JP2010107220A

JP2010107220A - Method and device for inspecting outer-peripheralurface of non-cylindrical body

Info

Publication number: JP2010107220A
Application number: JP2008276759A
Authority: JP
Inventors: Susumu Muraoka; 進村岡
Original assignee: Lossev Technology Corp
Current assignee: Lossev Technology Corp
Priority date: 2008-10-28
Filing date: 2008-10-28
Publication date: 2010-05-13

Abstract

<P>PROBLEM TO BE SOLVED: To set an optimum photographic condition, by adjusting the peripheral velocity of the outer-periphery surface of a non-cylindrical body, the focusing position of a camera, and the orientation direction of a camera that opposes the outer-peripheral surface, when photographing the outer-periphery surface of the non-cylindrical body by a camera. <P>SOLUTION: In the process for rotating the non-cylindrical body 1, photographing a photographing range S of an outer-periphery surface 3 by the camera 4 pointing to the outer-periphery surface 3 of the non-cylindrical body 1, and inspecting the outer-peripheral surface 3 by processing an image photographed by the camera 4 by using an image processing section 5, rotational speed N of the non-cylindrical body 1 is adjusted from control data measured, in advance, the peripheral velocity V of the outer-periphery surface 3 in the photographic range S is made constant, the camera 4 is moved onto a normal line 6 on the outer-peripheral surface 3 within the photographing range S, while keeping the distance between the outer-periphery surface 3 in the photographing range S and the camera 4 at a focal distance F, by moving the camera 4 in the focal direction, thus allowing the camera 4 to point to the photographing range S. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、非円筒体の外周面を検査する方法及び装置に関する。なお、この明細書及び特許請求の範囲において、非円筒体とは、完全な円形の筒以外の筒体、例えば輪郭形状楕円の筒体や変形楕円の筒体などを言い、非円筒体は、中空の筒体のほか、円柱以外の柱体、例えば卵型の柱体などを含むものとする。 The present invention relates to a method and apparatus for inspecting the outer peripheral surface of a non-cylindrical body. In this specification and claims, the non-cylindrical body means a cylindrical body other than a perfect circular cylinder, for example, a cylindrical body of a contoured ellipse, a cylindrical body of a deformed ellipse, etc. In addition to a hollow cylinder, a column other than a cylinder, such as an egg-shaped column, is included.

特許文献１に開示されているように、完全な円筒体の外周面の検査は、円筒体を一定の速度で回転させ、その外周面をラインカメラにより撮影し、この撮影画像を画像処理することによって行っている。しかし、検査対象が非円筒体の外周面の検査のときに、円筒体の検査と同様に、非円筒体を一定の速度で回転させると、外周面の周速度や合焦位置の変化さらにラインカメラから見た被写体（撮影範囲）の対向角度の変動によって、正確な撮影ができなくなる。
特開２００８−１８５４３８公報 As disclosed in Patent Document 1, the inspection of the outer peripheral surface of a complete cylindrical body involves rotating the cylindrical body at a constant speed, photographing the outer peripheral surface with a line camera, and processing the captured image. Is going by. However, when inspecting the outer peripheral surface of a non-cylindrical body, if the non-cylindrical body is rotated at a constant speed as in the case of the cylindrical body inspection, the change in the peripheral speed of the outer peripheral surface and the focus position and the line Due to the variation in the facing angle of the subject (shooting range) viewed from the camera, accurate shooting cannot be performed.
JP 2008-185438 A

したがって、本発明の課題は、非円筒体の外周面の検査のために、非円筒体の外周面をカメラで撮影するに際して、非円筒体の外周面の周速度や、カメラの合焦位置、さらに外周面に対向するカメラの指向方向を調節して、最適な撮影条件を設定することである。 Therefore, the object of the present invention is to inspect the outer peripheral surface of the non-cylindrical body, when photographing the outer peripheral surface of the non-cylindrical body with a camera, the peripheral speed of the outer peripheral surface of the non-cylindrical body, the focusing position of the camera, Furthermore, the optimum shooting conditions are set by adjusting the directivity direction of the camera facing the outer peripheral surface.

上記の課題の下に、本発明の請求項１の非円筒体の外周面の検査方法は、検査対象としての非円筒体（１）内の筒方向の中心線（２）を回転中心として非円筒体（１）を回転させると共に、非円筒体（１）の外周面（３）を指向するカメラ（４）により外周面（３）の撮影範囲（Ｓ）を撮影し、カメラ（４）の撮影画像を画像処理部（５）の画像処理により外周面（３）を検査する過程において、予め測定した制御用のデータにもとづいて、非円筒体（１）の回転速度（Ｎ）を調節して、非円筒体（１）の撮影範囲（Ｓ）における外周面（３）の周速度（Ｖ）を一定とすると共に、カメラ（４）を合焦方向に移動させて、撮影範囲（Ｓ）の外周面（３）とカメラ（４）との間を合焦距離（Ｆ）に保ちながら、撮影範囲（Ｓ）内の外周面（３）の法線（６）上にカメラ（４）を移動させて、外周面（３）の撮影範囲（Ｓ）にカメラ（４）を指向させている。 Under the above-mentioned problems, the inspection method for the outer peripheral surface of the non-cylindrical body according to claim 1 of the present invention is a non-cylindrical center line (2) in the non-cylindrical body (1) as an inspection object. The cylindrical body (1) is rotated, and the photographing range (S) of the outer peripheral surface (3) is photographed by the camera (4) directed to the outer peripheral surface (3) of the non-cylindrical body (1). In the process of inspecting the outer peripheral surface (3) by the image processing of the image processing unit (5), the rotational speed (N) of the non-cylindrical body (1) is adjusted based on the control data measured in advance. Then, the peripheral speed (V) of the outer peripheral surface (3) in the imaging range (S) of the non-cylindrical body (1) is made constant, and the camera (4) is moved in the in-focus direction to obtain the imaging range (S). The outer peripheral surface (3) in the shooting range (S) while maintaining a focal distance (F) between the outer peripheral surface (3) of the camera and the camera (4) On normal (6) to move the camera (4), and a camera (4) is directed to the imaging range of the outer peripheral surface (3) (S).

請求項２の非円筒体の外周面の検査方法は、検査前に、非円筒体（１）を一定の回転速度（ｎ）で回転させ、非円筒体（１）の回転角度（θ）に対する外周面（３）の各点（ｐ）での周速度（ｖ）を測定しておき、一定の回転速度（ｎ）と周速度（ｖ）との関係式から検査時における非円筒体（１）の回転角度（θ）に対する回転速度（Ｎ）を予め決定しておき、検査時に、非円筒体（１）の回転角度（θ）毎に回転速度（Ｎ）を設定することによって、非円筒体（１）の撮影範囲（Ｓ）における外周面（３）の周速度（Ｖ）を一定としている。 In the inspection method of the outer peripheral surface of the non-cylindrical body according to claim 2, before the inspection, the non-cylindrical body (1) is rotated at a constant rotational speed (n), and the non-cylindrical body (1) is rotated with respect to the rotation angle (θ). The peripheral speed (v) at each point (p) on the outer peripheral surface (3) is measured, and the non-cylindrical body (1) at the time of inspection is determined from the relational expression between the constant rotational speed (n) and the peripheral speed (v). ) With respect to the rotation angle (θ) of the non-cylindrical body by determining in advance and setting the rotation speed (N) for each rotation angle (θ) of the non-cylindrical body (1) during inspection. The peripheral speed (V) of the outer peripheral surface (3) in the imaging range (S) of the body (1) is constant.

請求項３の非円筒体の外周面の検査方法は、検査前に、非円筒体（１）の回転角度（θ）に対する撮影範囲（Ｓ）の外周面（３）と中心線（２）との距離（ｒ）を予め測定しておき、検査時に、非円筒体（１）の回転角度（θ）に対応して変化する距離（ｒ）に応じてカメラ（４）を合焦距離（Ｆ）の位置に移動させている。また、請求項４の非円筒体の外周面の検査方法は、検査前に、非円筒体（１）の回転角度（θ）に対する外周面（３）の撮影範囲（Ｓ）での法線（６）の指向角度（α）を予め求めておき、検査時に、非円筒体（１）の回転角度（θ）に対応する指向角度（α）に応じて法線（６）上にカメラ（４）を移動させることによって、外周面（３）の撮影範囲（Ｓ）にカメラ（４）を指向させている。 The method for inspecting the outer peripheral surface of the non-cylindrical body according to claim 3 is that before the inspection, the outer peripheral surface (3) and the center line (2) of the imaging range (S) with respect to the rotation angle (θ) of the non-cylindrical body (1) The distance (r) is measured in advance, and the camera (4) is moved to the in-focus distance (F) according to the distance (r) that changes corresponding to the rotation angle (θ) of the non-cylindrical body (1) during the inspection. ). Further, according to the inspection method of the outer peripheral surface of the non-cylindrical body according to the fourth aspect, the normal (in the imaging range (S) of the outer peripheral surface (3) with respect to the rotation angle (θ) of the non-cylindrical body (1) ( The directivity angle (α) of 6) is obtained in advance, and the camera (4) on the normal line (6) according to the directivity angle (α) corresponding to the rotation angle (θ) of the non-cylindrical body (1) at the time of inspection. ) Is moved, the camera (4) is directed to the photographing range (S) of the outer peripheral surface (3).

請求項５の非円筒体の外周面検査装置（１０）は、検査対象としての非円筒体（１）内の筒方向の中心線（２）を回転中心として非円筒体（１）を回転させるとともに、非円筒体（１）の外周面（３）を指向するカメラ（４）により外周面（３）の撮影範囲（Ｓ）を撮影し、カメラ（４）の撮影画像を画像処理部（５）の画像処理により外周面（３）を検査する非円筒体の外周面検査装置（１０）において、非円筒体（１）を支える回転テーブル（９）のテーブル軸（１１）と、テーブル軸（１１）を駆動する速度可変型の駆動モータ（１２）と、中心線（２）と撮影範囲（Ｓ）の外周面（３）との距離（ｒ）の変化に応じて第１テーブル（１３）を合焦方向に移動させカメラ（４）を合焦距離（Ｆ）に保つ合焦調節手段（１５）と、第１テーブル（１３）上の第２テーブル（１４）の上でカメラ（４）を支持し外周面（３）の撮影範囲（Ｓ）の点（ｐ）を中心とする円弧状案内手段（１７）にそってカメラ（４）を移動させ、撮影範囲（Ｓ）にカメラ（４）を指向させる指向方向調節手段（１８）及び指向方向調節モータ（１９）と、これらを制御する制御部（２０）と有する。 The non-cylindrical outer peripheral surface inspection apparatus (10) according to claim 5 rotates the non-cylindrical body (1) about the center line (2) in the cylindrical direction in the non-cylindrical body (1) as an inspection object. A photographing range (S) of the outer peripheral surface (3) is photographed by the camera (4) directed to the outer peripheral surface (3) of the non-cylindrical body (1), and an image processing unit (5) In the non-cylindrical outer peripheral surface inspection apparatus (10) that inspects the outer peripheral surface (3) by image processing of (), the table shaft (11) of the rotary table (9) that supports the non-cylindrical body (1) and the table shaft ( The first table (13) according to the change in the distance (r) between the variable speed drive motor (12) for driving 11) and the center line (2) and the outer peripheral surface (3) of the photographing range (S). Focusing adjustment means (15) for moving the camera in the focusing direction and keeping the camera (4) at the focusing distance (F); The circular guide means (17) supports the camera (4) on the second table (14) on the bull (13) and is centered on the point (p) of the photographing range (S) of the outer peripheral surface (3). Then, the camera (4) is moved to direct the camera (4) to the photographing range (S), the directivity adjusting means (18), the directivity adjusting motor (19), and the control unit (20) for controlling them. Have.

上記の制御部（２０）は、検査時に、予め測定した制御用のデータにもとづいて、駆動モータ（１２）の回転速度（Ｎ）を制御して、非円筒体（１）の撮影範囲（Ｓ）における外周面（３）の周速度（Ｖ）を一定とすると共に、合焦調節手段（１５）によってカメラ（４）を合焦方向に移動させ、外周面（３）とカメラ（４）との間を合焦距離（Ｆ）に保ちながら、予め設定した指向角度（α）にもとづいて指向方向調節モータ（１９）を駆動して、指向方向調節手段（１８）によって外周面（３）の撮影範囲（Ｓ）内の外周面（３）の法線（６）上にカメラ（４）を移動させ、外周面（３）の撮影範囲（Ｓ）にカメラ（４）を指向させる。 The control unit (20) controls the rotational speed (N) of the drive motor (12) based on the control data measured in advance at the time of the inspection, and the imaging range (S) of the non-cylindrical body (1). ), The peripheral speed (V) of the outer peripheral surface (3) is kept constant, and the camera (4) is moved in the in-focus direction by the focus adjusting means (15), so that the outer peripheral surface (3) and the camera (4) While maintaining the in-focus distance (F), the directivity adjustment motor (19) is driven based on the preset directivity angle (α), and the outer peripheral surface (3) is driven by the directivity adjustment means (18). The camera (4) is moved on the normal line (6) of the outer peripheral surface (3) in the photographing range (S), and the camera (4) is directed to the photographing range (S) of the outer peripheral surface (3).

請求項６の合焦調節手段（１５）は、中心線（２）と撮影範囲（Ｓ）の外周面（３）との距離（ｒ）の変化に応じて第１テーブル（１３）を合焦方向に移動させる合焦調節モータ（１６）を含む。また、請求項７の合焦調節手段（１５）は、テーブル軸（１１）に取り付けられ非円筒体（１）の断面と同じ輪郭のカム（３３）と、第１テーブル（１３）に取り付けられカム（３３）の輪郭に接するカムフォロア３４とからなるカム装置（３２）により構成されている。 The focus adjusting means (15) according to claim 6 focuses the first table (13) according to a change in the distance (r) between the center line (2) and the outer peripheral surface (3) of the photographing range (S). It includes a focus adjustment motor (16) that moves in the direction. Further, the focusing adjusting means (15) of claim 7 is attached to the first table (13) and the cam (33) having the same contour as the cross section of the non-cylindrical body (1) attached to the table shaft (11). The cam device (32) includes a cam follower (34) in contact with the contour of the cam (33).

請求項８の非円筒体の外周面検査装置（１０）は、請求項１の非円筒体の外周面検査装置（１０）に、外周面（３）に接し非円筒体（１）を一定の回転速度（ｎ）で回転させたときの外周面（３）の周速度（ｖ）を測定する周速度検出器（２１）と、外周面（３）と対向し中心線（２）から撮影範囲（Ｓ）の外周面（３）までの距離（ｒ）を測定する距離計（２２）とを追加するとともに、合焦調節手段（１５）に駆動源として合焦調節モータ（１６）を組み込んだ構成例である。 The non-cylindrical outer peripheral surface inspection device (10) according to claim 8 is the same as the non-cylindrical outer peripheral surface inspection device (10) according to claim 1, wherein the non-cylindrical outer surface inspection device (10) is in contact with the outer peripheral surface (3). A peripheral speed detector (21) that measures the peripheral speed (v) of the outer peripheral surface (3) when rotated at the rotational speed (n), and the photographing range from the center line (2) facing the outer peripheral surface (3). A distance meter (22) for measuring the distance (r) to the outer peripheral surface (3) of (S) is added, and a focus adjustment motor (16) is incorporated as a drive source in the focus adjustment means (15). It is a structural example.

すなわち、請求項８の非円筒体の外周面検査装置（１０）は、検査対象としての非円筒体（１）内の筒方向の中心線（２）を回転中心として非円筒体（１）を回転させると共に、非円筒体（１）の外周面（３）を指向するカメラ（４）により外周面（３）の撮影範囲（Ｓ）を撮影し、カメラ（４）の撮影画像を画像処理部（５）の画像処理により外周面（３）を検査する非円筒体の外周面検査装置（１０）において、非円筒体（１）を支える回転テーブル（９）のテーブル軸（１１）と、テーブル軸（１１）を駆動する速度可変型の駆動モータ（１２）と、外周面（３）に接し非円筒体（１）を一定の回転速度（ｎ）で回転させたときの外周面（３）の周速度（ｖ）を測定する周速度検出器（２１）と、外周面（３）と対向し中心線（２）から撮影範囲（Ｓ）の外周面（３）までの距離（ｒ）を測定する距離計（２２）と、中心線（２）と撮影範囲（Ｓ）の外周面（３）との距離（ｒ）の変化に応じて第１テーブル（１３）を合焦調節モータ（１６）により合焦方向に移動させカメラ（４）を合焦距離（Ｆ）に保つ合焦調節手段（１５）と、第１テーブル（１３）上の第２テーブル（１４）上でカメラ（４）を支持し外周面（３）の撮影範囲（Ｓ）を中心とする円弧状案内手段（１７）にそってカメラ（４）を移動させ撮影範囲（Ｓ）にカメラ（４）を指向させる指向方向調節手段（１８）及び指向方向調節モータ（１９）と、これらを制御する制御部（２０）とからなる。 In other words, the non-cylindrical outer peripheral surface inspection apparatus (10) according to claim 8 uses the non-cylindrical body (1) around the center line (2) in the cylindrical direction in the non-cylindrical body (1) as an inspection object. The imaging range (S) of the outer peripheral surface (3) is captured by the camera (4) that is rotated and directed to the outer peripheral surface (3) of the non-cylindrical body (1), and the captured image of the camera (4) is captured by the image processing unit. In the non-cylindrical outer peripheral surface inspection apparatus (10) for inspecting the outer peripheral surface (3) by the image processing of (5), the table shaft (11) of the rotary table (9) that supports the non-cylindrical body (1), and the table A variable speed drive motor (12) for driving the shaft (11) and an outer peripheral surface (3) when the non-cylindrical body (1) is rotated at a constant rotational speed (n) in contact with the outer peripheral surface (3). The peripheral speed detector (21) that measures the peripheral speed (v) of the sensor and the center line (2) facing the outer peripheral surface (3) Distance meter (22) for measuring distance (r) to outer peripheral surface (3) of photographing range (S), and distance (r) between center line (2) and outer peripheral surface (3) of photographing range (S) The first table (13) is moved in the in-focus direction by the focus adjustment motor (16) in accordance with the change of the focus and the camera (4) is kept at the focus distance (F); The camera (4) along the arcuate guide means (17) supporting the camera (4) on the second table (14) on the table (13) and centering on the photographing range (S) of the outer peripheral surface (3). And a directivity direction adjusting means (18) and a directivity direction adjusting motor (19) for directing the camera (4) to the photographing range (S), and a control unit (20) for controlling them.

上記制御部（２０）は、検査前に、非円筒体（１）を一定の回転速度（ｎ）で回転させ、非円筒体（１）の回転角度（θ）に対する外周面（３）の各点（ｐ）での周速度（ｖ）を周速度検出器（２１）により測定し、回転速度（ｎ）と周速度（ｖ）との関係式から検査時における非円筒体（１）の回転角度（θ）に対する回転速度（Ｎ）を決定しておくとともに、中心線（２）と非円筒体（１）の回転角度（θ）に対する撮影範囲（Ｓ）の外周面（３）との距離（ｒ）を距離計（２２）により予め測定しておき、検査時に、決定した回転速度（Ｎ）にもとづいて駆動モータ（１２）の回転速度（Ｎ）を制御して、非円筒体（１）の撮影範囲（Ｓ）における外周面（３）の周速度（Ｖ）を一定とすると共に、測定した距離（ｒ）にもとづいて合焦調節モータ（１６）を駆動して合焦調節手段（１５）によってカメラ（４）を合焦方向に移動させ、外周面（３）とカメラ（４）との間を合焦距離（Ｆ）に保ちながら、予め設定した指向角度（α）にもとづいて指向方向調節モータ（１９）を駆動して指向方向調節手段（１８）によって撮影範囲（Ｓ）内の外周面（３）の法線（６）上にカメラ（４）を移動させ、外周面（３）の撮影範囲（Ｓ）にカメラ（４）を指向させる。 Before the inspection, the control unit (20) rotates the non-cylindrical body (1) at a constant rotational speed (n), and each of the outer peripheral surfaces (3) with respect to the rotational angle (θ) of the non-cylindrical body (1). The peripheral speed (v) at the point (p) is measured by the peripheral speed detector (21), and the rotation of the non-cylindrical body (1) at the time of inspection is determined from the relational expression between the rotational speed (n) and the peripheral speed (v). The rotational speed (N) with respect to the angle (θ) is determined, and the distance between the center line (2) and the outer peripheral surface (3) of the imaging range (S) with respect to the rotational angle (θ) of the non-cylindrical body (1). (R) is measured in advance by a distance meter (22), and at the time of inspection, the rotational speed (N) of the drive motor (12) is controlled based on the determined rotational speed (N). ), The peripheral speed (V) of the outer peripheral surface (3) in the photographing range (S) is kept constant, and focusing is performed based on the measured distance (r). The joint motor (16) is driven to move the camera (4) in the in-focus direction by the focus adjusting means (15), and the distance between the outer peripheral surface (3) and the camera (4) is set to the in-focus distance (F). While maintaining, the directivity adjustment motor (19) is driven based on the preset directivity angle (α), and the normal line (6) of the outer peripheral surface (3) in the imaging range (S) is driven by the directivity adjustment means (18). ) The camera (4) is moved upward, and the camera (4) is directed to the photographing range (S) of the outer peripheral surface (3).

請求項１の発明によると、非円筒体（１）の撮影範囲（Ｓ）における外周面（３）の周速度（Ｖ）を一定とすると共に、カメラ（４）を合焦位置に移動させ、かつ、外周面（３）の撮影範囲（Ｓ）にカメラ（４）を指向させているから、検査の際にカメラ（４）に対して最適な撮影条件が設定できる。これによって、外周面（３）の画像処理による検査の精度が高められる。 According to the invention of claim 1, while making the peripheral speed (V) of the outer peripheral surface (3) in the photographing range (S) of the non-cylindrical body (1) constant, the camera (4) is moved to the in-focus position, In addition, since the camera (4) is directed to the photographing range (S) of the outer peripheral surface (3), it is possible to set optimum photographing conditions for the camera (4) at the time of inspection. Thereby, the accuracy of the inspection by the image processing of the outer peripheral surface (3) is increased.

請求項２の発明によると、一定の回転速度（ｎ）と周速度（ｖ）との関係式から検査時の回転速度（Ｎ）を設定するから、回転速度（Ｎ）が実測値から容易に設定できる。 According to the invention of claim 2, since the rotational speed (N) at the time of inspection is set from the relational expression between the constant rotational speed (n) and the peripheral speed (v), the rotational speed (N) can be easily determined from the actually measured value. Can be set.

請求項３の発明によると、検査前の距離（ｒ）の測定によって、検査時のカメラ（４）の合焦距離（Ｆ）の位置が定められるから、カメラ（４）の合焦制御が回転角度（θ）に応じて容易に行える。 According to the invention of claim 3, since the position of the focus distance (F) of the camera (4) at the time of inspection is determined by measuring the distance (r) before the inspection, the focus control of the camera (4) is rotated. It can be easily performed according to the angle (θ).

請求項４の発明によると、検査前に、指向角度（α）を予め求めておくから、検査時のカメラ（４）の指向制御が回転角度（θ）に応じて簡単に行える。 According to the invention of claim 4, since the directivity angle (α) is obtained in advance before inspection, directivity control of the camera (4) at the time of inspection can be easily performed according to the rotation angle (θ).

請求項５の発明によると、各部の動作によって非円筒体（１）の回転にともない、カメラ（４）に対して最適な撮影条件が設定できるから、撮影範囲（Ｓ）の撮影が能率よく実行でき、外周面（３）の画像処理による検査の精度が高められる。請求項６のように、合焦調節手段（１５）が合焦調節モータ（１６）を含む例では、モータ回転量の制御によって非円筒体（１）の複雑な外周面（３）にも追従が可能となり、また請求項７のように、合焦調節手段（１５）がカム装置（３２）により構成されている例では、特別な駆動源が不要となるため、構成が簡略化できる。 According to the invention of claim 5, since the optimum shooting conditions can be set for the camera (4) with the rotation of the non-cylindrical body (1) by the operation of each part, the shooting of the shooting range (S) is efficiently executed. In addition, the accuracy of the inspection by the image processing of the outer peripheral surface (3) is increased. In the example in which the focus adjustment means (15) includes the focus adjustment motor (16) as in claim 6, the complex outer peripheral surface (3) of the non-cylindrical body (1) is also tracked by controlling the motor rotation amount. In addition, in the example in which the focusing adjusting means (15) is configured by the cam device (32) as in the seventh aspect, a special drive source is not required, so that the configuration can be simplified.

請求項８の発明によると、上記の請求項５の発明による効果のほかに、周速度検出器（２１）及び距離計（２２）が付設されているから、検査時の非円筒体（１）の回転角度（θ）に対する回転速度（Ｎ）やカメラ（４）の合焦位置が検査前に設定でき、制御用のデータの作成が容易となる。 According to the invention of claim 8, in addition to the effect of the invention of claim 5 above, since the peripheral speed detector (21) and the distance meter (22) are attached, the non-cylindrical body (1) at the time of inspection The rotation speed (N) with respect to the rotation angle (θ) and the in-focus position of the camera (4) can be set before inspection, and the creation of control data is facilitated.

図１および図２は、本発明に係る非円筒体の外周面検査方法の原理を示している。これらの図１および図２において、検査対象としての非円筒体１は、例えば自動車の楕円形筒状の部品であり、検査時に、非円筒体１内の筒方向の中心線２を回転中心として回転している。なお、中心線２は紙面に対して垂直である。この回転のときに、ライン型のカメラ４は、ライン状の視野を中心線２の方向として、非円筒体１の外周面３を指向し、外周面３の撮影範囲Ｓを所定の時間間隔で撮影することによって複数の撮影画像の画像信号を発生し、これらの画像信号を画像処理部５に送る。複数の撮影画像は、外周面３の全周面を画像上で連続する状態となっている。画像処理装置５は、内蔵の画像処理プログラムにしたがって画面上で輝度の急変部分を抽出することによって外周面３の異物や欠陥の有無を検出する。 1 and 2 show the principle of the outer peripheral surface inspection method for a non-cylindrical body according to the present invention. In these FIG. 1 and FIG. 2, the non-cylindrical body 1 as an object to be inspected is, for example, an elliptical cylindrical part of an automobile, and the center line 2 in the cylindrical direction in the non-cylindrical body 1 is set as the rotation center at the time of inspection. It is rotating. The center line 2 is perpendicular to the paper surface. At the time of this rotation, the line-type camera 4 is directed to the outer peripheral surface 3 of the non-cylindrical body 1 with the line-shaped field of view as the direction of the center line 2, and the imaging range S of the outer peripheral surface 3 is set at predetermined time intervals. By photographing, image signals of a plurality of photographed images are generated, and these image signals are sent to the image processing unit 5. The plurality of captured images are in a state where the entire peripheral surface of the outer peripheral surface 3 is continuous on the image. The image processing device 5 detects the presence or absence of foreign matter or a defect on the outer peripheral surface 3 by extracting a sudden change portion of luminance on the screen according to a built-in image processing program.

既述のように、非円筒体１が中心線２を回転中心として一定の回転速度（回転数）で回転していると仮定したとき、非円筒体１が真円でないために、非円筒体１の撮影位置の外周面３の周速度Ｖおよび撮影位置Ｓの外周面３とカメラ４との距離は常に変化する。しかもカメラ４は、図１のように、初期の設定時に、中心線２を通り中心線２に対して直交する平面上の基準線７上にあって、外周面３の撮影範囲Ｓに向けられていても、初期の設定位置のままであると、非円筒体１の回転によって、図２のように、撮影範囲Ｓに対して斜め方向となり、良好な画像を撮影できなくなる。 As described above, when it is assumed that the non-cylindrical body 1 is rotating at a constant rotational speed (number of rotations) with the center line 2 as the center of rotation, the non-cylindrical body 1 is not a perfect circle. The peripheral speed V of the outer peripheral surface 3 at one photographing position and the distance between the outer peripheral surface 3 at the photographing position S and the camera 4 always change. In addition, as shown in FIG. 1, the camera 4 is on the reference line 7 on the plane that passes through the center line 2 and is orthogonal to the center line 2 at the initial setting, and is directed to the photographing range S of the outer peripheral surface 3. However, if the initial set position is maintained, the rotation of the non-cylindrical body 1 causes an oblique direction with respect to the imaging range S as shown in FIG.

そこで、検査の前に、オペレータは、非円筒体１の撮影範囲Ｓにおける外周面３の周速度Ｖを一定とし、かつカメラ４の撮影範囲Ｓにおける外周面３とカメラ４との間を合焦距離Ｆに保つことを目的として、非円筒体１を一定の回転速度ｎで回転させ、非円筒体１の基準回転位置、例えば図１で楕円の長軸上の回転角度０°から３６０°までの回転角度θについて、目標精度に応じて例えば１°毎に撮影範囲Ｓにおける外周面３の点ｐでの周速度ｖを測定し、回転速度ｎと周速度ｖとの関係式から検査時における非円筒体１の回転角度θ毎に回転速度Ｎを決定しておき、かつ回転角度θ毎に中心線２から撮影範囲Ｓの外周面３の点ｐまでの距離ｒを測定しておく。 Therefore, before the inspection, the operator makes the peripheral speed V of the outer peripheral surface 3 in the imaging range S of the non-cylindrical body 1 constant, and focuses between the outer peripheral surface 3 and the camera 4 in the imaging range S of the camera 4. For the purpose of maintaining the distance F, the non-cylindrical body 1 is rotated at a constant rotational speed n, and the reference rotational position of the non-cylindrical body 1, for example, from 0 ° to 360 ° on the major axis of the ellipse in FIG. Is measured at a point p of the outer peripheral surface 3 in the imaging range S at every 1 °, for example, according to the target accuracy, and the relational expression between the rotational speed n and the peripheral speed v is used for the inspection. A rotation speed N is determined for each rotation angle θ of the non-cylindrical body 1 and a distance r from the center line 2 to a point p on the outer peripheral surface 3 of the imaging range S is measured for each rotation angle θ.

上記の点ｐは外周面３と基準線７との交点であり、非円筒体１の回転中も常に基準線７上にある。なお、カメラ４の位置は、初期に基準線７の線上に設定されるが、非円筒体１の回転にともなって、図２のように、点ｐを中心とする円弧にとって基準線７の左側、または基準線７の右側に変位させなければならない。 The point p is an intersection of the outer peripheral surface 3 and the reference line 7, and is always on the reference line 7 during rotation of the non-cylindrical body 1. The position of the camera 4 is initially set on the reference line 7, but with the rotation of the non-cylindrical body 1, the left side of the reference line 7 for the arc centered at the point p as shown in FIG. 2. Or have to be displaced to the right of the reference line 7.

非円筒体１の回転時の周速度Ｖおよびカメラ４の合焦位置は、以下の関係式によって求められる。非円筒体１が一定の回転速度ｎ〔ｒｐｍ〕で回転していると仮定したとき、回転中心としての中心線２から距離ｒ〔ｍ〕の外周面３の点ｐの周速度ｖ〔ｍ／ｓ〕は、関係式ｖ＝ｒ２πｎ／６０で表される。この関係式を利用して、基準位置（回転角度０°）から一定の回転角度θの間隔例えば回転方向に１°毎に距離ｒを測定して、周速度ｖに目標の周速度Ｖの値を、距離ｒに測定した実測値を代入すれば、回転角度θに対応する回転速度Ｎが決定できる。また、距離ｒの測定によって、カメラ３の合焦位置は、外周面３の点ｐからカメラ４までの距離すなわち合焦距離Ｆによって与えられる。 The peripheral speed V during rotation of the non-cylindrical body 1 and the in-focus position of the camera 4 are obtained by the following relational expression. Assuming that the non-cylindrical body 1 is rotating at a constant rotation speed n [rpm], the peripheral speed v [m / of the point p of the outer peripheral surface 3 at a distance r [m] from the center line 2 as the rotation center. s] is expressed by the relational expression v = r2πn / 60. Using this relational expression, the distance r is measured from the reference position (rotation angle 0 °) at an interval of a constant rotation angle θ, for example, every 1 ° in the rotation direction, and the value of the target peripheral speed V is obtained as the peripheral speed v. Is substituted for the measured value for the distance r, the rotational speed N corresponding to the rotational angle θ can be determined. Further, by measuring the distance r, the in-focus position of the camera 3 is given by the distance from the point p on the outer peripheral surface 3 to the camera 4, that is, the in-focus distance F.

また、外周面３の点ｐの接線に対して点ｐを通る直交方向の直線は、点ｐを含む撮影範囲Ｓの中心位置についての法線６となる。カメラ４がこの法線６上もしくは法線６の近くで撮影範囲Ｓ内の点ｐを指向しておれば、その状態で、カメラ４は、外周面３の撮影範囲Ｓを被写界として正しく向き合い、良好な画像を撮影できるようになる。このときの法線６の方向は、一定の回転角度θ例えば１°の間隔毎に基準線７に対する指向角度αとして実測または図面上から決定できる他、楕円の座標計算によって求めることもできる。なお、図１の初期の位置で、法線６と基準線７とは重なっており、指向角度αは０°である。 Further, a straight line in the orthogonal direction passing through the point p with respect to the tangent to the point p on the outer peripheral surface 3 is a normal line 6 with respect to the center position of the imaging range S including the point p. If the camera 4 is directed to the point p in the shooting range S on or near the normal 6, the camera 4 correctly uses the shooting range S of the outer peripheral surface 3 as the object field in that state. Face each other and be able to shoot good images. The direction of the normal 6 at this time can be determined from actual measurement or drawing as a directivity angle α with respect to the reference line 7 at a constant rotation angle θ, for example, at intervals of 1 °, or can be obtained by coordinate calculation of an ellipse. Note that, at the initial position in FIG. 1, the normal 6 and the reference line 7 overlap each other, and the directivity angle α is 0 °.

そして、上記の回転速度Ｎ、合焦位置および指向角度αは、回転角度θすなわち基準位置（回転角度０°）から回転角度３６０°にわたって一定の角度間隔例えば回転方向に１°ごとに制御用のデータとして設定される。この制御用のデータ設定は、同一の非円筒体１について一度行えば、同じ非円筒体１について繰り返し利用できる。 The rotational speed N, the focus position, and the directing angle α are controlled at a constant angular interval from the rotational angle θ, that is, the reference position (rotational angle 0 °) to a rotational angle 360 °, for example, every 1 ° in the rotational direction. Set as data. This data setting for control can be repeatedly used for the same non-cylindrical body 1 once it is performed for the same non-cylindrical body 1.

本発明に係る非円筒体の外周面の検査方法は、前記の前準備後の検査過程において、予め測定した制御用のデータにもとづいて、非円筒体１の回転速度Ｎを調節して、非円筒体１の撮影範囲Ｓにおける外周面３の周速度Ｖを一定とすると共に、カメラ４を合焦方向に移動させて、撮影範囲Ｓの外周面３とカメラ４との間を合焦距離Ｆに保ちながら、撮影範囲Ｓ内の外周面３の法線６上にカメラ４を移動させて、撮影範囲Ｓにカメラ４を指向させ、撮影範囲Ｓの撮影を行う。このときのカメラ４の移動は、外周面３の点ｐを中心とし、合焦距離Ｆを半径とする円弧にそっている。 The method for inspecting the outer peripheral surface of a non-cylindrical body according to the present invention adjusts the rotational speed N of the non-cylindrical body 1 based on the control data measured in advance in the inspection process after the pre-preparation. While the peripheral speed V of the outer peripheral surface 3 in the imaging range S of the cylindrical body 1 is made constant, the camera 4 is moved in the in-focus direction, and the in-focus distance F between the outer peripheral surface 3 of the imaging range S and the camera 4 is obtained. The camera 4 is moved on the normal 6 of the outer peripheral surface 3 in the shooting range S, and the camera 4 is pointed to the shooting range S, and shooting of the shooting range S is performed. The movement of the camera 4 at this time is along an arc having a point p on the outer peripheral surface 3 as a center and a focusing distance F as a radius.

撮影に当たり、カメラ４に固有の写体深度があるため、カメラ４が法線６上から少し外れていても、あるいはカメラ４の撮影位置が合焦距離Ｆに正確に一致していなくても、撮影範囲Ｓの画像に実用上大きな問題はない。検査時の外周面３の周速度Ｖ、カメラ４の位置および向きは、上記のように制御用のデータとして予め測定して設定するが、これらの設定は、既に記載したように、検査対象の非円筒体１の輪郭を平面図上に描き、作図によって求めることもできる。 When shooting, the camera 4 has a specific depth of field, so even if the camera 4 is slightly off the normal 6 or the shooting position of the camera 4 does not exactly match the in-focus distance F, There is no practical problem in the image of the shooting range S. The peripheral velocity V of the outer peripheral surface 3 at the time of inspection and the position and orientation of the camera 4 are set by measuring in advance as control data as described above, but these settings are determined as described above. The outline of the non-cylindrical body 1 can be drawn on a plan view and obtained by drawing.

次に図３は、本発明に係る非円筒体の外周面検査装置１０を示している。なお、図３で、撮影範囲Ｓ、合焦距離Ｆ、点ｐ、距離ｒ、指向角度α、回転角度θなどは、正確に図示できないため、それらの符号は、必要に応じて、既述の図１および図２を参照するものとする。非円筒体の外周面検査装置１０は、前記の非円筒体の外周面検査方法を実施するときの具体的な例であり、回転速度Ｎの測定のための周速度検出器２１、距離ｒの測定のための距離計２２を備えている。しかし、前記のように、検査時の外周面３の周速度Ｖや距離ｒの測定は、作図や座標計算によっても設定できるから、周速度検出器２１、距離計２２は、必要に応じて設けられる。 Next, FIG. 3 shows a non-cylindrical outer peripheral surface inspection apparatus 10 according to the present invention. In FIG. 3, the photographing range S, the focusing distance F, the point p, the distance r, the directivity angle α, the rotation angle θ, and the like cannot be accurately illustrated, and thus the reference numerals thereof are described as necessary. Reference is made to FIG. 1 and FIG. The non-cylindrical outer peripheral surface inspection apparatus 10 is a specific example when the above-described non-cylindrical outer peripheral surface inspection method is carried out, and includes a peripheral speed detector 21 for measuring the rotational speed N, and a distance r. A distance meter 22 for measurement is provided. However, as described above, the measurement of the peripheral speed V and the distance r of the outer peripheral surface 3 at the time of inspection can also be set by drawing or coordinate calculation. Therefore, the peripheral speed detector 21 and the distance meter 22 are provided as necessary. It is done.

図３において、非円筒体の外周面検査装置１０は、中心線２を回転中心として非円筒体１を回転させると共に、非円筒体１の外周面３を指向するカメラ４により外周面３の撮影範囲Ｓを撮影し、カメラ４の撮影画像を画像処理部５の画像処理により外周面３を検査をできるようにするために、箱型の機体８の内部において、回転テーブル９、そのテーブル軸１１、速度可変型の駆動モータ１２、周速度検出器２１、距離計２２、合焦調節モータ１６を有する合焦調節手段１５、指向方向調節手段１８及び指向方向調節モータ１９、これらを制御する制御部２０を有している。 In FIG. 3, the non-cylindrical outer peripheral surface inspection apparatus 10 rotates the non-cylindrical body 1 around the center line 2 and rotates the non-cylindrical body 1 with the camera 4 pointing to the outer peripheral surface 3 of the non-cylindrical body 1. In order to be able to inspect the outer peripheral surface 3 by photographing the range S and photographing the image of the camera 4 by image processing of the image processing unit 5, the rotary table 9 and its table shaft 11 are provided inside the box-shaped body 8. , A variable speed drive motor 12, a peripheral speed detector 21, a distance meter 22, a focus adjustment means 15 having a focus adjustment motor 16, a directivity direction adjustment means 18 and a directivity direction adjustment motor 19, and a control unit for controlling them. 20.

テーブル軸１１は、基準線７上にあって、機体８の軸受け３７によって中心線２を回転中心として回転自在に支持され、非円筒体１を保持するための回転テーブル９の中心を支えている。速度可変型の駆動モータ１２は、減速機付きであり、テーブル軸１１を回転速度Ｎにもとづいて速度を加減しながら駆動する。なお、回転角度検出手段としてのエンコーダ３１は、テーブル軸１１に連結されており、その回転角度θを検出している。 The table shaft 11 is on the reference line 7 and is rotatably supported by the bearing 37 of the airframe 8 around the center line 2 as a rotation center, and supports the center of the rotary table 9 for holding the non-cylindrical body 1. . The variable speed drive motor 12 is equipped with a speed reducer, and drives the table shaft 11 based on the rotational speed N while adjusting the speed. The encoder 31 as the rotation angle detecting means is connected to the table shaft 11 and detects the rotation angle θ.

駆動モータ１２が非円筒体１を一定の回転速度ｎで回転させているとき、例えば接触式の周速度検出器２１は、そのローラ２３の外周で非円筒体１の外周面３例えばその縁枠の外周面に接し、外周面３の周速度ｖを測定する。なお、周速度検出器２１は、非円筒体１の距離ｒの変化を許容するために、滑り案内式の案内手段２４により支持され、常に外周面３に接するように付勢されている。距離計２２は、例えば非接触式の変位計であり、外周面３と対向し、距離ｒを測定する。なお、周速度ｖや距離ｒは、基準線７上の位置で測定すべきであるが、上記エンコーダ３１により検出される回転角度θに対応させることによって、基準線７上の測定値となる。 When the drive motor 12 rotates the non-cylindrical body 1 at a constant rotational speed n, for example, the contact-type peripheral speed detector 21 has an outer peripheral surface 3 of the non-cylindrical body 1 on the outer periphery of the roller 23, for example, an edge frame thereof. The peripheral speed v of the outer peripheral surface 3 is measured in contact with the outer peripheral surface. The peripheral speed detector 21 is supported by a sliding guide type guide means 24 and is always urged so as to be in contact with the outer peripheral surface 3 in order to allow a change in the distance r of the non-cylindrical body 1. The distance meter 22 is, for example, a non-contact displacement meter, and faces the outer peripheral surface 3 to measure the distance r. The peripheral speed v and the distance r should be measured at positions on the reference line 7, but become measured values on the reference line 7 by corresponding to the rotation angle θ detected by the encoder 31.

合焦調節手段１５は、カメラ４を合焦距離Ｆに保つ手段であり、第１テーブル１３を合焦方向つまり基準線７の方向に移動させるために、例えば滑り案内形式の第１の案内手段２５と第１の送りねじユニット２６とで構成されており、合焦調節モータ１６は、第１の送りねじユニット２６を駆動することによって、距離ｒの変化に応じて第１テーブル１３を合焦方向に移動させる。 The focus adjustment means 15 is a means for keeping the camera 4 at the focus distance F, and in order to move the first table 13 in the focus direction, that is, in the direction of the reference line 7, for example, first guide means of a sliding guide type. 25 and the first feed screw unit 26, and the focus adjustment motor 16 drives the first feed screw unit 26 to focus the first table 13 according to the change in the distance r. Move in the direction.

指向方向調節手段１８は、カメラ４を撮影範囲Ｓに指向させるために、第１テーブル１３上に設けられ、外周面３の撮影範囲Ｓの点ｐを中心とし、合焦距離Ｆを半径とする円弧にそって第２テーブル１４を移動させる円弧状案内手段１７と、第２の送りねじユニット２７とで構成されている。指向方向調節モータ１９は、第１テーブル１３上にあって、第２の送りねじユニット２７を駆動することによって、第２テーブル１４上のカメラ４を左右に振り、撮影範囲Ｓにカメラ４を指向させる。第２テーブル１４と第２の送りねじユニット２７とは、第２テーブル１４の基準線７の方向の長孔２８と第２の送りねじユニット２７（送りナット）のピン２９とによって連動する。なお、第２テーブル１４の上面に、外周面３の撮影範囲Ｓに対する照明器３０が設置されている。 The directivity direction adjusting means 18 is provided on the first table 13 in order to direct the camera 4 to the shooting range S, and is centered on the point p of the shooting range S on the outer peripheral surface 3 and has a focusing distance F as a radius. An arcuate guide means 17 for moving the second table 14 along the arc and a second feed screw unit 27 are configured. The directivity direction adjustment motor 19 is on the first table 13 and drives the second feed screw unit 27 to swing the camera 4 on the second table 14 to the left and right, and to direct the camera 4 to the shooting range S. Let The second table 14 and the second feed screw unit 27 are interlocked by a long hole 28 in the direction of the reference line 7 of the second table 14 and a pin 29 of the second feed screw unit 27 (feed nut). An illuminator 30 for the imaging range S of the outer peripheral surface 3 is installed on the upper surface of the second table 14.

検査前に、オペレータは、機体８内の制御部２０を操作し、非円筒体１を一定の回転速度ｎで回転させ、非円筒体１の回転角度θに対する外周面３の各点ｐでの周速度ｖを周速度検出器２１により測定し、回転速度ｎと周速度ｖとの関係式から検査時における非円筒体１の回転角度θに対する回転速度Ｎを決定しておくと共に、非円筒体１の回転角度θに対する撮影範囲Ｓの点ｐと中心線２との距離ｒの変化を距離計２２により予め測定し、制御用のデータとして制御部２０の内蔵メモリに記憶しておく。 Before the inspection, the operator operates the control unit 20 in the machine body 8 to rotate the non-cylindrical body 1 at a constant rotational speed n, and at each point p on the outer peripheral surface 3 with respect to the rotation angle θ of the non-cylindrical body 1. The circumferential speed v is measured by the circumferential speed detector 21, and the rotational speed N with respect to the rotational angle θ of the non-cylindrical body 1 at the time of inspection is determined from the relational expression between the rotational speed n and the circumferential speed v. A change in the distance r between the point p of the imaging range S with respect to the rotation angle θ of 1 and the center line 2 is measured in advance by the distance meter 22 and stored in the built-in memory of the control unit 20 as control data.

また、実測または図解によって、非円筒体１の回転角度θに対する指向角度αも制御用のデータとして制御部２０の内蔵メモリに記憶される。このようにして、回転角度θ例えば１°ごとに対する回転速度Ｎ、距離ｒの値および指向角度αが内蔵メモリに制御用のデータとして記憶される。 Further, the directivity angle α with respect to the rotation angle θ of the non-cylindrical body 1 is also stored in the built-in memory of the control unit 20 as control data by actual measurement or illustration. In this way, the rotation speed θ, for example, the rotation speed N for every 1 °, the value of the distance r, and the directivity angle α are stored as control data in the built-in memory.

検査時に、制御部２０は、エンコーダ３１により回転角度θを検出し、回転角度θに対応して決定した回転速度Ｎにもとづいて駆動モータ１２の回転数を加減して、非円筒体１の撮影範囲Ｓにおける外周面３の周速度Ｖを一定に制御すると共に、回転角度θに対応する距離ｒにもとづいて合焦調節モータ１６を駆動して、合焦調節手段１５によってカメラ４を合焦方向に移動させ、外周面３とカメラ４との間を常に合焦距離Ｆに保つ。このときのカメラ４の移動範囲は、距離ｒの最大値と最小値との差に相当する。 At the time of inspection, the control unit 20 detects the rotation angle θ by the encoder 31 and adjusts the number of rotations of the drive motor 12 based on the rotation speed N determined in accordance with the rotation angle θ, thereby photographing the non-cylindrical body 1. The peripheral speed V of the outer peripheral surface 3 in the range S is controlled to be constant, the focus adjustment motor 16 is driven based on the distance r corresponding to the rotation angle θ, and the camera 4 is moved in the focus direction by the focus adjustment means 15. The focus distance F is always maintained between the outer peripheral surface 3 and the camera 4. The moving range of the camera 4 at this time corresponds to the difference between the maximum value and the minimum value of the distance r.

これらの制御と同時に、制御部２０は、回転角度θに応じて予め設定した指向角度αにもとづいて指向方向調節モータ１９を駆動し、指向方向調節手段１８によって撮影範囲Ｓ内の外周面３の法線６上にカメラ４を移動させ、外周面３の撮影範囲Ｓにカメラ４を指向させる。 Simultaneously with these controls, the controller 20 drives the directivity adjustment motor 19 based on the directivity angle α set in advance according to the rotation angle θ, and the directivity adjustment device 18 controls the outer peripheral surface 3 within the imaging range S. The camera 4 is moved on the normal line 6, and the camera 4 is directed to the shooting range S of the outer peripheral surface 3.

このようにして、非円筒体の外周面検査装置１０は、非円筒体１の撮影範囲Ｓにおける外周面３の周速度Ｖを一定に制御すると共に、カメラ４を常に合焦距離Ｆに保ち、さらに外周面３の撮影範囲Ｓにカメラ４を指向させる。この間に、カメラ４は、非円筒体１の外周面３を一定のシャター周期で撮影し、全外周面画像の信号を画像処理部５に送る。前記の通り、画像処理部５は、全外周面画像から欠陥や異物の有無を画像処理によって非円筒体１の外周面３を検査する。 In this way, the non-cylindrical outer peripheral surface inspection apparatus 10 controls the peripheral speed V of the outer peripheral surface 3 in the imaging range S of the non-cylindrical body 1 to be constant and keeps the camera 4 at the in-focus distance F. Further, the camera 4 is directed to the shooting range S of the outer peripheral surface 3. During this time, the camera 4 images the outer peripheral surface 3 of the non-cylindrical body 1 at a constant shutter cycle, and sends a signal of the entire outer peripheral surface image to the image processing unit 5. As described above, the image processing unit 5 inspects the outer peripheral surface 3 of the non-cylindrical body 1 by image processing for the presence or absence of defects or foreign substances from the entire outer peripheral surface image.

次に、図４は、合焦調節手段１５をならい方式のカム装置３２によって構成し、合焦調節モータ１６を省略する例である。カム装置３２は、非円筒体１と同じ断面の輪郭を有するカム３３と、カム３３の輪郭に接するカムフォロア３４と、カムフォロア３４を付勢する付勢ばね３５からなる。カム３３は、非円筒体１の縁枠部分とテーブル軸１１との間に設けられ、テーブル軸１１に取り付けられており、カムフォロア３４は、第１テーブル１３に取り付けられ、先端のカムローラ３６によりカム３３の輪郭に接するように配置されている。この例で周速度検出器２１のローラ２３は、カム３３の外周面に接している。そして、付勢ばね３５は一例として圧縮ばねであり、第１テーブル１３と機体８との間に圧縮状態で取り付けられている。なお、図４で、画像処理部５や距離計２２は、省略されている。 Next, FIG. 4 is an example in which the focus adjustment means 15 is configured by a cam system 32 of the same type and the focus adjustment motor 16 is omitted. The cam device 32 includes a cam 33 having the same cross-sectional profile as the non-cylindrical body 1, a cam follower 34 that contacts the contour of the cam 33, and a biasing spring 35 that biases the cam follower 34. The cam 33 is provided between the edge frame portion of the non-cylindrical body 1 and the table shaft 11, and is attached to the table shaft 11. The cam follower 34 is attached to the first table 13 and is camped by the cam roller 36 at the tip. It arrange | positions so that the outline of 33 may be touched. In this example, the roller 23 of the peripheral speed detector 21 is in contact with the outer peripheral surface of the cam 33. The urging spring 35 is a compression spring as an example, and is attached in a compressed state between the first table 13 and the machine body 8. In FIG. 4, the image processing unit 5 and the distance meter 22 are omitted.

テーブル軸１１が回転すると、カムフォロア３４は、距離ｒの変化に追従するため、第１テーブル１３は、距離ｒの最大値と最小値との差をストロークとして移動する。これによって、カメラ４は、非円筒体１の外周面３に対して常に合焦距離Ｆを保って向き合う。なお、付勢ばね３５は、カム３３として確動カムを採用することによって省略できる。 When the table shaft 11 rotates, the cam follower 34 follows the change in the distance r, so that the first table 13 moves using the difference between the maximum value and the minimum value of the distance r as a stroke. As a result, the camera 4 always faces the outer peripheral surface 3 of the non-cylindrical body 1 while maintaining the in-focus distance F. The biasing spring 35 can be omitted by adopting a positive cam as the cam 33.

本発明は、楕円形の非円筒体の外観検査の目的で開発されたが、その他の非円筒体（非円柱体）の外観検査にも利用できる。 The present invention was developed for the purpose of visual inspection of an elliptical non-cylindrical body, but can also be used for visual inspection of other non-cylindrical bodies (non-columnar bodies).

本発明に係る非円筒体の外周面検査方法の原理図である。It is a principle figure of the outer peripheral surface inspection method of the non-cylindrical body which concerns on this invention. 本発明に係る非円筒体の外周面検査方法の原理図である。It is a principle figure of the outer peripheral surface inspection method of the non-cylindrical body which concerns on this invention. 本発明に係る非円筒体の外周面検査装置の斜面図である。It is a perspective view of the outer peripheral surface inspection apparatus of the non-cylindrical body which concerns on this invention. 本発明に係る他の非円筒体の外周面検査装置の斜面図である。It is a perspective view of the outer peripheral surface inspection apparatus of the other non-cylindrical body which concerns on this invention.

Explanation of symbols

１非円筒体
２中心線
３外周面
４カメラ
５画像処理部
６法線
７基準線
８機体
９回転テーブル
１０非円筒体の外周面検査装置
１１テーブル軸
１２駆動モータ
１３第１テーブル
１４第２テーブル
１５合焦調節手段
１６合焦調節モータ
１７円弧状案内手段
１８指向方向調節手段
１９指向方向調節モータ
２０制御部
２１周速度検出器
２２距離計
２３ローラ
２４案内手段
２５第１の案内手段
２６第１の送りねじユニット
２７第２の送りねじユニット
２８長孔
２９ピン
３０照明器
３１エンコーダ（回転角度検出手段）
３２カム装置
３３カム
３４カムフォロア
３５付勢ばね
３６カムローラ
３７軸受け DESCRIPTION OF SYMBOLS 1 Non-cylindrical body 2 Centerline 3 Outer peripheral surface 4 Camera 5 Image processing part 6 Normal line 7 Reference line 8 Airframe 9 Rotary table 10 Non-cylindrical outer peripheral surface inspection apparatus 11 Table shaft 12 Drive motor 13 First table 14 Second table 15 Focus adjusting means 16 Focus adjusting motor 17 Arc-shaped guide means 18 Directional direction adjusting means 19 Directional direction adjusting motor 20 Control unit 21 Peripheral speed detector 22 Distance meter 23 Roller 24 Guide means 25 First guide means 26 First Feed screw unit 27 2nd feed screw unit 28 long hole 29 pin 30 illuminator 31 encoder (rotation angle detecting means)
32 Cam device 33 Cam 34 Cam follower 35 Biasing spring 36 Cam roller 37 Bearing

Ｓ撮影範囲
Ｎ回転速度
Ｆ合焦距離
Ｖ周速度
ｎ一定の回転速度
ｖ周速度
ｐ点
ｒ距離
α 指向角度
θ 回転角度 S Shooting range N Rotational speed F Focus distance V Peripheral speed n Constant rotational speed v Peripheral speed p Point r Distance α Direction angle θ Rotation angle

Claims

The non-cylindrical body (1) is rotated about the cylindrical center line (2) in the non-cylindrical body (1) as an inspection object, and the outer circumferential surface (3) of the non-cylindrical body (1) is directed. In the process of photographing the photographing range (S) of the outer peripheral surface (3) by the camera (4) and inspecting the outer peripheral surface (3) by the image processing of the image processing unit (5) from the photographed image of the camera (4). Based on the measured control data, the rotational speed (N) of the non-cylindrical body (1) is adjusted, and the peripheral speed (V) of the outer peripheral surface (3) in the imaging range (S) of the non-cylindrical body (1). ) Is kept constant, and the camera (4) is moved in the in-focus direction, while maintaining the in-focus distance (F) between the outer peripheral surface (3) of the shooting range (S) and the camera (4), The camera (4) is moved on the normal line (6) of the outer peripheral surface (3) in the imaging range (S), and the imaging range ( ) To direct the camera (4), the inspection method of the outer peripheral surface of the non-cylindrical body, characterized in that.

Prior to inspection, the non-cylindrical body (1) is rotated at a constant rotational speed (n), and the peripheral speed at each point (p) of the outer peripheral surface (3) with respect to the rotational angle (θ) of the non-cylindrical body (1). (V) is measured, and the rotational speed (N) with respect to the rotational angle (θ) of the non-cylindrical body (1) at the time of inspection is determined in advance from the relational expression between the constant rotational speed (n) and the peripheral speed (v). By determining and setting the rotation speed (N) for each rotation angle (θ) of the non-cylindrical body (1) at the time of inspection, the outer peripheral surface (3) in the imaging range (S) of the non-cylindrical body (1). The method of inspecting the outer peripheral surface of a non-cylindrical body according to claim 1, wherein the peripheral speed (V) of the non-cylindrical body is constant.

Before the inspection, the distance (r) between the outer peripheral surface (3) of the imaging range (S) and the center line (2) with respect to the rotation angle (θ) of the non-cylindrical body (1) is measured in advance. The camera (4) is moved to the position of the in-focus distance (F) according to the distance (r) that changes corresponding to the rotation angle (θ) of the non-cylindrical body (1). The inspection method of the outer peripheral surface of the described non-cylindrical body.

Before the inspection, the directivity angle (α) of the normal (6) in the imaging range (S) of the outer peripheral surface (3) with respect to the rotation angle (θ) of the non-cylindrical body (1) is obtained in advance. By moving the camera (4) on the normal (6) according to the directivity angle (α) corresponding to the rotation angle (θ) of the non-cylindrical body (1), the imaging range (S) of the outer peripheral surface (3) is obtained. 2. The method for inspecting the outer peripheral surface of a non-cylindrical body according to claim 1, wherein the camera is directed toward the camera.

The non-cylindrical body (1) is rotated about the cylindrical center line (2) in the non-cylindrical body (1) as an inspection object, and the outer circumferential surface (3) of the non-cylindrical body (1) is directed. A non-cylindrical body in which the photographing range (S) of the outer peripheral surface (3) is photographed by the camera (4), and the photographed image of the camera (4) is inspected by the image processing unit (5) of the outer peripheral surface (3). In the outer peripheral surface inspection device (10),
The table shaft (11) of the rotary table (9) that supports the non-cylindrical body (1), the variable speed drive motor (12) that drives the table shaft (11), the center line (2), and the imaging range (S ) In accordance with a change in the distance (r) from the outer peripheral surface (3), the first table (13) is moved in the in-focus direction, and the focus adjustment means (15) for keeping the camera (4) at the in-focus distance (F). And an arcuate guide centering on the point (p) of the photographing range (S) of the outer peripheral surface (3) while supporting the camera (4) on the second table (14) on the first table (13). The pointing direction adjusting means (18) and the pointing direction adjusting motor (19) for moving the camera (4) along the means (17) and pointing the camera (4) to the photographing range (S), and measured in advance at the time of inspection Based on the control data, the rotational speed (N) of the drive motor (12) is controlled to provide a non-cylindrical shape. While the peripheral speed (V) of the outer peripheral surface (3) in the photographing range (S) of (1) is made constant, the camera (4) is moved in the in-focus direction by the focus adjusting means (15), and the outer peripheral surface ( 3) and the camera (4), while maintaining the in-focus distance (F), the pointing direction adjusting means (18) is driven by driving the pointing direction adjusting motor (19) based on the preset pointing angle (α). To move the camera (4) on the normal line (6) of the outer peripheral surface (3) in the shooting range (S) and to direct the camera (4) to the shooting range (S) of the outer peripheral surface (3) (20) and a non-cylindrical outer peripheral surface inspection device (10).

The focus adjustment means (15) moves the first table (13) in the focusing direction in accordance with the change in the distance (r) between the center line (2) and the outer peripheral surface (3) of the shooting range (S). The non-cylindrical outer peripheral surface inspection device (10) according to claim 5, characterized in that it comprises a focusing adjustment motor (16).

The focusing adjustment means (15) is attached to the table shaft (11) and has the same contour as the cross section of the non-cylindrical body (1), and the contour of the cam (33) attached to the first table (13). 6. A non-cylindrical outer peripheral surface inspection device (10) according to claim 5, characterized in that it comprises a cam device (32) comprising a cam follower (34) in contact with the non-cylindrical body.

The non-cylindrical body (1) is rotated about the cylindrical center line (2) in the non-cylindrical body (1) as an inspection object, and the outer circumferential surface (3) of the non-cylindrical body (1) is directed. A non-cylindrical body in which the photographing range (S) of the outer peripheral surface (3) is photographed by the camera (4), and the photographed image of the camera (4) is inspected by the image processing unit (5) of the outer peripheral surface (3). In the outer peripheral surface inspection device (10),
A table shaft (11) of a rotary table (9) supporting the non-cylindrical body (1), a variable speed drive motor (12) for driving the table shaft (11), and a non-cylindrical body in contact with the outer peripheral surface (3). A peripheral speed detector (21) that measures the peripheral speed (v) of the outer peripheral surface (3) when rotating (1) at a constant rotational speed (n), and a center line facing the outer peripheral surface (3) A distance meter (22) that measures the distance (r) from the (2) to the outer peripheral surface (3) of the shooting range (S), and the center line (2) and the outer peripheral surface (3) of the shooting range (S) Focus adjustment means (15) for keeping the camera (4) at the focus distance (F) by moving the first table (13) in the focus direction by the focus adjustment motor (16) according to the change of the distance (r). And supporting the camera (4) on the second table (14) on the first table (13) and centering on the photographing range (S) of the outer peripheral surface (3). The pointing direction adjusting means (18) and the pointing direction adjusting motor (19) for moving the camera (4) along the arcuate guide means (17) and pointing the camera (4) to the photographing range (S), before inspection The non-cylindrical body (1) is rotated at a constant rotational speed (n), and the peripheral speed (v) at each point (p) of the outer peripheral surface (3) with respect to the rotational angle (θ) of the non-cylindrical body (1). ) Is measured by the peripheral speed detector (21), and the rotational speed (N) with respect to the rotational angle (θ) of the non-cylindrical body (1) at the time of inspection from the relational expression between the rotational speed (n) and the peripheral speed (v). And the distance (r) between the center line (2) and the outer peripheral surface (3) of the imaging range (S) with respect to the rotation angle (θ) of the non-cylindrical body (1) is measured by a distance meter (22). The rotational speed (N) of the drive motor (12) is measured in advance and based on the rotational speed (N) determined at the time of inspection. And the peripheral speed (V) of the outer peripheral surface (3) in the imaging range (S) of the non-cylindrical body (1) is made constant, and the focus adjustment motor (16) is based on the measured distance (r). ) And the camera (4) is moved in the in-focus direction by the focus adjusting means (15), and the distance between the outer peripheral surface (3) and the camera (4) is kept at the focus distance (F) in advance. The directivity adjusting motor (19) is driven based on the set directivity angle (α), and the camera is placed on the normal line (6) of the outer peripheral surface (3) within the photographing range (S) by the directivity adjusting means (18). A non-cylindrical outer peripheral surface inspection device (10), characterized by comprising a control unit (20) for moving (4) and directing the camera (4) to the photographing range (S) of the outer peripheral surface (3). ).