JP2004279233A - Defect marking device for inspecting vehicular painted face - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To mark a fine defective position by image projection. <P>SOLUTION: A vehicle painted face inspection device is provided with an image pick-up device, and an image processing means for detecting automatically a fine defect generated on a vehicular painted face, based on a change in an image signal therefrom, and for preparing a two-dimensional defect position data projected with the fine defective position on a two-dimensional horizontal or vertical projection face. This defect marking device for inspecting the vehicular painted face attached to the inspection device is provided with a projecting image data preparing means for preparing a projecting image data including a mark for indicating the fine defective position, using as an input the two-dimensional defect position data from the image processing means, and is mounted on a projector mounting carriage 10 moved synchronizedly along a conveying route 11, under the condition where an already painted-face inspected vehicle is advanced in, to project an image corresponding to the projecting image data onto the vehicle painted face of a corresponding range by a projector 20 for an upper face, projectors 21, 22 for side faces and a projector 23 for a rear face. <P>COPYRIGHT: (C)2005,JPO&NCIPI

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, according to Patent Document 1, a tape that can be peeled to a defect position in accordance with the image processing result of a painted surface using a robot having a tape gripper is disclosed. It is well known to attach.
[0003]
According to this device, marking can be performed without stopping the vehicle carried in the painting surface inspection process. However, since the marking device is separately configured, the structure is complicated, and the space occupied by the device is increased. And equipment costs are high. Therefore, according to Patent Document 2, the present applicant attaches a non-contact print head that prints by ink ejection to the image processing area of the painted surface at the tip of the arm, and when a minute defect is detected, We proposed a marking method for a paint surface inspection device that selects and prints a mark with a shape that indicates the position of a minute defect in the printing area of.
[0004]
[Patent Document 1]
JP-A-7-12750 [Patent Document 2]
Japanese Patent Application Laid-Open No. 2002-257738
[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.
[0006]
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 minute defect position by image projection.
[0007]
[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. Image processing means for creating two-dimensional defect position data by detecting and projecting the minute defect position on a horizontal or vertical two-dimensional projection surface. In the marking device, projection to generate projection image data including a mark indicating a minute defect position by inputting two-dimensional defect position data from the image processing means so as to be displayed on the projection display surface of the projector by scanning. The vehicle having the painted surface inspected so that the projector projects an image corresponding to the projection image data onto the vehicle painted surface in the corresponding range. And along the conveying path in a state characterized in that it is mounted on the projector mounting carriage which moves in synchronism with the vehicle transport.
[0008]
In a state where the painted surface of the vehicle has entered the trolley equipped with the projector, the projector captures an image displayed on the projection display surface while moving with the vehicle, by projecting the image on the facing vehicle painted surface. A mark image is displayed at a position corresponding to the minute defect position captured by the device.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
1 to 4, 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. 2, the vehicle painted surface inspection apparatus has robots 9 and 9a arranged on both sides of the 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.
[0010]
The robots 9 and 9a perform a half-scanning operation on both sides of the vehicle 1, the upper surface and the rear surface of the vehicle 1 on the assumption that the scanning speed is much faster than the transport speed. In the scanning area obtained by further dividing the scanning area, it is slightly shifted in the scanning direction in the scanning intersecting direction, and is repeatedly and repeatedly moved while being turned back. Teaching is performed so that the original position and the angle in the three-axis direction are controlled.
[0011]
The imaging devices 5 and 6 include an image processing unit 8a, a form data creation unit 8b, and a projection image data creation unit that detect that the image signal level decreases from a normal high signal level due to minute defects such as bumps. 8c and the like are included. That is, the personal computer is provided with a printer 7, a display unit 7a, and a keyboard 7b, and is also supplied with an operation signal of a remote controller 34 described later. In response to the operation signal and an input signal from the keyboard 7b, the imaging device 5 , 6 are subjected to image processing in accordance with a program to create form and projection defect position data.
[0012]
The image processing means 8a captures an image signal of the image processing area to detect a minute defect candidate and detects whether or not the defect is a small defect based on a rectangular vertical and horizontal length circumscribing the area formed by the small defect candidate. And a defect determining means 2b for discriminating the size of the minute defect, that is, the longer dimension in the vertical and horizontal directions, to determine the magnitude of the defect in three stages, and defect degree data indicating the magnitude as defect position data. And a defect data storage unit 2c for storing. The defect data storage unit associates the address of the micro defect candidate area actually determined as a micro defect with the scan position data, and the side surface and the rear surface are projected on a vertical virtual two-dimensional projection surface. The defect position data is stored as defect position data, and the upper surface is stored as defect position data on a horizontal two-dimensional projection plane together with defect degree data indicating the degree of size.
[0013]
For example, as shown in FIG. 3, three minute defects on the upper surface of the vehicle 1 are two-dimensional in the transport direction (Y axis) projected on the horizontal two-dimensional projection surface 1a and the orthogonal direction (X axis). The defect position data D1 to D3 are stored in the memory together with the defect degree data. Similarly, one side surface and the other side surface of the vehicle 1 are defined as a transport direction projected on a vertical two-dimensional projection surface and a direction orthogonal thereto, and a rear surface is defined as a lateral direction of the vertical two-dimensional projection surface and a direction orthogonal thereto. Two-dimensional defect position data is stored together with defect degree data.
[0014]
Based on the defect position data and the defect degree data supplied from the defect data storage unit 2c, the form data creation unit 8b superimposes the shape display data on the top, side, and rear surfaces of the vehicle 1 on a graphic display in a plan view, and sequentially. The print data for displaying any of the marks of ●, ▲, × indicating the degree of size reduction in three stages at the defect position is created. The display unit 7a also performs image display in which similar paint surface shape and mark image data are created based on the defect position data and the defect degree data supplied from the defect data storage unit 2c.
[0015]
The defect marking device which is a post-process of such a coating surface inspection device utilizes the personal computer 8 as described above, and attaches a remote controller 34 operated by an operator to the personal computer, as shown in FIG. And a projector-mounted cart 10 that reciprocates on a rail 11 along the vehicle transport line. Between the front and rear frames 13 supported by the support frame 12, a guide rail 14 for guiding the upper surface projector 20 so as to be slidable in the transport direction, and support arms 21a, 22a for supporting the side projectors 21, 22 on both sides. The guide rails 15 and 16 on both sides of the guide rail are slidably guided in the transport direction. A support arm 26 that supports the rear projector 23 is pivotally attached to the protrusion 13 a of the rear frame 13. The projector-equipped trolley 10 is provided with a trolley drive 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 has advanced a predetermined distance. ing. Each of the projectors 20 to 22 is provided with a motor-type driving device that reciprocates along the guide rails 14 to 16, respectively. The support arm 26 is provided with a motor-type rotary drive device that reciprocates the projector 23 between a horizontal position and a vertical position.
[0016]
As shown in FIG. 2, the projector selection switches 34a to 34c of the remote controller 34 select and activate the projectors 20 to 22, respectively. The area selection switches 34e to 34g are drive control units 26, 26a, and 26b that operate the driving devices attached to the projectors 20 to 22 so as to move the hood, the roof, and the luggage door into three areas. Is selectively activated. The projector selection switch 34d activates the drive control unit 26c that activates the rotation drive device attached to the support arm 26 while activating the projector 23.
[0017]
The projection image data creating means 8c conforms to the format such as the scanning lines, the number of pixels, and the signal format of the projectors 20 to 23 based on the defect position data and the defect degree data supplied from the defect data storage unit 2c, and An image data creation unit 31 for creating color projection image data for displaying any one of ●, ▲, and × marks at the defect position, which indicates the magnitude of decreasing size in three stages, and a remote control by an operator. In response to an operation signal from the controller 34, the image data for projection of any one of the three divided areas of the hood, the roof, and the luggage door of the vehicle 1 for the upper surface, and three for the side surface at the same division position. Image to selectively output the projection image data of any of the selected regions and the projection image data as it is to the rear surface to the associated projectors 20 to 23 And an over data output unit 32. The image data creating unit 31 can create marks of different colors according to the color of the paint surface in response to the operation of the keyboard 7b. As the projection image data, the print data created by the form data creation means 8b may be diverted, or the print data may be corrected by the projection image data creation unit so as to be compatible with the projectors 20 to 23. It can also be created.
[0018]
The projectors 20 to 23 display images by raster scanning on the projection display surface based on the supplied projection image data, face the painted surface of the vehicle 1 at a predetermined separation distance, and each of the projection ranges to which the projection range belongs. The image is enlarged and projected at an enlargement factor set to match the shape of the painted surface. Such an image projector itself is well known, for example, from JP-A-6-318056 and JP-A-9-229651.
[0019]
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 a predetermined approach position of the projector-equipped trolley 10 in the subsequent repair process, the vehicle 1 starts to advance in synchronization. When the operator operates, for example, the projector selection switch 34a and the area selection switch 34e of the remote controller 34, the upper surface projector 20 is set to a position above the hood, and as shown in FIG. An image including a mark is projected, the entire surface is brightened by the projected image, and the minute defect is displayed by the mark of ● and ▲ according to the size of the minute defect.
[0020]
The operator confirms the state of the minute defect based on the mark and performs a repair operation. Subsequently, when the area selection switch 34f is operated, the projector 20 moves to the upper side of the roof, and ● and X are displayed at the defect positions. Subsequently, the luggage door is projected in response to the operation of the search switch 34g, and the entire surface is merely brightened by the projected image because no defect is detected.
[0021]
Further, by operating the projector selection switch 34b or 34c, the projector 21 or 22 is selected, and by operating the area selection switches 34e to 34g, a defect position of any of the divided areas on the side is displayed as a mark. When the projector selection switch 34d is operated, the projector 23 is operated and the support arm 26 is turned to the vertical position, and the defect position on the rear surface is displayed as a mark. When the repair work is completed within the assigned tact, the projector-mounted trolley 10 moves back from the predetermined forward position to the original position, and repair of a difficult-to-repair flaw is dealt with offline.
[0022]
As shown in FIG. 1, the inspection result of the vehicle painted surface is printed out as a well-known form data from the printer 7 with a mark on each of the upper surface, both side surfaces, and the rear surface. Displayed in display format.
[0023]
Although 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 uses the image painted device attached to the gate provided on the transport path of the vehicle. The present invention can also be embodied as a defect marking device attached to a vehicle painted surface inspection device that can create defect position data on a two-dimensional projection surface facing the vehicle.
[0024]
【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 the projection display, the work of removing the marking after the restoration is not required, and consumables such as ink are not required. Even if dust is erroneously detected, no marking is required. At that time, according to the invention of claim 2, 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 invention of claim 3, a wide range in the vehicle transport direction is divided by one projector. According to the fourth aspect of the present invention, by indicating the size of the defect, it is possible to confirm the state of the minute defect and perform a highly reliable repair work.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a configuration of a bogie portion 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 a configuration of a vehicle coating surface inspection device and a configuration of a circuit portion of the attached marking device. FIG. 3 is a diagram illustrating an operation principle of the marking device.
FIG. 4 is a schematic perspective view illustrating an operation state of the marking device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Vehicle 6 CCD camera 9, 9a Robot 10 Projector-mounted carts 14, 15, 16 Guide rail 20 Upper surface projector 21, 22 Side surface projector 23 Rear surface projector 26 Support arm

Claims (4)

An image pickup device that scans a vehicle painted surface on the outer surface of a vehicle, and automatically detects a minute defect occurring in the vehicle painted surface from a change in the image signal, and detects a position of the minute defect on a horizontal or vertical two-dimensional projection surface. Image processing means for creating two-dimensional defect position data projected on the vehicle painted surface inspection device attached to the vehicle painted surface inspection defect marking device,
Projection image data creation for creating projection image data including a mark indicating a minute defect position by inputting two-dimensional defect position data from the image processing means so that the image is displayed on the projection display surface of the projector by scanning. Means for transporting the vehicle along the transport path in a state in which the painted surface inspected vehicle has entered so that the projector projects an image corresponding to the projection image data onto the vehicle painted surface in the corresponding range. A defect marking device for vehicle paint inspection, wherein the defect marking device is mounted on a trolley mounted with a projector that moves in synchronization with the vehicle. The projector-mounted trolley supports a vehicle top projector facing the top of the vehicle, a vehicle side projector facing both sides of the vehicle, and a vehicle rear projector facing the rear of the vehicle. The defect marking apparatus for vehicle painted surface inspection according to claim 1, wherein 2. The projector according to claim 1, further comprising a driving device that guides the projector so that the projector can move in the transport direction and that moves the projector in the transport direction in accordance with a projection range of the projector. Or the defect marking device for vehicle painted surface inspection according to claim 2. 4. The defect marking device for vehicle painted surface inspection according to claim 1, wherein the projection image data indicates a plurality of types of marks in a stepwise manner corresponding to the degree of defect.

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