JP2004125407A - Defect-marking device for testing painted surface of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a defect marking device for testing a painted surfaces of a vehicle, which can carry out marking defective positions by projecting a light beam thereon. <P>SOLUTION: The marking device is mounted on an apparatus for testing the painted surface of the vehicle, which has a CCD camera 6 for scanning / photographing the outside painted surface of the vehicle and an image processing device 8 automatically detecting a microdefects generated in the painted surface from photographed signals. Plotters 15-19, which move a laser head 30 along the horizontal or the vertical two-dimensional scanning plane, thereby carrying out a light beam projecting plot in the horizontal or vertical direction, are mounted on a plotter mount cart 10, which is moved along a transport path in synchronization with a vehicle transportation, in a state in which the vehicle 1 whose painted surface test is finished is advanced therein. A plot controller stores two-dimensional defect position data as plot data produced by projecting a position of the micro-defect generated in the painted surface of the vehicle onto the horizontal or vertical two-dimensional projecting plane, retrieves the plot data sequentially, in response to switch operation and plots them on the painted surface of the vehicle. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle paint surface inspection including an imaging device that scans a vehicle paint surface on an outer surface of a vehicle and an image processing device that automatically detects a minute defect occurring in the vehicle paint surface from a change in the image signal. The present invention relates to a defect marking device for vehicle surface inspection, which is attached to the device.
[0002]
[Prior art]
Various types of devices that detect a minute defect by processing an image signal by scanning a painted surface of a conveyed vehicle with an imaging device are well known, and an imaging device attached to a robot arm is used to scan a vehicle painted surface on the outer surface of the vehicle. On the other hand, a vehicle painted surface inspection apparatus that performs imaging scanning of a vehicle painted surface while controlling a three-dimensional position and orientation is also known. On the other hand, as a device for marking a position when a defect is detected, a robot having a tape gripper can be peeled to a defect position according to a result of image processing of a painted surface according to JP-A-7-12750. It is well known to attach a tape. Furthermore, a large number of dye discharge nozzles are arranged in a direction intersecting with the vehicle transport direction on the gate arranged after the image processing step of the incoming vehicle, and when the detected defect position enters the gate, the nozzle corresponding to the position is detected. Devices for selectively actuating are also well known.
[0003]
According to such an apparatus, marking can be performed without stopping the vehicle carried in the painting surface inspection process, but the structure is complicated because each of them separately constitutes a dedicated marking apparatus, and the structure is complicated. This requires an occupied space and increases equipment costs. Therefore, according to Japanese Patent Application No. 2001-59453, the present applicant attaches a non-contact print head that prints to the image processing area of the painted surface by ink jetting at the tip of the arm. We proposed a marking method for a paint surface inspection device that selects and prints a mark of a shape that indicates the position of a minute defect in the printing area within the area.
[0004]
[Problems to be solved by the invention]
However, all of these marking methods are based on the premise that the marking material is adhered to the painted surface, and require repair work such as cleaning and peeling of the marking material when repairing minute defects.
[0005]
In view of the above, an object of the present invention is to provide a defect marking device for vehicle painted surface inspection that can mark a defect position by irradiating a light beam.
[0006]
[Means for Solving the Problems]
In order to achieve this object, according to the present invention, according to the present invention, an image pickup apparatus that scans a vehicle painted surface on an outer surface of a vehicle and automatically detects a minute defect generated in the vehicle painted surface from a change in the image signal. In a defect marking device for a vehicle paint inspection which is attached to a vehicle paint inspection device having an image processing device for detecting, a light irradiation head is moved along a horizontal or vertical two-dimensional scanning plane to thereby detect a vertical or horizontal irradiation direction. A plotter that performs plotting with a light beam is mounted on a plotter-equipped carriage that moves in synchronization with vehicle transport along the transport path with a painted surface inspected vehicle entering, and a plot control unit attached to the plotter The two-dimensional defect position data obtained by projecting the minute defect positions occurring on the vehicle painted surface onto a horizontal or vertical two-dimensional projection surface is stored as plot data, and the minute defect positions are recorded on the vehicle painted surface. As it is marked, characterized in that to perform plotting searching for sequentially plotting data in response to a switch operation.
[0007]
With the painted surface of the vehicle having entered the plotter-equipped trolley, the plotter irradiates a light beam vertically or horizontally facing the painted surface of the vehicle and plots the position of the minute defect. When the repair work is completed, the repair operation is performed by plotting the positions of the minute defects in order by performing a switch operation.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
1 to 5, a description will be given of a vehicle marking inspection defect marking apparatus according to an embodiment of the present invention. As shown in FIG. 1, the vehicle painted surface inspection apparatus has robots 9 and 9a arranged on both sides of a transport path of the vehicle 1, and includes a surface light emitter 5 and a CCD camera 6 at the tip of each robot arm. An imaging device is attached.
[0009]
The robots 9 and 9a are arranged to prevent interference between the two sides of the vehicle 1 on the assumption that the scanning speed is much faster than the transport speed for the scanning area on both sides, the upper surface, and half of the front and rear surfaces. For the scanning region obtained by further dividing the half, the scanning direction is shifted slightly in the scanning direction in the scanning crossing direction, and is repeatedly and continuously moved while being turned back. The teaching is performed such that the three-dimensional position and the angle in the three-axis direction are controlled.
[0010]
The imaging devices 5 and 6 are provided with an image processing device 8 for detecting that the image signal level is reduced from a normal high signal level due to minute defects such as bumps. This device captures an image signal of an image processing area to detect a minute defect candidate, and determines whether or not the defect is a minute defect based on the length and width of a rectangle circumscribing the area formed by the candidate minute defect. A defect determining means for discriminating the size of the minute defect, that is, the longer dimension in the vertical and horizontal directions, to determine the degree of the size in three steps; The side and front and back surfaces are used as defect position data on a two-dimensional plane projected on a vertical virtual two-dimensional projection surface, and the top surface is used as defect position data on a horizontal two-dimensional projection surface. And defect data storage means for storing the defect data together with the defect degree data indicating the instruction.
[0011]
For example, as shown in FIG. 2, three minute defects on the upper surface of the vehicle 1 are two-dimensionally projected in the transport direction (Y axis) and the orthogonal direction (X axis) projected on the horizontal two-dimensional projection surface 1a. The defect position data D1 to D3 are stored in the memory together with the defect degree data. Similarly, for one side surface and the other side surface of the vehicle 1, two-dimensional defect position data in the transport direction (Y-axis) and the orthogonal direction (X-axis) projected on the vertical two-dimensional projection plane are the defect degrees. Stored with data. For the front and rear surfaces, two-dimensional defect position data in the horizontal direction (Y axis) and the orthogonal direction (X axis) projected on a vertical two-dimensional projection plane are stored together with defect degree data.
[0012]
The defect marking device, which is a post-process of such a paint surface inspection device, is constituted by a plotter-mounted cart 10 that reciprocates on a rail 11 along a vehicle transport line. An upper surface plotter 15 facing the upper surface of the conveyed vehicle 1 is supported between the square-shaped ceiling frames 12 so as to scan on a horizontal two-dimensional scanning surface with a light beam in a vertical irradiation direction. . Between the front and rear vertical frames 13, both side plotters 16 and 17 facing the vehicle side are supported so as to scan on a vertical two-dimensional scanning plane with a light beam in a horizontal irradiation direction. A front plotter 18 facing the front of the vehicle and a rear plotter 19 facing the rear of the vehicle can move from a standby position that does not interfere with the transporting vehicle to a facing position so as to be movable between the front and rear longitudinal frames 13 on both sides. Are formed in the square frame 20 which is respectively supported.
[0013]
The upper surface plotter 15 is configured such that its slider 15a is slidably supported in the Y-axis direction along the front and rear frames 12b on both sides by screw bars 15b provided between the front and rear horizontal frames 12a. The sliders 16a, 17a of the plotters 16, 17 are supported by screw rods 16b, 17b provided between the front and rear vertical frames 13 so as to be slidable in the Y-axis direction along the front and rear frames 12b. The sliders 18a, 19a of the front plotter 18 and the rear plotter 19 are moved in the Y-axis direction along the horizontal frame 22 by screw rods 18b, 19b provided between the vertical frames 21 on both sides of the square frame 20. It is slidably supported.
[0014]
Each of these plotters 15 to 19 includes a laser device having a laser head 30 to which a deflecting device using a mirror is attached, and a vertical guide portion 32 of each of the sliders 16a to 19a (only the plotter 15 is shown). It slides along. The plotter-equipped trolley 10 has a trolley control device that, when the vehicle 1 has completely entered, moves forward along the rail 11 in synchronization with the vehicle conveyance, and returns to the original position when the vehicle 1 advances a predetermined distance. I have. Further, the front plotter 18 and the rear plotter 19 rotate to the vertical position when marking the associated surface, and return to the horizontal standby position after the end.
[0015]
Further, as a plot control unit attached to the plotters 15 to 19, a two-dimensional plane facing the upper surface, the side surface, and the front and rear surfaces of the vehicle painted surface transferred from the defect data storage unit of the above-described image processing device 8 of the vehicle painted surface inspection device. The defect position data on the projection plane is converted to a resolution of, for example, about 0.5 mm at a resolution that does not cause a visual problem at the time of restoring the positional accuracy in the X-axis and Y-axis directions. In response to a plot data storage means 33 for adding and storing degree data and a control signal output by a switch operation of the remote switch 34 by an operator, plot data of the designated plotters 15 to 19 is sequentially searched. The plot data output means 35 for outputting the data and the laser head 30 of the plotters 15 to 19 are connected to a plot on the two-dimensional scanning plane corresponding to the plot data. Plot position control means 36 for moving the laser head 30 to the plot position, and light irradiation for operating the laser head 30 so as to irradiate the laser beam until the laser head 30 starts moving to the next plot position when the laser head 30 moves to the plot position. Control means 37 and deflection control for supplying to the deflection device of the laser head 30 a plurality of types of deflection signals for drawing a mark indicating the degree of size on the painted surface of the vehicle with a light beam in response to defect degree data at the time of light irradiation. Means 38.
[0016]
The remote switch 34 is provided with plotter selection switches 34a to 34e for selecting the plotters 15 to 19, a search switch 34f for sequentially searching the second and subsequent plot data of each plotter, a light irradiation interruption switch, and the like. The deflection control means 38 controls the deflection of the laser beam by supplying a deflection signal for drawing a mark of any of ●, ▲, and ×, which teaches the degree of decreasing size in three stages.
[0017]
The operation of the defect marking device for vehicle painted surface inspection thus configured is as follows. When the vehicle 1 whose painted surface has been inspected in the painted surface inspection process enters the plotter-equipped trolley 10 in the subsequent repair process, the trolley starts to move forward in a synchronized state. When the operator operates, for example, a plotter selection switch 34a of the remote switch 34, the upper surface plotter 15 moves in the transport direction from the rear part to the Y-axis position of the plot data, and the laser head 30 moves the X-axis in the horizontal direction. And stops at the plot position on the two-dimensional scanning plane corresponding to the plot data. Then, at the plot position on the two-dimensional scanning plane, as shown in FIG. 4, a laser beam is irradiated vertically downward, and a minute defect is marked with an X mark according to the size of the minute defect. .
[0018]
The operator confirms the state of the minute defect based on the mark and performs a repair operation. Subsequently, when the search switch 34f is operated, in the same manner, a defect position on the upper surface next to the front is plotted by a mark ●. Subsequently, in response to the switch operation of the search switch 34f, ▲ and ● are marked in order. If there is no more minute defect data, the slider 15a and the laser head 30 return to their original positions.
[0019]
Further, by operating the plotter selection switch 34b or 34c, the plotter 16 or 17 similarly moves the associated laser head 30 sequentially to the plot position corresponding to the defect position, and moves in the horizontal direction orthogonal to the two-dimensional vertical scanning plane. Irradiate a laser beam. If there is no minute defect data on these side surfaces, the operations of the plotters 16 and 17 remain stopped.
[0020]
When the front plotter 18 or the rear plotter 19 is selected by the operation of the plotter selection switches 34d and 34e, if there is associated minute defect data, the plotter rotates to the vertical lower position. Next, the laser head 30 moves on the two-dimensional scanning surface together with the slide of the sliders 18a and 19a, and irradiates a laser beam toward the defect position in the horizontal or rearward direction at right angles to the defect position. Plotted, ie marked. When the search switch 34f is operated, the next defect position is sequentially marked in the horizontal direction. When the repair work is completed within the assigned tact, the plotter-mounted cart 10 moves back from the predetermined forward position to the original position, and repair of a difficult-to-repair flaw is dealt with offline.
[0021]
In addition, another light beam source such as a light emitting diode can be used as the light beam instead of the laser beam. Also, the description has been given of the defect marking device for the vehicle painted surface inspection device in which the imaging device is attached to the distal end portion of the robot arm. The present invention can also be implemented as a defect marking device attached to a vehicle painted surface inspection device that enables creation of defect position data on a two-dimensional projection plane facing the vehicle.
[0022]
【The invention's effect】
According to the first aspect of the present invention, since the marking is performed in the repairing step, it is not necessary to separately provide a marking step, and the space can be saved. Further, since the marking is performed by light irradiation, the work of removing the marking after restoration is not required, and consumables such as ink are not required. Even if dust is erroneously detected, no marking is required.
[0023]
According to the second aspect of the present invention, the repair work of the upper surface, the side surface, and the front and rear surfaces of the vehicle is efficiently performed. According to the third aspect of the present invention, since the size of the defect is specified, the state of the minute defect can be confirmed, and a highly reliable repair operation can be performed.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a configuration of a defect marking device for a vehicle painted surface inspection according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating the operation of the marking device.
FIG. 3 is a diagram illustrating a circuit configuration of a plot control unit of the marking device.
FIG. 4 is a schematic sectional view illustrating an operation state of the marking device.
FIG. 5 is a plan view illustrating a marking state of the marking device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Vehicle 6 CCD camera 9, 9a Robot 10 Plotter-mounted cart 15 Plotters 15a to 19a for upper surface Sliders 16, 17 Plotter for side surface 18 Plotter for front surface 19 Plotter for rear surface 30 Laser head

Claims (3)

Attached to a vehicle paint surface inspection device that includes an imaging device that captures and scans a vehicle paint surface on the exterior of the vehicle, and an image processing device that automatically detects minute defects occurring in the vehicle paint surface from changes in the image signal. In the defect marking device for vehicle painted surface inspection,
A plotter that moves the light irradiation head along the horizontal or vertical two-dimensional scanning plane and plots with the light beam in the vertical or horizontal irradiation direction, along the transport path with the painted surface inspected vehicle entering Mounted on a cart equipped with a plotter that moves in synchronization with vehicle transport,
The plot control unit attached to the plotter stores, as plot data, two-dimensional defect position data obtained by projecting a minute defect position occurring on the painted surface of the vehicle onto a horizontal or vertical two-dimensional projection surface, and stores the minute defect position. A defect marking apparatus for inspecting a painted surface of a vehicle, wherein the plot data is sequentially searched and plotted in response to a switch operation so as to mark the painted surface of the vehicle. A plotter-equipped trolley, a vehicle upper surface plotter facing the vehicle upper surface, vehicle side plotters facing both sides of the vehicle, a vehicle front plotter facing the vehicle front surface, and a vehicle rear surface facing the vehicle rear surface. For the plotter is supported,
2. The painted surface of a vehicle according to claim 1, wherein the plotter for the front of the vehicle and the plotter for the rear of the vehicle are movably supported from a standby position that does not interfere with a conveyed vehicle to a facing position facing the same. Inspection defect marking device. A deflection signal, which is added to the defect position data and draws a plurality of types of marks in accordance with the defect degree data indicating the degree of size stepwise, is sent from the plot control unit to the light beam deflector attached to the light irradiation head. The defect marking device for vehicle painted surface inspection according to claim 1, wherein the defect marking device is supplied.

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