JP2004333356A

JP2004333356A - Inspection apparatus of painted surface for vehicle

Info

Publication number: JP2004333356A
Application number: JP2003131444A
Authority: JP
Inventors: Yasunori Yamagishi; 靖則山岸
Original assignee: Kanto Jidosha Kogyo KK; Kanto Auto Works Ltd
Current assignee: Kanto Jidosha Kogyo KK; Toyota Motor East Japan Inc
Priority date: 2003-05-09
Filing date: 2003-05-09
Publication date: 2004-11-25
Anticipated expiration: 2023-05-09
Also published as: JP4232893B2

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inspection apparatus of painted surface for a vehicle which reduces the space required for inspecting a painted surface on the side of the vehicle and improves inspection accuracy. <P>SOLUTION: An imaging apparatus is provided with a surface irradiation element 10 for irradiating a painted surface 1a on the side of the vehicle 1 with a light and an image sensor CCD camera 11. The surface irradiation element 10 and the image sensor CCD camera 11 are disposed opposite so as to make central optical axes to intersect in front and be attitude controlled with respect to the carried painted surface 1a. The imaging apparatus is provided a rotation drive part 14 for rotating an arm 13 along the horizontal rotational axis and a turn drive part 16 for making the arm 13 turn along the vertical rotational axis at an intermediate location in a horizontal plane. A control means is attached and supplies a rotation angle control signal and a turning angle control signal, corresponding to the three-dimensional shape data of a predetermined inspection region measured by a three-dimensional shape measuring instrument 20 to the rotation drive part 14 and a turning drive part 16, in synchronization with carrying of the vehicle so as to make a positive reflection light in the predetermined inspection region incident at the CCD camera 11, by controlling the rotation angle and the swing angle of the arm 13. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
本発明は、車両の塗面を面状に光照射する面照射体と、イメージセンサとを互いの中心光軸を前方で交差させるように両側に備えた撮像装置の姿勢が、搬送路に沿って搬入されてきた車両の塗面に対して、光照射された塗面での正反射光をイメージセンサに入射させるように制御されると共に、イメージセンサの画像信号を処理して塗面を検査するようになった車両用塗面検査装置に関するものである。
【０００２】
【従来の技術】
文献１によれば、図４に示すように、平行光で面照射する面照射体７と、この面照射体に間隔を置いて側方へ配置されたイメージセンサ６とを備え、正反射光が入射するように前方位置で互いの中心光軸が交差するようにそれぞれ配向されている撮像装置９をロボット５のアーム先端部に取付けて、車両１の塗面に対する撮像装置９の三次元位置及び姿勢を制御しつつ塗面を走査することにより、イメージセンサ６から出力される画像信号レベルが、正常塗面に対応する高信号レベルから低下するのを検出して車両１の塗面に生じている微小欠陥を自動的に検知する車両用塗面検査装置が開示されている。
【０００３】
また、文献２によれば、車両等の塗面に明暗パターンを映し出すように面照射する面照射体と、塗面を撮像して得られる明暗パターンの受光画像を画像データに変換するように、互いの中心光軸が交差するように配向されたイメージセンサとを備え、画像データから明暗パターンの明部と暗部の境界領域を抽出し、その明暗境界領域の画像を所定のしきい値で２値化し、その２値化画像の明暗境界領域の幅のばらつき度合に応じて塗面の平滑性を判定する塗膜平滑性検査装置が周知である。
【０００４】
【特許文献１】
特開２００１−１３３４０９号公報
【特許文献２】
特開平９−１２６７４４号公報
【０００５】
【発明が解決しようとする課題】
しかしながら、このような面照射体とイメージセンサとを間隔を置いて両側に配置された撮像装置をロボットアームの先端部に取付けて、搬入してくる車両の上面に加えて、側面も走査しようとすると、ロボット自体の構造が大型になるだけでなく、側面領域にこれらの動作スペースを用意する必要があり、占有スペースも広くなる問題がある。また、ロボットは、車両の形状に対応する走査を行うようにティーチングされるが、車両の搬送路への搭載位置が正規の位置からずれると、ティーチングデータは固定であるために検査結果に相応の誤差を生じる問題もある。
【０００６】
本発明は、このような点に鑑みて、特に車両側面の塗面を検査するために必要なスペースの省スペース化が図られ、かつ検査精度も向上させ得る車両用塗面検査装置を提供することを目的とする。
【０００７】
【課題を解決するための手段】
本発明は、この目的を達成するために、請求項１により、車両の塗面を面状に光照射する面照射体と、イメージセンサとを互いの中心光軸を前方で交差させるように両側に備えた撮像装置が、搬送路に沿って搬入されてきた車両の塗面に対して、光照射された塗面での正反射光をイメージセンサに入射させるように姿勢制御されると共に、イメージセンサの画像信号を処理して塗面を検査するようになった車両用塗面検査装置において、車両側面の塗面を検査する撮像装置の面照射体及びイメージセンサが、搬送路の側方に搬送路に沿って水平に配置されたアームの両側の端部にそれぞれ取付けられると共に、撮像装置に対して搬送路の上流側に、塗面の三次元形状を非接触式に計測する三次元形状計測器が配置され、
撮像装置が、アームをその縦方向の水平回転軸線を中心に回転させる回転駆動部と、アームをその中間位置で垂直回転軸線を中心に水平面で旋回させる旋回駆動部とを備え、アームの回転角及び旋回角の制御により塗面の所定の検査領域での正反射光をイメージセンサへ入射させるように、三次元形状計測器で計測された所定の検査領域の三次元形状データに対応する回転角制御信号及び旋回角制御信号を車両搬送に同期して回転駆動部及び旋回駆動部に逐次供給する制御手段が、付属していることを特徴とする。
【０００８】
三次元形状計測器で計測された車両側面の塗面の三次元形状データを基にその検査領域に面直の法線は解析可能であり、また面照射体及びイメージセンサの中心光軸の交点の頂角の二等分線である撮像基準線が法線に揃うと、面照射体の検査領域での正反射光はイメージセンサへ入射する。また、撮像装置のアームの縦方向の水平回転軸線を中心にした回転及びその中間位置での垂直回転軸線を中心の旋回により、撮像基準線を法線に揃えることは可能である。これにより、制御手段は、検査領域の三次元形状データに応じて、塗面の検査領域での反射光を車両搬送に同期してイメージセンサへ入射させる角度制御信号を回転駆動部及び旋回駆動部にそれぞれ供給して、アームの回転角及び旋回角を可変させることにより撮像装置の姿勢制御を行わせる。
【０００９】
【発明の実施の形態】
図１及び図２を基に本発明の実施の形態による車両用塗面検査装置を説明する。撮像装置１９は、アーム１３の両側の端部にそれぞれ取付けられた面照射体として例えば直管形蛍光灯を光源に用いて所定範囲を平行光線で照射する面発光体１０及びイメージセンサであるＣＣＤカメラ１１と、アーム１３をその縦方向の水平回転軸線を中心に回転させるように、アーム１３の縦方向の中間部分に設けられたシャフト１２を回転駆動するモータ内蔵の回転駆動部１４と、アーム１３をその中間位置で垂直回転軸線を中心に水平面で旋回させるように、回転駆動部１４に下設されたシャフト１５を回転させるモータ内蔵の旋回駆動部１６とを備えている。アーム１３は車両の搬送路に沿って側方で水平に延在すると共に、面発光体１０及びＣＣＤカメラ１１は、それぞれ中心光軸Ａ１、Ａ２が所定の前方位置で互いに交差するように、互い同じ傾斜角で配向されて取付けらている。
【００１０】
この撮像装置は、車両側面の塗面１ａの検査領域を分担するように、上下方向に３段に重ねられ、各旋回駆動部１６が、フロアに立設された基部フレーム１８に抱持部材１６ａで所定の間隔を置いてそれぞれ取付けられている。面発光体１０の中心光軸Ａ１及びＣＣＤカメラ１１の中心光軸Ａ２は、例えば前方３０ｃｍで例えば９０°前後の角度で交差すると共に、この交点に、アーム１３に対してその中間位置を直交する二等分線ある撮像基準線Ａ_０が、中心光軸Ａ１、Ａ２の交差角の二等分線として同一面上で交差する。換言すれば、撮像基準線Ａ_０が前方３０ｃｍで塗面に面直になると、その正反射光がＣＣＤカメラ１１に入射する。
【００１１】
撮像装置１９に対して搬送路の上流側には、車両側面の塗面１ａの三次元形状を非接触式に計測する三次元形状計測器２０が、３個の撮像装置１９のそれぞれの分担範囲を計測するように、支柱２１に上下方向に３段に間隔を置いて取付けられている。この三次元形状計測器は、レーザビームを発射して塗面を面走査し、三角測量の原理を基に塗面の反射レーザ光の入射位置及び走査角度を基に三次元位置が解析されることにより、これにより三次元形状が計測される。その外、光学式に非接触状態で三次元形状を計測する装置として、種々の方式のものが汎用されている。
【００１２】
このような側面用の塗面検査装置は、搬送路の反対側の側面領域にも配置されると共に、上面の塗面を検査するように撮像装置をアーム先端部に取付けて塗面を走査するロボットも設置されている。
【００１３】
図２に示すように、撮像装置１９のそれぞれに所属する回転駆動部１４及び旋回駆動部１６には、アーム１３の回転角及び旋回角の制御により、塗面１ａの所定の検査領域での正反射光をＣＣＤカメラ１１へ入射させるように、回転角制御信号及び旋回角制御信号を車両搬送に同期して逐次出力する上段、中段及び下段用の制御手段２４、２４ａ、２４ｂが付属している。また、３個の面発光体１０には、塗面１ａの所定の検査領域の面形状を車両搬送に同期して逐次計測し、その中心部に対して面直になる法線を解析して、逐次法線データを出力する上段、中段及び下段用の法線解析手段２３、２３ａ、２３ｂが付属している。
【００１４】
即ち、この法線解析手段は、例えば２０平方ｃｍ程度の検査領域ごとに面計測を行うように、車両の搬入位置に同期して逐次制御盤から供給される計測指令信号に応答して、逐次解析結果を出力する。制御手段２４、２４ａ、２４ｂは、入力した所属の法線データに対応して、各検査領域の中心部の法線に撮像基準線Ａ_０を揃える回転角及び旋回角を解析すると共に、搬送速度に対応して所定時間だけ所属の計測指令信号から遅延した撮像指令信号が制御盤から逐次供給されるのに応答して、解析された回転角制御信号及び旋回角制御信号を出力すると共に、その直後に撮像領域が所属の計測領域に合致するタイミングで撮像を行わせる。
【００１５】
画像処理装置２５は、文献１として説明したように、ＣＣＤカメラ１１により撮像した画像信号レベルが、正常塗面に対応する高信号レベルから所定量低下するか否かを判断して微小欠陥位置を検知する。表示データ作成手段２６は、車両１をグラフィックデータを作成すると共に、供給された両側及び上面の塗面の画像処理データをグラフィック処理することにより、車両の画像に重ねて微小欠陥位置を指示するグラフィックデータを作成し、画像表示装置に表示させたり或はプリンタにプリントアウトさせる。
【００１６】
このように構成された車両用塗面検査装置の動作は次の通りである。車両１が三次元形状計測器２０の対面位置に搬入されてくると、２０平方ｃｍ程度の塗面１ａの所定の検査領域が３段に逐次搬送方向へ２０ｃｍ程度づつシフトするごとに計測され、その都度計測された検査領域の中心部の法線が三次元形状の面形状を基に解析される。３段の撮像装置１９は、逐次入力する所定の検査領域の法線データに撮像方向が一致するように解析されたアーム１３の回転角及び旋回角に応じて姿勢制御されることにより、逐次対面する検査領域の中心部に対して撮像基準線Ａ_０が面直になった状態で撮像される。これにより、各検査領域の画像信号が処理され、反対側の側面及び上面の塗面の画像処理データと併せて、車両１の検査結果がグラフィック表示されてモニタ或は出力可能となる。尚、中心光軸Ａ１、Ａ２の交点に、塗面１ａが正確に位置しなくてもある程度の距離誤差範囲で、或は法線の基準になる部分の周辺で面形状が多少変化しても平行光線の僅かな拡散により検査は可能である。
【００１７】
図３は別の実施の形態による車両用塗面検査装置を示すもので、１個の撮像装置１９が支持フレーム３０に設けられたレール３１に沿って昇降可能にガイドされており、同様に三次元形状計測装置２０もフロアに立設された支持フレーム３５に設けられたレール３６に昇降可能にガイドされ、それぞれに付属の駆動装置により例えば３個所て計測・撮像作動を行うように車両の搬送速度よりも高速に上下に計測走査及び撮像走査が行われるようになっている。これにより、車両１が三次元形状計測器２０の対面位置に搬入されてくると、所定の検査領域が僅かに搬送方向へずれつつ３段に計測され、さらに逐次搬送方向へシフトされた所定の検査領域が昇降の繰返しで計測され、その都度解析されたその中心部の法線データ対応して撮像装置１９は３段の対応する検査領域に対して姿勢制御され、逐次搬送方向へシフトした検査領域を昇降の繰返しで撮像する。
【００１８】
尚、場合により、１個の撮像装置を昇降駆動し、三次元形状計測装置を固定の複数個で構成したり、逆に撮像装置を固定の複数個にし、１個の三次元形状計測装置を昇降駆動させることも考えられる。さらに、本発明は、冒頭に説明したように、縞模様を照射する面照射体と、イメージセンサとを互いの中心光軸を前方で交差させるように両側に備えて、光照射された塗面での正反射光によるイメージセンサの撮像データを画像処理して塗面の平滑度を検査する撮像装置等、面照射体と、イメージセンサとを備えて塗面に対して面直に姿勢制御されて撮像する種々の方式の撮像装置に適用することができる。
【００１９】
【発明の効果】
請求項１の発明によれば、側面専用の検査装置を別途に用意することにより、構造的に大きなロボットを用いることなく、また特に搬送路の側方の占有面積も狭くした状態で車両の塗面検査が可能となる。また、搬送路の上流側で面形状を計測することにより、ティーチングが不要になり、搬送路への車両の搭載位置が標準位置からずれている場合でも対応した姿勢制御が行われて検査精度が向上する。請求項２の発明によれば、複数個の撮像装置が上下方向へ配列されることにより、車両の側面が広くても上下方向の走査を要することなく、搬送速度に対して余裕を持って高精度の測定が可能となる。請求項３の発明によれば、撮像装置が搬送速度よりも高速に上下方向へ走査されることにより、車両の側面が広くても１個の撮像装置で検査が可能となる。
【図面の簡単な説明】
【図１】本発明の実施の形態による車両用塗面検査装置を示す斜視図である。
【図２】同車両用塗面検査装置に付属する回路装置部分の構成を示す図である。
【図３】別の実施の形態による車両用塗面検査装置要部を説明する斜視図である。
【図４】従来の車両用塗面検査装置の構成を示す正面図である。
【符号の説明】
１ａ塗面
１０面発光体
１１ＣＣＤカメラ
１３アーム
１４回転駆動部
１６旋回駆動部
１９撮像装置
２０三次元形状計測器
３１，３６レール[0001]
TECHNICAL FIELD OF THE INVENTION
According to the present invention, an attitude of an image pickup apparatus provided with a surface irradiator that irradiates a painted surface of a vehicle with light in a planar shape and an image sensor on both sides of the vehicle so as to intersect a central optical axis of each other in a forward direction is along a transport path. The vehicle is controlled so that the specular reflected light from the illuminated painted surface is incident on the image sensor, and the image signal of the image sensor is processed to inspect the painted surface. The present invention relates to a painted surface inspection device for a vehicle.
[0002]
[Prior art]
According to Document 1, as shown in FIG. 4, a surface illuminator 7 for illuminating a surface with parallel light, and an image sensor 6 disposed on the side of the surface illuminator at an interval are provided, and regular reflection light is provided. Attached to the arm tip of the robot 5 are the imaging devices 9 oriented in such a manner that their central optical axes intersect each other at the front position so that the light enters the three-dimensional position of the imaging device 9 with respect to the painted surface of the vehicle 1. By scanning the painted surface while controlling the attitude and posture, it is detected that the image signal level output from the image sensor 6 has dropped from the high signal level corresponding to the normal painted surface, and the image signal level is generated on the painted surface of the vehicle 1. A vehicle paint surface inspection apparatus for automatically detecting a minute defect is disclosed.
[0003]
According to Document 2, a surface illuminator that irradiates a surface so as to project a light-dark pattern on a painted surface of a vehicle or the like, and a light-receiving image of a light-dark pattern obtained by imaging the painted surface is converted into image data. An image sensor oriented so that their central optical axes intersect with each other, extracting a boundary region between a light portion and a dark portion of a light and dark pattern from image data, and converting the image of the light and dark boundary region to a predetermined threshold value by two. 2. Description of the Related Art A coating film smoothness inspecting apparatus which binarizes a binarized image and determines the smoothness of a painted surface in accordance with the degree of variation in the width of a light-dark boundary region is well known.
[0004]
[Patent Document 1]
JP 2001-133409 A [Patent Document 2]
JP-A-9-126744 [0005]
[Problems to be solved by the invention]
However, the image pickup devices arranged on both sides of the surface illuminator and the image sensor at an interval are attached to the distal end of the robot arm to scan the side surface in addition to the upper surface of the incoming vehicle. Then, not only the structure of the robot itself becomes large, but also it is necessary to prepare these operation spaces in the side area, and there is a problem that the occupied space becomes large. In addition, the robot is taught to perform scanning corresponding to the shape of the vehicle, but if the mounting position of the vehicle on the transport path deviates from the normal position, the teaching data is fixed, so There is also a problem that causes an error.
[0006]
In view of the above, the present invention provides a vehicular painted surface inspection apparatus capable of reducing a space required for inspecting a painted surface particularly on a side surface of a vehicle and improving inspection accuracy. The purpose is to:
[0007]
[Means for Solving the Problems]
In order to achieve this object, according to the present invention, a surface irradiator for irradiating a painted surface of a vehicle with a surface and an image sensor are arranged on both sides such that their central optical axes cross each other in front. The attitude of the imaging device provided for the vehicle is controlled so that the specular light reflected on the painted surface irradiated with light is incident on the image sensor with respect to the painted surface of the vehicle that has been carried in along the transport path. In a painted surface inspection device for a vehicle which processes an image signal of a sensor to inspect a painted surface, a surface irradiation body and an image sensor of an imaging device for inspecting a painted surface on a side surface of a vehicle are disposed on a side of a transport path. A three-dimensional shape that is attached to both ends of an arm that is horizontally arranged along the transport path, and that measures the three-dimensional shape of the painted surface in a non-contact manner on the upstream side of the transport path with respect to the imaging device. The measuring instrument is placed,
An imaging device comprising: a rotation drive unit that rotates the arm about a vertical horizontal rotation axis thereof; and a rotation drive unit that rotates the arm in a horizontal plane about the vertical rotation axis at an intermediate position thereof. The rotation angle corresponding to the three-dimensional shape data of the predetermined inspection area measured by the three-dimensional shape measuring device so that the specular reflection light at the predetermined inspection area of the paint surface is incident on the image sensor by controlling the turning angle. Control means for sequentially supplying the control signal and the turning angle control signal to the rotation drive unit and the turning drive unit in synchronization with vehicle conveyance is attached.
[0008]
Based on the three-dimensional shape data of the painted surface of the vehicle side measured by the three-dimensional shape measuring device, the normal line perpendicular to the inspection area can be analyzed, and the intersection of the center optical axis of the surface irradiation object and the image sensor When the imaging reference line, which is the bisector of the apex angle, is aligned with the normal, the specularly reflected light from the inspection area of the surface irradiation body enters the image sensor. In addition, it is possible to align the imaging reference line with the normal by rotating the arm of the imaging device around the vertical horizontal rotation axis and turning it around the vertical rotation axis at an intermediate position. Accordingly, the control unit outputs an angle control signal that causes the reflected light in the inspection area of the painted surface to enter the image sensor in synchronization with the vehicle conveyance in accordance with the three-dimensional shape data of the inspection area. To control the attitude of the imaging device by varying the rotation angle and the turning angle of the arm.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
An apparatus for inspecting a painted surface of a vehicle according to an embodiment of the present invention will be described with reference to FIGS. The imaging device 19 is a surface illuminator 10 that irradiates a predetermined range with parallel rays by using, for example, a straight tube fluorescent lamp as a light source, and a CCD that is an image sensor, as surface illuminators attached to both ends of the arm 13 respectively. A camera and a rotation drive unit with a built-in motor for rotating a shaft provided at an intermediate portion in the vertical direction of the arm so as to rotate the arm around the vertical horizontal rotation axis; A rotation drive unit 16 with a built-in motor for rotating a shaft 15 provided below the rotation drive unit 14 so as to rotate the shaft 13 on a horizontal plane about a vertical rotation axis at an intermediate position thereof. The arm 13 extends horizontally laterally along the transport path of the vehicle, and the surface light emitter 10 and the CCD camera 11 are mutually moved so that the central optical axes A1 and A2 intersect each other at a predetermined forward position. Mounted oriented at the same tilt angle.
[0010]
This imaging device is vertically stacked in three stages so as to share the inspection area of the painted surface 1a on the side of the vehicle, and each of the turning drive units 16 is held by a holding member 16a on a base frame 18 erected on the floor. Are attached at predetermined intervals. The central optical axis A1 of the surface light emitter 10 and the central optical axis A2 of the CCD camera 11 intersect, for example, at an angle of about 90 ° at 30 cm in front, for example, and at the intersection, an intermediate position thereof is orthogonal to the arm 13. imaging the reference line a ₀ with bisector intersect on the same plane as the bisector of the intersection angle of the central optical axis A1, A2. In other words, when the image pickup reference line A ₀ is Menjika the coated surface at the front 30 cm, the specular reflection light enters the CCD camera 11.
[0011]
On the upstream side of the conveyance path with respect to the imaging devices 19, a three-dimensional shape measuring device 20 for measuring the three-dimensional shape of the painted surface 1a on the side of the vehicle in a non-contact manner is assigned to each of the three imaging devices 19. Are mounted on the support 21 at three intervals in the vertical direction so as to measure This three-dimensional shape measuring instrument emits a laser beam, scans the painted surface, and analyzes the three-dimensional position based on the incident position and scanning angle of the reflected laser light on the painted surface based on the principle of triangulation. Thereby, the three-dimensional shape is thereby measured. In addition, as a device for optically measuring a three-dimensional shape in a non-contact state, various types of devices are widely used.
[0012]
Such a painted surface inspection device for a side surface is also arranged in a side surface region on the opposite side of the transport path, and scans the painted surface by attaching an imaging device to an arm tip so as to inspect the painted surface on the upper surface. Robots are also installed.
[0013]
As shown in FIG. 2, the rotation drive unit 14 and the rotation drive unit 16 belonging to each of the imaging devices 19 are controlled by controlling the rotation angle and the rotation angle of the arm 13 so that the correctness of the painted surface 1 a in a predetermined inspection area is controlled. Control means 24, 24a, 24b for the upper, middle and lower stages for sequentially outputting the rotation angle control signal and the turning angle control signal in synchronization with the vehicle transport so that the reflected light is incident on the CCD camera 11 are attached. . In addition, the three surface light emitters 10 sequentially measure the surface shape of a predetermined inspection area of the painted surface 1a in synchronization with the vehicle conveyance, and analyze a normal line that is perpendicular to the center portion thereof. And normal analysis means 23, 23a and 23b for the upper, middle and lower stages for outputting sequential normal data.
[0014]
That is, the normal analysis means responds to the measurement command signal sequentially supplied from the control panel in synchronization with the carry-in position of the vehicle so as to perform the surface measurement for each inspection area of, for example, about 20 square cm. Output the analysis result. Control means 24, 24a, together with 24b, corresponding to the normal data belongs input, analyzes the rotation angle and the turning angle to align the imaging reference line A ₀ to the normal of the center of the inspection area, the conveying speed In response to the imaging command signal delayed from the associated measurement command signal by the predetermined time corresponding to the predetermined time, the analyzed rotation angle control signal and the turning angle control signal are output, Immediately after, the imaging is performed at a timing when the imaging region matches the measurement region to which the imaging region belongs.
[0015]
As described in Document 1, the image processing device 25 determines whether the level of the image signal captured by the CCD camera 11 drops by a predetermined amount from the high signal level corresponding to the normal painted surface and determines the position of the minute defect. Detect. The display data creating means 26 creates graphic data of the vehicle 1 and performs graphic processing of the supplied image processing data of the painted surface on both sides and the upper surface, thereby displaying a graphic indicating a minute defect position on the image of the vehicle. Data is created and displayed on an image display device or printed out by a printer.
[0016]
The operation of the vehicle painted surface inspection apparatus thus configured is as follows. When the vehicle 1 is carried into the facing position of the three-dimensional shape measuring device 20, the predetermined inspection area of the painted surface 1a of about 20 square cm is sequentially measured in three steps, each time shifting by about 20cm in the transport direction, The normal of the center of the inspection area measured each time is analyzed based on the three-dimensional surface shape. The posture of the three-stage imaging device 19 is controlled in accordance with the rotation angle and the turning angle of the arm 13 analyzed such that the imaging direction matches the normal data of the predetermined inspection area sequentially input, so that the face-to-face operation is sequentially performed. imaging the reference line a ₀ with respect to the center of the examination region is imaged in a state became Menjika. As a result, the image signal of each inspection area is processed, and the inspection result of the vehicle 1 is graphically displayed together with the image processing data of the painted surface on the opposite side surface and the upper surface, and can be monitored or output. It should be noted that even if the painted surface 1a is not accurately located at the intersection of the center optical axes A1 and A2, even if the surface shape slightly changes within a certain distance error range or around a portion that becomes a reference of the normal line. Inspection is possible with a slight diffusion of the parallel rays.
[0017]
FIG. 3 shows a vehicle coating surface inspection apparatus according to another embodiment, in which one imaging device 19 is guided so as to be able to ascend and descend along a rail 31 provided on a support frame 30. The original shape measuring device 20 is also guided by a rail 36 provided on a support frame 35 erected on the floor so as to be able to move up and down. Measurement scanning and imaging scanning are performed vertically at a higher speed than the speed. Thereby, when the vehicle 1 is carried into the facing position of the three-dimensional shape measuring device 20, the predetermined inspection area is measured in three steps while slightly shifting in the transport direction, and furthermore, the predetermined inspection area is sequentially shifted in the transport direction. The inspection area is measured repeatedly by ascending and descending, and the imaging device 19 is attitude-controlled with respect to the corresponding three-step inspection area in accordance with the normal data of the central portion analyzed each time, and the inspection apparatus sequentially shifts in the transport direction. An image of the area is repeatedly taken up and down.
[0018]
In some cases, one imaging device may be driven up and down to form a fixed plurality of three-dimensional shape measuring devices, or conversely, a plurality of fixed imaging devices may be used to form one three-dimensional shape measuring device. Driving up and down is also conceivable. Further, as described at the beginning, the present invention includes a surface illuminator for irradiating a striped pattern and an image sensor on both sides so that their central optical axes intersect in front of each other. An image pickup device that inspects the smoothness of the painted surface by performing image processing on the image data of the image sensor by the specular reflection light at the surface, such as a surface irradiator, and an image sensor. The present invention can be applied to various types of image pickup apparatuses that perform image pickup.
[0019]
【The invention's effect】
According to the first aspect of the present invention, the inspection apparatus dedicated to the side surface is separately prepared, so that the vehicle can be painted without using a structurally large robot and particularly in a state where the occupied area on the side of the transport path is reduced. Surface inspection becomes possible. In addition, by measuring the surface shape on the upstream side of the transport path, teaching becomes unnecessary, and even when the mounting position of the vehicle on the transport path deviates from the standard position, corresponding attitude control is performed and inspection accuracy is improved. improves. According to the second aspect of the present invention, the plurality of image pickup devices are arranged in the vertical direction, so that even if the side surface of the vehicle is wide, scanning in the vertical direction is not required, and there is a margin for the transport speed. Accuracy can be measured. According to the third aspect of the invention, since the imaging device is scanned in the vertical direction at a speed higher than the transport speed, the inspection can be performed with one imaging device even if the side surface of the vehicle is wide.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a vehicle painted surface inspection apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram showing a configuration of a circuit device part attached to the vehicle paint inspection apparatus.
FIG. 3 is a perspective view illustrating a main part of a vehicle painted surface inspection apparatus according to another embodiment.
FIG. 4 is a front view showing a configuration of a conventional vehicle surface inspection device.
[Explanation of symbols]
1a Painted surface 10 Surface light emitter 11 CCD camera 13 Arm 14 Rotation drive unit 16 Rotation drive unit 19 Imaging device 20 Three-dimensional shape measuring instrument 31, 36 Rail

Claims

A vehicle in which an image pickup device provided with a surface irradiator that irradiates light on a painted surface of the vehicle in a planar manner and an image sensor on both sides so that the central optical axes of the image sensors cross each other in front thereof has been carried in along a transport path. With respect to the painted surface, the posture is controlled so that the specularly reflected light from the irradiated painted surface is incident on the image sensor, and the painted surface is inspected by processing the image signal of the image sensor. In vehicle paint inspection equipment,
A surface irradiation body and an image sensor of an imaging device for inspecting a painted surface on a side surface of a vehicle are attached to both ends of an arm horizontally arranged along the transport path on the side of the transport path, respectively, and are attached to the image capture device. On the upstream side of the transport path, a three-dimensional shape measuring device that measures the three-dimensional shape of the coating surface in a non-contact manner is arranged,
The imaging device includes a rotation drive unit that rotates the arm about a vertical horizontal rotation axis thereof, and a rotation drive unit that turns the arm in a horizontal plane about a vertical rotation axis at an intermediate position thereof.
The three-dimensional shape of the predetermined inspection area measured by the three-dimensional shape measuring instrument so that the specular reflection light in the predetermined inspection area of the painted surface is incident on the image sensor by controlling the rotation angle and the turning angle of the arm. Control means for sequentially supplying a rotation angle control signal and a turning angle control signal corresponding to data to the rotation driving unit and the turning driving unit in synchronization with vehicle conveyance; Inspection equipment.

2. The vehicle paint surface inspection device according to claim 1, wherein a plurality of image pickup devices are arranged in a vertical direction so as to share an inspection region of the paint surface on the side surface of the vehicle.

The vehicle painted surface inspection apparatus according to claim 1, wherein the imaging device is slidably guided by a vertical guide rail so as to scan a painted surface on a side surface of the vehicle in a vertical direction.