JP2004325308A - Image pick-up device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image pick-up device to conform the center axis of an object of an imaging object with the center position of an image, to remove illumination unevenness, and to prevent an illumination from being reflected. <P>SOLUTION: This image pick-up device 100 is constituted of a belt conveyer 101, five cameras 102, five lighting systems 103, an photosensor 104, and a personal computer 105. Image pick-up timing in each of the cameras 102 is measured based on a measured result in the photosensor 104 by the personal computer 105, and the image pick-up timing in the each of the cameras 102 and lighting timing of the lighting system 103 synchronized therewith are shifted from the timings of the other cameras 102 and lighting systems 103. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an image capturing apparatus and an image capturing method for capturing an image of a target such as agricultural products in order to observe the quality and size of the target.
[0002]
[Prior art]
2. Description of the Related Art As a conventional image pickup apparatus, there has been one described in, for example, JP-A-2001-86865.
[0003]
As shown in FIG. 7, a visual inspection apparatus 300 described in Japanese Patent Application Laid-Open No. 2001-86865 is configured such that a belt conveyor 302 on which a watermelon 301 to be imaged is placed and a lighting device are integrally incorporated. Four cameras 303A, 303B, 303C, 303D, two position sensors 304A, 304B, and a processing device 305 for processing signals obtained from the cameras 303A, 303B, 303C, 303D and the position sensors 304A, 304B. I have.
[0004]
The cameras 303A, 303B, 303C, and 303D are arranged so that the photographing directions are orthogonal to each other when the position sensors 304A and 304B detect the watermelon 301 being conveyed upward from below in FIG. Thus, an image of the watermelon 301 is obtained.
[0005]
[Patent Document 1]
JP 2001-86865 A
[0006]
[Problems to be solved by the invention]
However, in the conventional visual inspection device 300, since the image is acquired when the watermelon 301 as the imaging target reaches the position of the position sensors 304A and 304B, the center position of the image depends on the size of the imaging target. And the center axis of the imaging target may be shifted.
[0007]
The cameras 303A, 303B, 303C, and 303D are arranged so that the shooting directions are on orthogonal lines, and the imaging positions of the cameras 303A, 303B, 303C, and 303D are set to one point, The cameras 303A, 303B, 303C, and 303D perform imaging, and the illuminating devices provided integrally with the cameras 303A, 303B, 303C, and 303D are also turned on at one time. In some cases, the overlapping portion becomes too bright, causing uneven illumination of the object to be imaged.
[0008]
Further, the lighting device in the facing direction may be reflected in an image.
[0009]
Accordingly, the present invention is capable of aligning the center axis of an object to be imaged with the center position of an image, removing illumination unevenness, and preventing reflection of illumination light from an opposing illumination device. It is an object of the present invention to provide an image pickup apparatus capable of performing the above.
[0010]
[Means for Solving the Problems]
In order to solve the above problems, the present invention is an image capturing apparatus that captures an image of an object to be imaged, and a transport device that transports the object along a transport path, and horizontally transports the object in a horizontal direction. There are a plurality of cameras arranged so as to take images from different directions, respectively, and to set the different positions on the transport path as the imaging positions of the object, and irradiate the object with light from the imaging direction of the camera. A plurality of illuminating devices provided with the camera, a sensor located on the upstream side of the transport path from the camera, to confirm the position of the object and the length in the transport direction, a signal transmitted from the sensor and A central axis and a position in the transport direction of the object are calculated based on the transport speed of the transport device, and one of the plurality of cameras in which the central axis and the imaging position are overlapped. While performing the imaging with the camera, only while the imaging is being performed, a control unit that sequentially repeats turning on one illumination device that emits light from the imaging direction of the one camera, and performs imaging with all cameras, An image pickup apparatus characterized by having:
[0011]
As described above, in the present invention, a sensor is provided on the upstream side of the transport path on which the target object is transported, and the position of the target object and the length in the transport direction are confirmed by this sensor, so that the control means With the position of the object as a starting point, the position of the object can be accurately grasped based on the transfer speed of the transfer device.
[0012]
The axis recognized as half of the length in the transport direction is set as the center axis of the object, and this center axis overlaps with the imaging position of the camera, that is, the position that becomes the center of the image when an image is taken with this camera. By taking an image at this time, the target object is imaged at the center of the image captured by the camera.
[0013]
Further, a plurality of cameras that capture images from different directions in the horizontal direction of the target object are arranged so that the center position of the image captured by each of them, that is, the imaging position is different.
[0014]
When the center axis of the object conveyed along the conveyance path overlaps with the center position of the image captured by each camera, the camera sequentially captures images, and the camera captures images at this time. By turning on only the illuminating device provided in the imaging direction, the timing at which the light of the illuminating device hits the target object can be shifted, and the illumination unevenness caused by the overlapping of the illuminating device light can be removed. In addition, it is possible to prevent the illumination device in the facing direction from being reflected.
[0015]
It should be noted that four cameras are provided for imaging the object in the horizontal direction, and the cameras are arranged so that the imaging directions of these adjacent cameras are perpendicular to each other, so that the object can be obtained. It becomes possible to image all surfaces of the object in the horizontal direction.
[0016]
In addition, the camera is further provided above the transport path on which the target object is transported, and the target object is imaged from above, so that the upper surface of the target object can be imaged. .
[0017]
In this case as well, it is necessary to provide an illuminating device so that light shines on the upper surface of the object, but the image pickup position of the camera that performs image pickup from above the object is taken by another camera that performs image pickup in the horizontal direction. By arranging them so as to be different from the position, it is possible to avoid the occurrence of illumination unevenness, and it is also possible to prevent the illumination device in the opposite direction from being reflected. .
[0018]
Further, the present invention is an image capturing apparatus that captures an image of an object to be imaged, and a transport device that transports the object along a transport path; and A sensor for checking the position and the length in the transport direction, and four cameras arranged so as to capture the object in a horizontal direction and from different directions and to set different positions on the transport path as image capture positions And four illuminating devices that illuminate the object from the imaging direction of the camera, and sensors that are located upstream of the transport path from the camera and check the position of the object and the length in the transport direction. And, based on a signal transmitted from the sensor and a transport speed of the transport device, calculate a central axis and a position in a transport direction of the object, and among the plurality of cameras, An image capturing apparatus that sequentially performs image capturing with one camera having the same image capturing position and performs image capturing using all cameras, and the image capturing directions of the adjacent cameras are arranged in directions perpendicular to each other. The control unit is configured to control the three illuminations to irradiate light from an imaging direction of one camera in which the center axis overlaps the imaging position and a direction perpendicular to the imaging direction only during the imaging. Provided is an image pickup device characterized by lighting the device.
[0019]
For example, as in the case of a spherical object to be symmetrical in imaging, irradiating light from only one direction may not allow sufficient light to reach the periphery of the object. In addition to the lighting device that shines light from the imaging direction of the camera that performs the lighting, the two lighting devices that shine light from a direction perpendicular to the imaging direction of the camera are also turned on at the same time, so that the light around the target object is sufficiently lighted. Will arrive.
[0020]
In such a case, a camera for imaging the object from above can be added, but when imaging with this camera, only a lighting device that illuminates the object from the imaging direction of the camera is used. Can be turned on, and an illuminating device that emits light from a horizontal direction can also be turned on.
[0021]
For example, when the upper surface of the object is a horizontal surface, it is sufficient to turn on only the illumination device that illuminates the object from the imaging direction of the camera that images the object from above, but the upper surface of the object is also sufficient. In the case of a spherical shape, it is desirable that the lighting device that shines light from the horizontal direction of the object is also turned on.
[0022]
It is desirable to use the lighting device described above using a white light emitting diode.
[0023]
White light-emitting diodes have an extremely long life, compared to fluorescent and halogen lamps, so they can be replaced for a longer period of time, reducing maintenance burdens such as replacement. Since it has high performance, a sufficient amount of light can be obtained even when it is turned on for a short time during imaging.
[0024]
Further, the present invention performs continuous imaging in the horizontal direction with a plurality of cameras arranged so that different positions on the conveyance path are imaging positions of an object conveyed along the conveyance path, and An image capturing method for illuminating the object by illuminating a plurality of illumination devices provided with the camera, wherein a confirmation step of confirming a position of the object and a length in a transport direction by a sensor, and From a signal transmitted from a sensor and the transport speed of the object, a calculation process of calculating a central axis and a position in the transport direction of the object, and among the plurality of cameras, the central axis and the imaging position overlap. In addition to taking an image with one camera, and continuously performing lighting of one illuminating device that emits light from the imaging direction of the one camera only while the imaging is being performed. To provide an image capturing method characterized by comprising an imaging process, the.
[0025]
As described above, by confirming the position of the target object to be imaged and the length in the transport direction by the sensor, the position of the target object confirmed by the sensor is used as a starting point to reduce the transport speed of the transport path. Based on this, the position of the target object can be accurately calculated.
[0026]
The axis recognized as half of the length in the transport direction is set as the center axis of the object, and this center axis overlaps with the imaging position of the camera, that is, the position that becomes the center of the image when an image is taken with this camera. By taking an image at this time, the target object is imaged at the center of the image captured by the camera.
[0027]
At this time, by turning on only the illumination device provided in the imaging direction of the camera that captures the image at this time, the timing at which the light of the illumination device hits the target object can be shifted, and the light of the illumination device overlaps. It is possible to remove the illumination unevenness caused by the above, and to prevent the light of the illumination device in the facing direction from being reflected.
[0028]
It should be noted that four cameras are provided for imaging the object in the horizontal direction, and the cameras are arranged so that the imaging directions of these adjacent cameras are perpendicular to each other, so that the object can be obtained. It becomes possible to image all surfaces of the object in the horizontal direction.
[0029]
In addition, the camera is further provided above the transport path on which the target object is transported, and the target object is imaged from above, so that the upper surface of the target object can be imaged. .
[0030]
In this case as well, it is necessary to provide an illuminating device so that light shines on the upper surface of the object, but the image pickup position of the camera that performs image pickup from above the object is taken by another camera that performs image pickup in the horizontal direction. By arranging them so as to be different from the position, it is possible to avoid the occurrence of illumination unevenness, and it is also possible to prevent the illumination device in the opposite direction from being reflected. .
[0031]
Furthermore, the present invention is a plurality of cameras arranged so that an object to be conveyed along a conveyance path is set to an imaging position at a different position on the conveyance path, and an imaging direction of the adjacent cameras is vertical. The plurality of cameras arranged so as to intersect with each other, perform continuous imaging in the horizontal direction, and illuminate a plurality of illumination devices provided with the cameras to illuminate the object with light. A method of confirming a position and a length of the object in a transport direction by a sensor, and a central axis in a transport direction of the object from a signal transmitted from the sensor and a transport speed of the object. And calculating a position, and, among the plurality of cameras, performing imaging with one camera in which the center axis and the imaging position overlap, and performing the imaging. Only during this time, an imaging step of continuously lighting the three illumination devices that emit light from the imaging direction of the one camera and a direction perpendicular to the imaging direction. An imaging method is provided.
[0032]
As in the case where the object to be symmetrically imaged has a spherical shape, irradiating light from only one direction may not allow sufficient light to reach the periphery of the object. In such a case, imaging is performed. In addition to the lighting device that shines light from the imaging direction of the camera, the two lighting devices that shine light from a direction that intersects perpendicularly to the imaging direction of the camera are also turned on at the same time, so that the light sufficiently reaches the periphery of the object. Become like
[0033]
In such a case, a camera for imaging the object from above can be added, but when imaging with this camera, only a lighting device that illuminates the object from the imaging direction of the camera is used. Can be turned on, and an illuminating device that emits light from a horizontal direction can also be turned on.
[0034]
For example, when the upper surface of the object is a horizontal surface, it is sufficient to turn on only the illumination device that illuminates the object from the imaging direction of the camera that images the object from above, but the upper surface of the object is also sufficient. In the case of a spherical shape, it is desirable that the lighting device that shines light from the horizontal direction of the object is also turned on.
[0035]
It is desirable to use the lighting device described above using a white light emitting diode.
[0036]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a schematic configuration diagram of an image capturing apparatus 100 according to an embodiment of the present invention.
[0037]
The image pickup apparatus 100 according to one embodiment of the present invention includes a belt conveyor 101, five cameras 102A, 102B, 102C, 102D, 102E, five lighting devices 103A, 103B, 103C, 103D, 103E, and an optical sensor. 104A and 104B and a personal computer 105.
[0038]
The belt conveyor 101 that conveys the object 106 to be imaged by the image pickup apparatus 100 conveys the object 106 at a constant speed v, here, 1 m / s, from left to right in FIG. are doing.
[0039]
Cameras 102A, 102B, 102C, 102D, and 102E for imaging the object 106 include a first camera 102A, a second camera 102B, and a third camera 102 for imaging the object 106 in the horizontal direction. 102C and a fourth camera 102D are arranged on the side of the belt conveyor 101, and a fifth camera 102E is arranged above the belt conveyor 101 in order to image the object 106 from above.
[0040]
The cameras 102A, 102B, 102C, 102D, and 102E are focused on the center in the width direction of the belt conveyor 101, and the respective cameras 102A, 102B, 102C, and 102D are positioned from the center of the camera lens. 108A, 108B, 108C, and 108D where the trajectories 107A, 107B, 107C, and 107D (not shown for the fifth camera 102E) extending in the imaging direction of the belt conveyor 101 reach the center in the width direction of the belt conveyor 101. However, the imaging positions 108A, 108B, 108C, and 108D of the cameras 102A, 102B, 102C, 102D, and 102E (the fifth camera 102E may be considered in the same manner).
[0041]
These imaging positions 108A, 108B, 108C and 108D are formed so as to be different positions for each camera.
[0042]
Note that such imaging positions 108A, 108B, 108C, 108D, and 108E are located at the center of the images when the images are captured by the cameras 102A, 102B, 102C, 102D, and 102E.
[0043]
Here, in the present embodiment, since the belt conveyor 101 is moving at a speed of 1 m / s, and the imaging time of the cameras 102A, 102B, 102C, 102D, and 102E described later is 2 ms, these imaging positions 108A, The distance X between 108B, 108C, 108D and 108E is 2 mm.
[0044]
In the present embodiment, five cameras 102A, 102B, 102C, 102D, and 102E are used. However, the number is not limited to this, and an arbitrary number of two or more can be selected.
[0045]
As shown in FIG. 2, the lighting devices 103A, 103B, 103C, 103D, and 103E are constituted by a plurality of white light emitting diodes 109 arranged around a lens 102a of the cameras 102A, 102B, 102C, 102D, and 102E. Have been.
[0046]
Since the illumination devices 103A, 103B, 103C, 103D, and 103E are arranged around the lenses 102a of the cameras 102A, 102B, 102C, 102D, and 102E, the white light emitting diode 109 emits light. Accordingly, the lighting devices 103A, 103B, 103C, 103D, and 103E can emit light to the object 106 from the imaging directions of the cameras 102A, 102B, 102C, 102D, and 102E.
[0047]
Further, in the present embodiment, the white light emitting diode 109 is used. However, other light emitting diodes of other colors, a fluorescent lamp, a halogen lamp, and the like can be used.
[0048]
Optical sensors 104A and 104B are provided upstream of the cameras 102A, 102B, 102C, 102D and 102E of the belt conveyor 101, and the optical sensors 104A and 104B emit light emitted from the light emitting side optical sensor 104A. The light is received by the light receiving side light sensor 104B, and the light is blocked by passing the object 106 between the light emitting side light sensor 104A and the light receiving side light sensor 104B, so that the object 106 is provided with the light sensors 104A and 104B. In addition to knowing that the vehicle has passed the specified position, the length of the object 106 can be determined based on the time during which the light is blocked.
[0049]
It should be noted that the information that the object 106 has blocked the light is notified to the personal computer 105 from the optical sensors 104A and 104B as passage information, and the time that the object 106 has blocked the light is transmitted to the personal computer 105 as length information. 105 is notified.
[0050]
Then, in the personal computer 105, based on the length information notified from the optical sensors 104A and 104B, as shown in FIG. The position of the central axis 106b of the camera 102E is determined, the time at which the central axis 106b and the imaging position 108E of the camera 102E overlap is calculated, and at this time, the camera 102E performs exposure, and the illumination device 103E illuminates the object 106. Command.
[0051]
The measurement at the time when the center axis 106b of the object 106 and the imaging position 108E of the camera 102E overlap is performed by measuring the distance L between the object 106 and the imaging position 108 (here, the optical sensors 104A and 104B and the center of the image). The distance M is calculated by adding a value Z that is half the length Y of the object 106 to the distance 108 from the position 108E), and this is divided by the velocity v of the belt conveyor 101 to obtain the center of the object 106. The calculation is based on the time until the axis 106b overlaps the imaging position 108E.
[0052]
As described above, the personal computer 105 calculates the time at which the imaging positions 108A, 108B, 108C, 108D, and 108E of the cameras 102A, 102B, 102C, 102D, and 102E overlap with the central axis 106b of the object 106, Based on the result of the measurement, a command for an exposure timing and a lighting timing is transmitted to each of the cameras 102A, 102B, 102C, 102D, and 102E and the lighting devices 103A, 103B, 103C, 103D, and 103E.
[0053]
Note that, as described above, the imaging positions 108A, 108B, 108C, 108D, and 108E of the cameras 102A, 102B, 102C, 102D, and 102E are continuously provided such that the interval X is 2 mm. Since the speed of the belt conveyor 101 is 1 m / s, the central axis 106b of the object 106 is continuously overlapped with each of the imaging positions 108A, 108B, 108C, 108D, and 108E after a time of 2 ms. Become.
[0054]
In the present embodiment, the order in which the central axis 106b of the object 106 overlaps the imaging positions 108A, 108B, 108C, 108D, and 108E is as follows: the imaging position 108A of the first camera, the imaging position 108B of the second camera, The imaging position 108C of the third camera, the imaging position 108D of the fourth camera, and the imaging position 108E of the fifth camera are in this order.
[0055]
Here, a specific example of the command issued from the personal computer 105 is shown in FIG.
[0056]
First, the personal computer 105 synchronizes the exposure timing of the first camera 102A with the lighting timing of the first lighting device 103A when the central axis 106b of the object 106 and the imaging position 108A of the first camera overlap. A first trigger signal pulse 110A for taking a first exposure, a first exposure timing pulse 111A for causing the first camera 102A to perform exposure, and a first exposure timing pulse 111A for causing the first illumination device 103A to perform lighting. The lighting timing pulse 112A is transmitted to the first camera 102A and the first lighting device 103A, and based on this, the first camera 102A performs image capturing by performing exposure, and the first lighting device 103A Performs lighting.
[0057]
Here, the exposure time of the first camera 102A is set to 1 ms, and the lighting time of the first lighting device 103A is set to 2 ms. The illumination device 103A is turned on 0.5 ms earlier than the exposure start time of the first camera 102A, and stopped lighting 0.5 ms later than the exposure end time.
[0058]
Next, the personal computer 105 sends the second trigger signal pulse 110B, the second exposure timing pulse 111B, and the second lighting timing pulse 112B to the second camera 102B and 2 ms later than the first trigger signal pulse 110A. The data is transmitted to the second lighting device 103B.
[0059]
Therefore, the second camera 102B and the second lighting device 103B perform imaging and lighting with a delay of 2 ms from the first camera 102A and the first lighting device 103A.
[0060]
Hereinafter, similarly, the second trigger signal pulse 110B, the third trigger signal pulse 110C, the third exposure timing pulse 111C, and the second exposure signal are transmitted to the third camera 102C and the third lighting device 103C with a delay of 2 ms after the second trigger signal pulse 110B is issued. The third lighting timing pulse 112C is transmitted, and the fourth trigger signal pulse 110D and the fourth trigger signal are transmitted to the fourth camera 102D and the fourth lighting device 103D with a delay of 2 ms after issuing the third trigger signal pulse 110C. The fifth trigger signal pulse is transmitted to the fifth camera 102E and the fifth lighting device 103E with a delay of 2 ms after transmitting the exposure timing pulse 111D and the fourth lighting timing pulse 112D, and issuing the fourth trigger signal pulse 110D. 110E, a fifth exposure timing pulse 111E, and a fifth lighting timing pulse 112E. By doing so, these cameras 102A, 102B, 102C, 102D, 102E and the illuminating devices 103A, 103B, 103C, 103D, 103E form a central axis 106b of the object 106 and imaging positions 108A, 108B, 108C, 108D, 108E. At the position where is superimposed, light is applied to the target object 106 to perform imaging.
[0061]
The image capturing apparatus 100 configured as described above captures an image according to the procedure shown in FIG.
[0062]
First, the position of the object 106 and the length in the transport direction are confirmed by the optical sensors 104A and 105A (S120).
[0063]
The position of the object 106 and the length in the transport direction confirmed in this way are sent to the personal computer 105. From this information and the speed v of the belt conveyor 101, the personal computer 105 determines the center of the object 106 in the transport direction. The axis and the position are calculated (S121).
[0064]
Based on the central axis and the position of the object 106 calculated in this way, the personal computer 105 determines the imaging positions 108A, 108B, 108C, 108D, 108E of the respective cameras 102A, 102B, 102C, 102D, 102E. The time at which the center axis 106b of the object 106 overlaps is calculated, and based on this measurement result, the exposure to each of the cameras 102A, 102B, 102C, 102D, 102E and the lighting devices 103A, 103B, 103C, 103D, 103E is performed. The timing and lighting timing commands are transmitted.
[0065]
Then, based on the exposure timing and the lighting timing, exposure of the first camera 102A and lighting of the first lighting device 103A (S122), exposure of the second camera 102B and lighting of the second lighting device 103B (S123). ), Exposure of the third camera 102C and lighting of the third lighting device 103C (S124), exposure of the fourth camera 102D and lighting of the fourth lighting device 103D (S125), exposure of the fifth camera 102E and The lighting of the fifth lighting device 103E (S126) is performed.
[0066]
When the object 106 is spherical, for example, only the illumination devices 103A, 103B, 103C, 103D, and 103E that shine light on the object 106 from the imaging directions of the cameras 102A, 102B, 102C, 102D, and 102E that capture images. However, at the time when the image pickup position 108A of the first camera 102A and the central axis 106b of the object 106 overlap with the lighting devices 103A, 103B, 103C, 103D, 103E on both sides thereof, the first camera 102A Imaging is performed. At this time, not only the first lighting device 103A but also the second lighting device 103B and the third lighting device 103C can be turned on.
[0067]
FIG. 6 shows a specific example of a command issued from the personal computer 105 in this case.
[0068]
First, at the time when the central axis 106b of the object 106 and the imaging position 108A of the first camera overlap, the personal computer 105 determines the exposure timing of the first camera 102A, the lighting timing of the first lighting device 103A, A first trigger signal pulse 210A for synchronizing the lighting timing of the second lighting device 103B with the lighting timing of the third lighting device 103C, and a second trigger signal for causing the first camera 102A to perform exposure. One exposure timing pulse 211A, a first lighting timing pulse 212A for causing the first lighting device 103A to perform lighting, and a second lighting timing pulse 212B for causing the second lighting device 103B to perform lighting. And a third lighting timing pulse 212C for causing the third lighting device 103C to perform lighting, The first camera 102A, the first lighting device 103A, the second lighting device 103B, and the third lighting device 103C are transmitted to the first camera 102A, and based on this, the first camera 102A performs exposure to perform imaging. , The first lighting device 103A, the second lighting device 103B, and the third lighting device 103C are turned on.
[0069]
Here, the exposure time of the first camera 102A is set to 1 ms, and the lighting times of the first lighting device 103A, the second lighting device 103B, and the third lighting device 103C are set to 2 ms. In order to uniformly illuminate the light 106, the first lighting device 103A turns on the light 0.5 ms earlier than the exposure start time of the first camera 102A and stops lighting the light 0.5 ms later than the exposure end time. Has been.
[0070]
Next, the personal computer 105 delays the second trigger signal pulse 210A by 2 ms from the first trigger signal pulse 210A, the second exposure timing pulse 211B, the first lighting timing pulse 212A, and the second lighting timing pulse. 212B and the fourth lighting timing pulse 212D are transmitted to the second camera 102B, the first lighting device 103A, the second lighting device 103B, and the fourth lighting device 103D.
[0071]
Thus, when the second camera 102B performs exposure and captures an image, the first lighting device 103A, the second lighting device 103B, and the fourth lighting device 103D are turned on.
[0072]
Hereinafter, similarly, after a delay of 2 ms from the second trigger signal pulse 210B, the third trigger signal pulse 210C, the third exposure timing pulse 211C, the first lighting timing pulse 212A, the third lighting timing pulse 212C, The fourth lighting timing pulse 212D is transmitted to the third camera 102B, the first lighting device 103A, the third lighting device 103C, and the fourth lighting device 103D, and is delayed by 2 ms from the third trigger signal pulse 210C. , The fourth trigger signal pulse 210D, the fourth exposure timing pulse 211D, the second lighting timing pulse 212B, the third lighting timing pulse 212C, and the fourth lighting timing pulse 212D, and the fourth camera 102D, Lighting device 103B, third lighting device 103C, and fourth lighting device 1 By transmitting to 3D, these cameras 102A, 102B, 102C, and 102D and the illumination devices 103A, 103B, 103C, and 103D have the center axis 106b of the object 106 and the imaging positions 108A, 108B, 108C, and 108D overlapped. At the position, the adjacent lighting devices 103A, 103B, 103C, and 103D are also turned on to perform imaging.
[0073]
Note that, here, when the fifth camera 102E captures an image, the other lighting devices 103A, 103B, 103C, and 103D are not turned on, and therefore, after the fourth trigger signal pulse 210D is issued. After 2 ms, the fifth camera 102E and the fifth lighting device 103E provide a fifth trigger signal pulse 210E, a fifth exposure timing pulse 211E for causing the fifth camera to perform exposure, and a fifth A fifth lighting timing pulse 212E for causing the lighting device 105E to perform lighting is issued.
[0074]
In this regard, when the fifth camera 102E captures an image, the other lighting devices 103A, 103B, 103C, and 103D are turned on in addition to the fifth lighting device 103E. 2 ms after the pulse 210D is emitted, the fifth camera 102E and all the lighting devices 103A, 103B, 103C, 103D, and 103E perform the fifth trigger signal pulse 210E and the first camera to perform exposure. Exposure timing pulse 211A, a second lighting timing pulse 212B for causing the second lighting device 105B to perform lighting, and a third lighting timing for causing the third lighting device 105C to perform lighting. A pulse 212C, a fourth lighting timing pulse 212D for causing the fourth lighting device 105D to perform lighting, and a fifth lighting device. It suffices to emit a fifth lighting timing pulses 212E for causing lights 105E.
[0075]
The transmission of information between the personal computer 105, the cameras 102A, 102B, 102C, 102D, and 102E, the lighting devices 103A, 103B, 103C, 103D, and 103E, and the optical sensors 104A and 104B is performed through a cable 213. ing.
[0076]
Since the present invention is configured as described above, the center axis 106b of the object 106 conveyed on the belt conveyor 101 is aligned with the imaging positions 108A, 108B, 108C, 108D of the cameras 102A, 102B, 102C, 102D, 102E. , 108E, and an image in which the center axis of the object 106 is located at the center of the image captured by each of the cameras 102A, 102B, 102C, 102D, 102E, and the lighting devices 103A, 103B, 103C, In addition to preventing illumination unevenness due to the overlap of the lights of 103D and 103E, it is possible to prevent the illumination devices 103A, 103B, 103C, and 103D in the facing direction from being reflected in an image.
[0077]
【The invention's effect】
Since the present invention is configured as described above, it is possible to match the center axis of the object to be imaged with the center position of the image, remove illumination unevenness, and reflect illumination light from the opposite illumination device. It is possible to provide an image pickup device capable of preventing the image pickup.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of an image capturing apparatus 100 according to an embodiment.
FIG. 2 is a configuration example of a camera 102 and a lighting device 103.
FIG. 3 is a measurement example of an imaging timing by a camera 102E.
FIG. 4 is an image diagram of a command palace issued by the computer 105;
FIG. 5 is a flowchart illustrating an operation procedure of the image capturing apparatus 100.
FIG. 6 is an image diagram of a command palace issued by the computer 105;
FIG. 7 is a schematic configuration diagram of a conventional visual inspection device 300.
[Explanation of symbols]
100 Image pickup device
101 belt conveyor
102 camera
103 Lighting device
104 light sensor
105 Personal computer
106 Object
108 Imaging position
109 White light emitting diode

Claims (12)

An image capturing apparatus that captures an image of an object to be captured,
A transport device that transports the object along a transport path,
A plurality of cameras arranged in such a manner that the object is imaged from different directions in the horizontal direction, and different positions on the transport path are set as image pickup positions of the object,
Illuminate the object from the imaging direction of the camera, a plurality of lighting devices provided with the camera,
A sensor that is located on the upstream side of the transport path from the camera and that checks the position of the object and the length in the transport direction,
Based on a signal transmitted from the sensor and a transport speed of the transport device, a central axis and a position in a transport direction of the target object are calculated, and among the plurality of cameras, the central axis and the imaging position overlap. A control for performing imaging with one camera and sequentially turning on one illumination device that emits light from the imaging direction of this one camera only while the imaging is being performed, and performing imaging with all cameras. And an image pickup device. The camera is provided four,
2. The image pickup apparatus according to claim 1, wherein the image pickup directions of the adjacent cameras are directions intersecting each other vertically. The image capturing apparatus includes a camera that captures an image of the object from above, and uses a position different from an image capturing position of another camera as an image capturing position;
The image capturing apparatus according to claim 1, further comprising: an illumination device configured to irradiate the object with light from an imaging direction of the camera that captures the object from above. An image capturing apparatus that captures an image of an object to be captured,
A transport device that transports the object along a transport path,
A sensor which is located on the upstream side of the transport path and checks the position of the object and the length in the transport direction,
Four cameras arranged in such a manner that the object is imaged from different directions in the horizontal direction, and different positions on the transport path are taken as image pickup positions of the object,
Four illumination devices that shine light on the object from the imaging direction of the camera,
A sensor that is located on the upstream side of the transport path from the camera and that checks the position of the object and the length in the transport direction,
Based on a signal transmitted from the sensor and a transport speed of the transport device, a central axis and a position in a transport direction of the target object are calculated, and among the plurality of cameras, the central axis and the imaging position overlap. An image pickup apparatus that sequentially repeats image pickup by one camera and performs image pickup by all cameras,
The imaging directions of the adjacent cameras are arranged in directions intersecting each other vertically,
The control unit turns on three illuminating devices that irradiate light from an imaging direction of one camera in which the central axis and the imaging position overlap and a direction perpendicular to the imaging direction only while the imaging is performed. An image pickup apparatus characterized by performing the following. The image capturing apparatus includes a camera that captures an image of the object from above, and uses a position different from an image capturing position of another camera as an image capturing position;
An illumination device that irradiates the object with light from an imaging direction of the camera that images the object from above, is further provided.
The control unit turns on only or all lighting devices that illuminate the object from above when performing imaging with the camera that images the object from a vertical direction. 7. The image pickup device according to 6. The image pickup device according to claim 1, wherein the lighting device uses a white light emitting diode. A plurality of cameras arranged so that different positions on the transport path serve as image capturing positions of the object transported along the transport path are continuously imaged in the horizontal direction, and a plurality of cameras are provided together with the cameras. An image capturing method of illuminating the object by lighting a lighting device,
A confirmation step of confirming the position of the object and the length in the transport direction with a sensor,
From a signal transmitted from the sensor and the transport speed of the object, a calculation process of calculating a center axis and a position in the transport direction of the object,
One of the plurality of cameras captures an image with one camera in which the central axis and the imaging position overlap each other, and only illuminates light from the imaging direction of the one camera only during the imaging. An imaging step of continuously lighting the device. The camera is provided four so as to image the object from the horizontal direction,
The image capturing method according to claim 7, wherein the image capturing directions of the adjacent cameras are arranged in directions perpendicular to each other. A camera that images the object from above, and sets a position different from the imaging position of the other camera as an imaging position;
An illumination device that irradiates the object with light from an imaging direction of the camera that images the object from above, is further provided.
In the imaging step, when the center axis and the imaging position of the camera for imaging the target object from above overlap, the imaging is performed by the camera when the camera overlaps, and the camera is moved only during the imaging. The method according to claim 7, further comprising lighting the lighting device that emits light from an imaging direction. A plurality of cameras arranged so that an object to be conveyed along a conveyance path is set to an imaging position at different positions on the conveyance path, and the cameras are arranged so that imaging directions of the adjacent cameras intersect perpendicularly. By a plurality of the cameras that are, an image capturing method that continuously captures images in the horizontal direction, and illuminates the object by illuminating a plurality of lighting devices provided with the camera,
A confirmation step of confirming the position of the object and the length in the transport direction with a sensor,
From a signal transmitted from the sensor and the transport speed of the object, a calculation process of calculating a center axis and a position in the transport direction of the object,
Of the plurality of cameras, while performing imaging with one camera in which the central axis and the imaging position overlap, only during the imaging, the imaging direction of this one camera and the direction perpendicular to the imaging direction An imaging step of continuously turning on three lighting devices that emit light from intersecting directions. A camera that images the object from above, and sets a position different from the imaging position of the other camera as an imaging position;
An illumination device that irradiates the object with light from an imaging direction of the camera that images the object from above, is further provided.
In the imaging step, when the center axis and the imaging position of the camera for imaging the target object from above overlap, the imaging is performed by the camera when the camera overlaps, and the camera is moved only during the imaging. The method according to claim 10, further comprising lighting only or all of the illumination devices that emit light from an imaging direction. The image capturing method according to claim 7, wherein a white light emitting diode is used for the lighting device.

Images