarily stores various data. That is, the control device 9 may be a dedicated device equipped with the above-mentioned hardware, or a general-purpose processing device such as a personal computer or a workstation in which an inspection program for realizing a processing function described later is incorporated. It may be present, and a general-purpose computer can be used.

The control device 9 functionally includes an arithmetic processing unit 91, a storage unit 92, an image processing unit 93, a transport control unit 94, a robot control unit 95, a projection control unit 96, and the like, and is the "inspection device" of the present invention. It corresponds to an example. Of these, the storage unit 92 stores the inspection program, the position data of the imaged portion imaged by the imaging units 311, 321, 511, and 521, and the like. Further, the image processing unit 93 takes in image signals from the image capturing units 311, 321, 511, and 521, and performs various image processing on the image of the imaged portion to generate an image suitable for the inspection of the work W. Further, the transport control unit 94 controls the drive of the motors mounted on the belt conveyors 2Cv to 6Cv. The robot control unit 95 refers to the imaging robots 31 and 32 mounted on the front surface imaging device 3, the reversing robot 41 equipped on the reversing device 4, and the imaging robots 51 and 52 equipped on the back surface imaging device 5. An operation command is given to image and invert the work W. Further, the projection control unit 96 gives a video signal of the mounting posture of the work W in the input device 2 to the projection unit 21 to teach the mounting posture of the work W.

Further, the arithmetic processing unit 91 reads out the inspection program stored in advance in the storage unit 92, and then controls each unit of the apparatus according to the inspection program as described in detail with reference to FIGS. 4 to 9. As a result, as will be described in detail later, a defect extraction process for selectively extracting a defect-containing image from an image (partial image) of the imaged portion and a tertiary in which the position information of the defect-containing image is added to the three-dimensional image of the work W. A display control process for displaying the original image and the defect-containing image on the display unit 61 is executed. That is, the arithmetic processing unit 91 functions as the “defect extraction unit” and the “display control unit” of the present invention.

FIG. 4 is a flowchart showing an inspection method executed by the inspection system shown in FIG. Here, focusing on one work W, transporting, imaging, inspection, and display of inspection results of the work W will be described. In the inspection system 1, the video signal of the work W is given to the projection unit 21 before the work W, which is the inspection target, is newly input. As a result, the projection unit 21 shows a full-scale image of the work W on the upper surface of the belt conveyor 2Cv, more specifically, a work loading position indicating the work mounting position when the work W is loaded onto the belt conveyor 2Cv in the mounting posture. The image GW is projected (step S1). Therefore, the operator can place the work W on the belt conveyor 2Cv while looking at the work loading position image GW, and can load the work W into the inspection system 1 in a preset mounting posture state. The image data of the work loading position image GW is stored in the storage unit 92 in advance.

Then, as shown in FIG. 1, the operator places the work W on the belt conveyor 2Cv in the mounting posture while referring to the work loading position image GW, and this is detected by a sensor or the like, or the inspection is started by the operator. When the button is pressed (“YES” in step S2), the work W is conveyed from the loading device 2 to the surface imaging device 3 in the mounted posture state (step S3). Then, the surface imaging device 3 executes an inspection (hereinafter referred to as “surface side inspection”) for whether or not defects such as scratches and chips are present on the surface of the work W (step S4).

FIG. 5 is a flowchart for explaining the surface side inspection. FIG. 6 is a diagram schematically showing an example of a partial image acquired in the surface side inspection. The surface imaging device 3 changes the relative positions of the imaging units 311 and 321 with respect to the work W, that is, the imaging positions of the imaging units 311 and 321 in multiple stages (in this embodiment, i stages and i are natural numbers of 2 or more). Each imaging position is stored in the storage unit 92 in advance. Then, the robot control unit 95 reads out the imaging positions (reference numerals FP1, FP2, ..., FPi in FIG. 6) and positions the imaging robots 31 and 32 at the mth imaging position (step S41). For example, in the first imaging position FP1, the imaging robots 31 and 32 are positioned at positions where the imaging units 311 and 321 face the imaged portion Wa of the work W as shown in FIG.

Further, the lighting pattern by the lighting unit is changed in multiple steps (in this embodiment, j steps and j is a natural number of 2 or more) (step S42). Each illumination pattern is stored in the storage unit 92 in advance. Then, the robot control unit 95 reads out the illumination pattern (see FIG. 6), and the illumination units of the imaging robots 31 and 32 illuminate the imaged portion Wa with the nth illumination pattern. While the imaging robots 31 and 32 are positioned at the first imaging position FP1 in this way, the imaging robot 31 images with the imaging unit 311 while the illumination conditions are switched in the order of illumination pattern 1, illumination pattern 2, ..., Illumination pattern j. The imaged portion Wa is imaged from the direction D1 to acquire the partial image FG1 (1, n), and the imaging robot 32 images the imaged portion Wa from the imaging direction D2 by the imaging unit 321 to obtain the partial image FG2 (2, n). ) Is acquired (step S43). The image data of these partial images FG1 (1, n) and FG2 (1, n) are sent to the control device 9 and stored in the storage unit 92.

In the next step S44, the arithmetic processing unit 91 inspects whether or not there is a defect such as a scratch or a chip on the imaged portion Wa based on the partial images FG1 (1, n) and FG2 (1, n). For example, when the image Id of the defect is reflected in the partial image FG1 (1, n) or the partial image FG2 (1, n) as shown in the column of "1 (FP1)" in FIG. 6, they are imaged. The arithmetic processing unit 91 determines that there is a defect in the imaged portion Wa imaged at the imaging position FP1. On the other hand, when the image Id of the defect is not reflected in the partial image FG1 (1, n) or the partial image FG2 (1, n), it is determined that there is no defect in the imaged portion Wa. Judges. As a method for inspecting defects based on such an image, a conventionally well-known method can be used, and the description of the inspection method itself will be omitted here. In this way, an inspection is performed on the imaged portion Wa on the surface of the work W, and the inspection result is stored in the storage unit 92 (step S45).

Regarding the setting of changing the lighting conditions (step S42), the acquisition of the partial image (step S43), the inspection based on the partial image (step S44), and the storage of the inspection result (step S45), the imaging robot 31 is further described in step S41. , 32 are positioned every time the imaging positions FP2, FP3, ..., FPi are positioned. That is, by repeating the steps S41 to S43, the relative positions of the imaging units 311 and 321 with respect to the work W are changed in multiple stages, and the imaged portion of the work W imaged by the imaging units 311 and 321 is different. Is imaged under a plurality of different lighting conditions. As a result, a plurality of partial images FG1 (m, n) and FG2 (m, n) are acquired, and the surface side inspection of the work W is executed based on them.

Returning to FIG. 4, the operation explanation of the inspection system 1 is continued. The work W that has undergone the surface side inspection is conveyed from the surface imaging device 3 to the reversing device 4 in the placed posture state (step S5). Then, the work W is lifted upward from the belt conveyor 4Cv by the reversing device 4, inverted 180 degrees around the rotation axis extending in parallel with the direction X as shown in FIG. 1, and then returned to the belt conveyor 4Cv (step S6). ). As a result, the work W is in the inverted posture state.

Following this, the work W is conveyed from the reversing device 4 to the back surface imaging device 5 in the reversing posture (step S7). Then, the back surface imaging device 5 executes an inspection (hereinafter referred to as “back surface side inspection”) for whether or not defects such as scratches and chips are present on the back surface of the work W (step S8).

FIG. 7 is a flowchart for explaining the back side inspection. The back side inspection is performed in the same manner as the front side inspection except that the surface to be inspected is the back surface. That is, each time the imaging robots 31 and 32 are positioned at different imaging positions in step S81, the lighting condition change setting (step S82), partial image acquisition (step S83), inspection based on the partial image (step S84), and The storage of the inspection result (step S85) is executed. In addition, in FIG. 7, in order to distinguish the partial image acquired by step S83 from the partial images FG1 (m, n) and FG2 (m, n) acquired by the surface side inspection, the partial image is referred to as BG1 ( They are called m, n) and BG2 (m, n). That is, in "BG1 (m, n)" and "BG2 (m, n)", the illumination conditions are set to the illumination pattern 1, the illumination pattern 2, ... This means a partial image of the back surface of the work acquired by the imaging robots 51 and 52 while being switched in the order of the illumination pattern j.

In this way, the back side inspection of the work W is executed on the plurality of partial images based on BG1 (m, n) and BG2 (m, n), and when the inspection of the work W is completed, the inspection is performed as shown in FIG. The finished work W is conveyed from the back surface imaging device 5 to the discharge device 6 (step S9). Then, the work W is moved by the discharge device 6 to a position where the work W can be taken out from the inspection system 1 by the operator. At this time, the arithmetic processing unit 91 controls the content to be displayed on the display unit 61 so that the operator can easily confirm the inspection result of the work W (step S10).

FIG. 8 is a flowchart showing the display control of the inspection result by the arithmetic processing unit. Further, FIG. 9 is a schematic view showing a display example of the inspection result. The arithmetic processing unit 91 reads out the three-dimensional image data of the work W stored in the storage unit 92 in advance, and as shown in FIG. 9, the three-dimensional work image when the work W is viewed from the surface side on the display unit 61. Display Iwf (step S101).

Next, the imaging position determined to have a defect by the surface side inspection is acquired as "surface side defect position information" (step S102). For example, in an example of the inspection result shown in FIG. 6, the first imaging position FP1 and the second imaging position FP2 correspond to "defect position information on the surface side". Therefore, in step S103, the arithmetic processing unit 91 determines that a defect exists on the surface side, and executes the following steps S104 to S107. On the other hand, if it is determined in step S103 that no defect exists on the surface side, the arithmetic processing unit 91 additionally displays "no defect" on the display unit 61 on the surface side of the work W, and proceeds to step S108.

If YES is determined in step S103, the arithmetic processing unit 91 additionally displays the defect position for each defect. Additional display of the thumbnail including the image of the defect is executed. Here, in order to facilitate understanding of the content of the invention, as shown in FIG. 6, a defect (hereinafter referred to as “defect 1”) is found in the imaged portion (reference numeral Wa in FIG. 3) imaged at the first imaging position FP1. ) Is included, and a defect (hereinafter referred to as “defect 2”) is included in the imaged portion imaged at the second imaging position FP2, and no defect exists on the other work surface. The contents of steps S104 to S107 will be described.

In this case, since the surface of the work W contains two defects 1 and 2, the arithmetic processing unit 91 first executes steps S104 to S107 for the defect 1. The storage unit 92 stores in advance position data indicating the position of the imaged portion with respect to the work W. The arithmetic processing unit 91 reads out the position data of the imaged portion Wa imaged by the imaging units 311 and 321 among the position data from the storage unit 92 as the position information of the defect 1. Then, as shown in FIG. 9, the arithmetic processing unit 91 additionally displays the position DP1 of the defect 1 as the defect position DP (m) on the three-dimensional work image Iwf based on the position data (step S104).

Further, in the present embodiment, the loading device 2 projects an image GW showing the mounting position of the work W, and the work W is loaded in the corresponding mounting posture. However, the work W is inverted by the reversing device 4 before being transported to the discharging device 6, and the work W is changed to the reversed posture when being transported to the discharging device 6. However, the posture of the work W has a certain correspondence with the image GW. Therefore, the arithmetic processing unit 91 reverses the work W that has been conveyed to the discharge device 6 based on the image data of the image GW, and the posture when the work W is reversed around the rotation axis and returned to the mounting posture. Can be predicted. Therefore, the display of the three-dimensional work image Iwf on the display unit 61 is controlled so that the posture of the three-dimensional work image Iwf displayed on the display unit 61 matches the predicted posture. Further, in the present embodiment, the position DP1 is shown in a blowout format, but the display format is not limited to this, and any display format can be used. The same applies to defect 2 in this respect.

Next, the arithmetic processing unit 91 performs partial images FG1 (1,1), FG1 (1,2) ..., FG1 (j), FG2 (1,1), FG2 (1,2) in which the defect 1 is reflected. ) ..., FG2 (j) is read from the storage unit 92 (step S105). Then, the arithmetic processing unit 91 extracts the partial image FG1 (1,1) in which the image Id1 of the defect 1 is clearly reflected among the partial images captured by the imaging unit 311 as the defect-containing image FG1max, and also extracts the partial image FG1 (1,1). The partial image FG2 (1,1) in which the image Id1 of the defect 1 is clearly reflected among the partial images captured by the imaging unit 321 is extracted as the defect-containing image FG2max (step S106). In the present embodiment, when extracting the defect-containing images FG1max and FG2max, the area values of the image Id1 of the defect 1 are calculated, respectively, and the partial image having the largest defect area value is clearly reflected by the image Id1. It was judged that there was. Of course, the determination may be made based on an index value such as the maximum luminance value in addition to the area value.

The defect-containing images FG1max and FG2max extracted in this way are additionally displayed in thumbnail format side by side with the three-dimensional work image Iwf as shown in FIG. 9 by the arithmetic processing unit 91 (step S107).

Further, when the additional display process for the defect 1 is completed, the above steps S104 to S107 are repeated for the other defect 2. That is, the arithmetic processing unit 91 reads out the position data of the imaged portion imaged by the imaging units 311 and 321 of the imaging position 2 from the storage unit 92 as the position information of the defect 2, and is based on the position data as shown in FIG. The position DP2 of the defect 2 is additionally displayed on the three-dimensional work image Iwf as the defect position DP (m) (step S104). Further, the partial image FG1 (1, j) in which the image Id2 of the defect 2 is most clearly reflected among the partial images captured by the imaging unit 311 is extracted as the defect-containing image FG1max, and is captured by the imaging unit 321. The partial image FG2 (1, j) in which the image Id2 of the defect 2 is most clearly reflected in the partial image is extracted as the defect-containing image FG2max (step S106). Then, the arithmetic processing unit 91 additionally displays the defect-containing images FG1max and FG2max (step S107).

Here, the case where two defects 1 and 2 are present on the surface of the work W has been described as an example, but in the case of one or three or more defects, the additional display process of the defects is executed in the same manner. Then, when the additional display processing on the front side is completed, the arithmetic processing unit 91 proceeds to step S108 to execute the display processing on the back side.

In step S108, the arithmetic processing unit 91 reads out the three-dimensional image data of the work W stored in the storage unit 92 in advance, and as shown in FIG. 9, when the work W is viewed from the back surface side on the display unit 61. The three-dimensional work image Iwb is displayed. Here, since the inverted posture of the work W conveyed to the discharge device 6 can be predicted with high accuracy based on the image data of the image GW, in the present embodiment, the work posture is three-dimensionally matched with the predicted work posture. The posture of the work image Iwb is controlled.

Then, the imaging position determined to have a defect by the back surface inspection is acquired as "defect position information on the back surface side" (step S109). Here, when there is no defect on the back surface of the work (“NO” in step S110), for example, as shown in FIG. 9, a display indicating that there is no defect on the back surface, that is, “no defect” is a three-dimensional work image. It is displayed on the display unit 61 together with Iwb, and a series of display processes is completed. On the other hand, when one or more defects are included on the back surface of the work (“YES” in step S110), the arithmetic processing unit 91 executes additional display processing in the same manner as on the front surface side (steps S111 to S114).

As described above, in the present embodiment, when displaying the inspection result of the work W on the display unit 61, the position information of the defects existing in the work W with respect to the three-dimensional work images Iwb and Iwf of the work W (for example, FIG. 9). The entire image of the work to which the codes DP1 and DP2) are added and the partial image in which each defect is reflected are displayed side by side. Therefore, the operator can satisfactorily confirm the content of the defect occurring in the work W and the location where the defect has occurred by visually recognizing the display content of the display unit 61.

Further, the partial image in which the defect image is most clearly reflected is selectively extracted as the defect-containing image from the plurality of partial images in which the defect is reflected, and is displayed on the display unit 61. Therefore, the content of the defect can be confirmed with high accuracy by referring to the defect-containing image.

Further, the posture of the work W conveyed to the discharge device 6 is predicted based on the image data of the image GW, and the three-dimensional work images Iwb and Iwf of the work W are displayed on the display unit 61 so as to match the predicted posture. doing. Therefore, the operator can easily compare the actual product (inspected work W) conveyed to the discharge device 6 with the display content of the display unit 61, and can confirm the content of the defect and the location where the defect has occurred in a better and quicker manner. can.

The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention. For example, in the above embodiment, the present invention is applied to the inspection system 1 that inspects the front and back surfaces of the work W, but the present invention can also be applied to an inspection system that inspects only one of the front surface and the back surface. ..

Further, in the above embodiment, the surface imaging device 3 has two imaging robots 31 and 32, but the number of imaging robots is not limited to this, and one or three or more imaging robots are used. May be good. Further, regarding the back surface imaging device 5, the number of imaging robots is not limited to “2”, and may be one or three or more.

Further, in the above embodiment, the control program including the inspection program is stored in the storage unit 92 in advance, but the control device 9 is electrically connected to a disk drive (not shown) to read the installation program. You may. That is, the above inspection program recorded on an external recording medium such as a CD-ROM (= Compact Disc-Read Only Memory) or a DVD-ROM (= Digital Versatile Disk-Read Only Memory) inserted into the disc drive is read. It may be configured to be possible and the disk drive may function as a reader. That is, even in the inspection system 1 in which the above-mentioned inspection result display method cannot be executed, the inspection program is incorporated by installing the above-mentioned installation program, and the above-mentioned inspection method and inspection result display method can be upgraded to be executable. You may let me. The program may be read using a recording medium other than a CD-ROM or a DVD-ROM as a recording medium. Further, the program may be read by using a communication means.

The invention has been described above according to a specific embodiment, but this description is not intended to be interpreted in a limited sense. With reference to the description of the invention, various variations of the disclosed embodiments, as well as other embodiments of the present invention, will be apparent to those familiar with the art. Therefore, the appended claims are considered to include such modifications or embodiments within a range that does not deviate from the true scope of the invention.

The present invention can be applied to a general inspection system for inspecting the presence or absence of defects in an inspection object based on an image obtained by imaging the inspection object, and a general inspection result display technology.

1 ... Inspection system 2 ... Input device 2Cv ... Belt conveyor (mounting part)
3 ... Front surface imaging device 5 ... Back surface imaging device 6 ... Discharge device 9 ... Control device (inspection device)
21 ... Projection unit 31, 32, 51, 52 ... Imaging robot 41 ... Inversion robot 61 ... Display unit 91 ... Arithmetic processing unit (defect extraction unit, display control unit)
92 ... Storage unit 96 ... Projection control unit 311, 321, 511,521 ... Imaging unit D1, D2 ... Imaging direction DP ... Defect position FG1, FG2 ... Partial image FG1max, FG2max ... Defect-containing image Iwb, Iwf ... Three-dimensional work image W ... Work (object to be inspected)
Wa ... Area to be imaged

Claims (7)

The relative position of the imaging unit with respect to the inspection object is changed in multiple stages, and the imaged portion is imaged under a plurality of different lighting conditions while the imaged portion of the inspection object to be imaged by the imaging unit is different. An imaging device that acquires multiple partial images and
An inspection device for inspecting the presence or absence of defects in the inspection object based on the plurality of partial images and displaying the inspection result on the display unit is provided.
The inspection device is
A storage unit that stores position data indicating the positions of the plurality of images to be imaged with respect to the inspection object, and a storage unit.
For each defect, a defect extraction unit that selectively extracts a defect-containing image from a plurality of partial images in which an image of the defect is reflected, and a defect extraction unit.
Based on the position data, the position information of the defect-containing image on the three-dimensional image of the inspection object is obtained, and the whole image obtained by adding the position information to the three-dimensional image of the inspection object and the defect-containing image. A display control unit that displays and on the display unit, and
An inspection system characterized by having. The inspection system according to claim 1.
The imaging device has a plurality of the imaging units, and the plurality of imaging units image the imaged portion from different imaging directions.
The display control unit is an inspection system that displays the defect-containing image on the display unit for each imaging direction. The inspection system according to claim 1 or 2.
The display control unit selects, for each of the defects, the defect-containing image in which the image of the defect is clearly projected from the defect-containing images extracted by the defect extraction unit and displays it on the display unit. Inspection system. The inspection system according to any one of claims 1 to 3.
A loading device for transporting the inspection object to be loaded into the mounting unit to the imaging device is provided.
The loading device has a projection unit that projects an image showing the placement posture of the inspection object on the pre-described installation unit on the pre-described installation unit.
The display control unit is an inspection system that displays the entire image on the display unit in a posture corresponding to the above-described posture. The inspection system according to claim 4.
A discharge device for discharging the inspection object inspected by the inspection device to the operator is provided.
The display unit is an inspection system provided at a position visible to the operator in the discharge device. The relative position of the imaging unit with respect to the inspection object is changed in multiple stages, and the imaged portion is imaged under a plurality of different lighting conditions while the imaged portion of the inspection object to be imaged by the imaging unit is different. It is a method of displaying inspection results in an inspection system that inspects the presence or absence of defects in the inspection object based on a plurality of acquired partial images.
A step of selectively extracting a defect-containing image from a plurality of partial images in which an image of the defect is reflected for each defect, and a step of selectively extracting the defect-containing image.
The position information of the defect-containing image on the three-dimensional image of the inspection object is obtained, and the entire image obtained by adding the position information to the three-dimensional image of the inspection object and the defect-containing image are displayed on the display unit. And the process of making
A method of displaying an inspection result, which comprises. The relative position of the imaging unit with respect to the inspection object is changed in multiple stages, and the imaged portion is imaged under a plurality of different lighting conditions while the imaged portion of the inspection object to be imaged by the imaging unit is different. It is a display program of inspection results in an inspection system that inspects the presence or absence of defects in the inspection object based on a plurality of acquired partial images.
A step of selectively extracting a defect-containing image from a plurality of partial images in which an image of the defect is reflected for each defect, and a step of selectively extracting the defect-containing image.
The position information of the defect-containing image on the three-dimensional image of the inspection object is obtained, and the entire image obtained by adding the position information to the three-dimensional image of the inspection object and the defect-containing image are displayed on the display unit. And the process of making
A test result display program characterized by having a computer execute.

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