JP2011038773A - Robot following type image inspection device, robot following type image inspection method, and computer program for use in robot following type image inspection - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image inspection device, an image inspection method, and a computer program for use in image inspection hardly receiving the effect of external light at an installation place without requiring adjustment for avoiding the effect of external light. <P>SOLUTION: The image inspection device includes a robot hand 112 including an infrared irradiation device 120 irradiating urethane 144 applied on a urethane application area on glass 140 with infrared rays and an infrared image pickup device 116 picking up an image of the urethane 144. The robot hand 112 is movable on a route set along the urethane application area. When the robot hand 112 moves on the route, the image is obtained by the infrared image pickup device 116 by continuously picking up the image of the urethane 144 irradiated with the infrared rays by the infrared irradiation device 120 to inspect the application state of the urethane 144 by the image obtained by the infrared image pickup device 116. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention relates to a robot following image inspection apparatus, a robot following image inspection method, and a computer program used for robot following image inspection. Specifically, when a belt-like inspection target area is set on the inspection target object and the robot hand moves along a route set along the inspection target area, the inspection target area is set by an imaging device attached to the robot hand. A robot follow-up type image inspection apparatus, a robot follow-up type image inspection method, and a computer program for use in a robot follow-up type image inspection. About.
As a field of application of the present invention, inspection of the application state of a primer applied in a strip shape to the periphery of a fixed window glass for automobiles, or application of adhesive urethane applied linearly after applying the primer A state check can be mentioned.

When attaching a window glass for a fixed window of an automobile to an opening of an automobile, first, a liquid primer is applied to the periphery of the window glass and the opening of the automobile and dried to remove the window glass and the opening of the automobile. Make the adhesive easy to adjust to the bonding site. Next, for example, urethane is applied as an adhesive to the portion where the primer of the window glass is applied. And the site | part with which the urethane was apply | coated to the window glass is bonded together to the site | part with which the primer of the opening part of the motor vehicle was apply | coated, and a window glass is attached and fixed to the opening part of a motor vehicle.
FIG. 1 is a plan view of the glass 40 on which the primer 42 is applied. The primer 42 is applied to the band-shaped region as shown in FIG. FIG. 2 shows a cross section of the glass 40 in which the urethane 44 is applied on the primer 42 and a cross section of the opening 41 of the automobile in which the primer 42 to be attached is applied. The cross section of the urethane 44 applied to the glass 40 is triangular as shown in FIG.
Here, if uneven coating occurs in the primer or adhesive, it may lead to poor adhesion between the window glass and the opening of the car, which may cause rain leakage, so check the application state of the primer and adhesive. Is desirable.
Since the primer is used for undercoating the adhesion site, the inspection of the application state of the primer requires a flat inspection of the application state. On the other hand, since the adhesive is applied with a strong stickiness on the window glass and fills the bonding area between the window glass and the opening of the car, the amount of applied inspection is performed in the inspection of the adhesive application state. Is needed.

As a prior art, Japanese Patent Application Laid-Open No. 2006-305426 (Patent Document 1) uses 8 digital cameras to photograph window glass before and after primer application, and compares images before and after primer application with an information processing device. Thus, a method for inspecting the application state of the primer has been proposed.
However, in the technique described in Patent Document 1, since it is necessary to cover the entire window glass primer coating range with eight cameras, the range covered by one camera is wide, and the resolution of the captured image is large. There was a problem of low. Therefore, the inspection accuracy of the primer application state was not sufficient.
In the technique disclosed in Patent Document 1, the camera and the fluorescent lamp for the light source are installed at the upper part of the primer application station so that the camera and the light source for photographing do not obstruct the primer application. For this reason, the distance between the camera and the window glass is large, and the light from the outside tends to affect the captured image. And in the technique of patent document 1, since the change of the brightness | luminance before and after primer application is determined using the change of the primer, the applicability of the primer application state is determined. If the influence of light from the outside is different at the time of shooting, the determination of the suitability of the application state will be affected.
As described above, in the conventional technique, the accuracy of the captured image is low, and it is difficult to keep the illumination of the inspection target region uniform. Therefore, the accuracy of the primer application state determination is not sufficient. Further, since the configuration uses eight cameras, there is a problem that the inspection equipment becomes complicated and expensive.

  Therefore, the inventor of the present application pays attention to the fact that the inspection target area is a belt-like shape, shifts the imaging range little by little in a state where the inspection target area is illuminated from a close distance, and covers the entire inspection target area. If the image to be acquired is acquired, it was thought that the image with high precision and the illumination of the region to be inspected was kept uniform. He created the technical idea of robot-following image inspection and applied for a patent. This application is published as Japanese Patent Application Laid-Open No. 2009-36705 (Patent Document 2).

JP 2006-305426 A JP 2009-36705 A

The robot-following image inspection apparatus is an imaging apparatus that is attached to the robot hand to inspect the inspection target area illuminated by the illumination device attached to the robot hand when the robot hand moves on the path along the inspection target area. Images are acquired by continuous shooting, and the inspection target area is inspected by using the images.
The robot follow-up type image inspection apparatus described in Patent Document 2 by the inventor of the present application has been introduced into a plurality of sites, and it has been confirmed that the accuracy of image inspection is remarkably improved as compared with the prior art. However, the influence of light from the outside at the site where the robot follow-up type image inspection device is introduced cannot be ignored even when the inspection target area is photographed in a state of being illuminated from a close distance. In some cases, adjustments such as changing a threshold value in image processing of the robot follow-up type image inspection apparatus are required in accordance with the environment of the installation site.

  Therefore, the problem to be solved by the present invention is an image inspection apparatus, an image inspection method, and an image that are not easily affected by external light at the installation location and do not require adjustment to avoid the influence of external light. It is to provide a computer program used for inspection.

In order to solve the above problems, the inventor of the present application has developed a technical idea of robot-following image inspection, and has found a means capable of inspecting an inspection target region with little influence by natural light or illumination light. . And each invention which concerns on this invention takes the following means.
First, the first invention of the present invention is an image inspection apparatus that inspects the state of an inspection target region from an image obtained by photographing the inspection target region set in a strip shape on the inspection target,
The robot hand is provided with an infrared irradiation device that irradiates the inspection target region with infrared rays and an infrared imaging device that images the inspection target region, and the robot hand is on a route set along the inspection target region. Is configured to be able to move,
When the robot hand moves on the path, the inspection target region irradiated with infrared rays by the infrared irradiation device is continuously captured by the infrared imaging device to acquire an image, and the image acquired by the infrared imaging device This is a robot follow-up type image inspection apparatus that inspects the state of the inspection object region.
Here, the continuous shooting means that images are continuously shot at a time interval in which the shooting ranges of the preceding and following shot images partially overlap.

According to the first aspect of the invention, since the inspection target area on the inspection target is imaged at a close distance by the infrared imaging device attached to the robot hand, the imaging range covered by one image is narrow, so that the inspection target A highly accurate image can be obtained for the region. At this time, since the inspection target area photographed by the infrared imaging apparatus is irradiated with infrared rays from a short distance by the infrared irradiation apparatus, an infrared image of the inspection target area is obtained. And since the infrared rays contained in natural light and illumination light are very weak, there is almost no influence of light from the outside, and a clear infrared image with constant infrared irradiation conditions can be obtained. In addition, the image obtained by continuous imaging covers the band-shaped inspection target area without any gap. The state of the inspection target area can be inspected with the acquired infrared image.
Therefore, it is possible to provide an image inspection apparatus that is hardly affected by light from the outside at the installation site and does not require adjustment for avoiding the influence of light from the outside.

Next, a second invention of the present invention is the robot following image inspection apparatus according to the first invention,
The inspection target area is an adhesive application area, and the infrared imaging apparatus is configured to image the adhesive application area from the side, and the inspection of the inspection target area is performed by applying an adhesive. It is an inspection of the application height of the adhesive in the region.
According to the second aspect of the present invention, the adhesive needs to be applied in a predetermined amount per unit length, but the adhesive is highly sticky and is applied in a state having a width and thickness on the inspection object. So, according to the image taken by the infrared imaging device from the side of the adhesive application area irradiated with infrared, by simply checking the application height of the adhesive, grasp the adhesive application amount, The application state of the adhesive can be inspected.

Next, a third invention of the present invention is the robot following image inspection apparatus according to the second invention,
The robot hand is equipped with an adhesive application device for applying an adhesive,
When the robot hand moves on a path set along the adhesive application area set in a strip shape on the inspection object, the adhesive is applied onto the inspection object by the adhesive application device. In addition, the adhesive application region immediately after the adhesive is applied by the adhesive application device is photographed by the infrared imaging device.
According to the third aspect of the invention, the adhesive is applied to the adhesive application area by the adhesive application device attached to the robot hand, and the adhesive immediately after the adhesive is applied by the adhesive application device. The application area is irradiated with infrared rays and imaged from the side by an infrared imaging device. Accordingly, since the application of the adhesive and the inspection of the application height of the adhesive can be performed at the same time, the inspection of the application state of the adhesive can be efficiently performed.

Next, a fourth invention of the present invention is the robot following image inspection apparatus according to the first invention,
The inspection object area is an adhesive application area, and the infrared imaging apparatus includes a lateral imaging apparatus that images the adhesive application area from the side and an upper imaging apparatus that images the adhesive application area from above. Consists of
The inspection of the state of the inspection target area is performed by inspecting the adhesive application height in the adhesive application area by the image acquired by the side imaging apparatus and in the adhesive application area by the image acquired by the upper imaging apparatus. It is an inspection of the application position and application width of the adhesive.
According to the fourth aspect of the invention, the adhesive needs to be applied in a predetermined amount. However, since the adhesive is applied with a high viscosity and a width and thickness on the inspection object, infrared rays are irradiated. If an image is acquired by photographing the applied area of the adhesive from above and from the side with an infrared imaging device, the application state of the adhesive can be determined by inspecting the application position, application width, and application height of the adhesive. Inspection can be performed with high accuracy.

Next, a fifth invention of the present invention is the robot following image inspection apparatus according to the fourth invention,
The robot hand is equipped with an adhesive application device for applying an adhesive,
When the robot hand moves on a path set along the adhesive application area set in a strip shape on the inspection object, the adhesive is applied onto the inspection object by the adhesive application device. In addition, the adhesive application region immediately after the adhesive is applied by the adhesive application device is photographed by the side photographing device and the upper photographing device.
According to the fifth aspect of the present invention, the adhesive is applied to the adhesive application area by the adhesive application device attached to the robot hand, and the adhesive immediately after the adhesive is applied by the adhesive application device. The application area is irradiated with infrared rays, and images are taken from the side and above by an infrared imaging device. Accordingly, since the application of the adhesive and the inspection of the application position, the application width, and the application height of the adhesive can be performed at the same time, the inspection of the application state of the adhesive can be performed efficiently and accurately.

Next, a sixth invention of the present invention is the robot following image inspection apparatus according to the first invention,
The inspection target area is an adhesive application area, and the infrared imaging device is configured to image the adhesive application area from above, and the inspection of the inspection target area is performed by applying the adhesive application area. It is the inspection of the application position and the application width of the adhesive in
According to the sixth aspect of the present invention, the adhesive needs to be applied in a predetermined amount per unit length, but the adhesive is applied with a strong and wide width and thickness on the inspection object. Therefore, according to the image obtained by photographing the adhesive application area irradiated with infrared rays from above with an infrared imaging device, it is possible to easily grasp the adhesive application amount by inspecting the adhesive application position and application width. The application state of the adhesive can be inspected.

Next, a seventh invention of the present invention is the robot following image inspection apparatus according to the sixth invention,
The robot hand is equipped with an adhesive application device for applying an adhesive,
When the robot hand moves on a path set along the adhesive application area set in a strip shape on the inspection object, the adhesive is applied onto the inspection object by the adhesive application device. In addition, the adhesive application region immediately after the adhesive is applied by the adhesive application device is photographed by the infrared imaging device.
According to the seventh aspect of the invention, the adhesive is applied to the adhesive application region by the adhesive application device attached to the robot hand, and the adhesive immediately after the adhesive is applied by the adhesive application device. The coating area is irradiated with infrared rays and photographed from above with an infrared imaging device. Therefore, since the application | coating of an adhesive agent and the application | coating position and width | variety of an adhesive agent can be test | inspected simultaneously, the test | inspection of the application state of an adhesive agent can be performed efficiently.

Next, an eighth invention of the present invention is the robot following image inspection apparatus according to any one of the second to fifth inventions,
The adhesive application device is a nozzle, the inspection object is a glass member, and the adhesive is urethane.
According to the eighth aspect of the invention, the urethane applied to the glass member is photographed at least from the side by an infrared imaging device, whereby the amount of urethane applied can be easily grasped and the urethane applied state is inspected. Can do.

Next, a ninth invention of the present invention is a robot following image inspection apparatus according to any one of the second to seventh inventions,
The adhesive application device is a seal applicator, the inspection object is a metal member, and the adhesive is a seal.
According to the ninth aspect, the seal applied to the metal member is photographed by the infrared photographing device at least from above or from the side. Here, since the seal is swelled in a semicircular shape, it can be easily grasped by applying an image from above to inspect the application width or from the side to inspect the application height. Thus, the application state of the seal can be inspected.

Next, a tenth aspect of the present invention is the robot following image inspection apparatus according to the first aspect,
The inspection object area is a primer application area, and the infrared imaging device is configured to image the primer application area from above, and the inspection of the state of the inspection object area is performed on the primer in the primer application area. It is an inspection of the application state.
According to the tenth invention, since the primer is thinly applied on the inspection object with a predetermined width, according to the image obtained by photographing the primer application region irradiated with infrared rays from above with the infrared imaging device, the primer is applied. The application state can be easily inspected, and the primer application state can be accurately inspected.

Next, an eleventh invention of the present invention is the robot following image inspection apparatus according to the tenth invention,
A brush for primer application is attached to the robot hand,
When the robot hand moves on a path set along a primer application region set in a strip shape on the inspection object, the brush applies the primer onto the inspection object, and the brush The primer application region immediately after the primer is applied is photographed by the infrared imaging device.
According to the eleventh aspect of the invention, the primer is applied to the primer application region by the brush attached to the robot hand, and the primer application region immediately after the primer is applied by the brush is irradiated with infrared rays so that the infrared rays are applied from above. Take a picture with a picture taking device. Therefore, since the primer application and the primer inspection can be performed simultaneously, the primer application state inspection can be efficiently performed.

Next, a twelfth aspect of the present invention is the robot following image inspection apparatus according to the tenth aspect or the eleventh aspect of the present invention,
The inspection object is a glass member for automobiles.
According to the twelfth aspect of the present invention, it is possible to accurately inspect the application state of the primer applied in a strip shape to a glass member for automobiles.

Next, a thirteenth aspect of the present invention is an image inspection method for inspecting the state of an inspection target region from an image obtained by photographing the inspection target region set in a strip shape on the inspection target,
When a robot hand equipped with an infrared irradiation device that irradiates infrared rays to the inspection target area and an infrared imaging device that images the inspection target area moves on a route set along the inspection target area The region to be inspected that has been irradiated with infrared rays by the infrared irradiation device is continuously captured by the infrared imaging device to obtain images,
It is a robot follow-up type image inspection method for inspecting the state of an inspection object region based on an image acquired by the infrared imaging device.
Here, as in the case of the first aspect of the present invention, continuous shooting refers to continuous shooting of images at time intervals in which the shooting ranges of the preceding and following shot images partially overlap.

The thirteenth invention is a method invention corresponding to the apparatus according to the first invention.
According to the thirteenth aspect, since the inspection target area on the inspection target is imaged at a close range by the infrared imaging device attached to the robot hand, the imaging range covered by one image is narrow, so the inspection target A highly accurate image can be obtained for the region. At this time, since the inspection target area photographed by the infrared imaging apparatus is irradiated with infrared rays from a short distance by the infrared irradiation apparatus, an infrared image of the inspection target area is obtained. And since the infrared rays contained in natural light and illumination light are very weak, there is almost no influence of light from the outside, and a clear infrared image with constant infrared irradiation conditions can be obtained. In addition, the image obtained by continuous imaging covers the band-shaped inspection target area without any gap. The state of the inspection target area can be inspected with the acquired infrared image.
Therefore, it is possible to provide an image inspection method that is not easily affected by light from the outside at the installation location and does not require adjustment for avoiding the influence of light from the outside.

Next, a fourteenth aspect of the present invention is a computer program for inspecting the state of an inspection target region from an image obtained by photographing the inspection target region set in a strip shape on the inspection target,
Infrared imaging of the inspection target area area irradiated with infrared rays by the infrared irradiation apparatus when the robot hand with the infrared irradiation apparatus and the infrared imaging apparatus moves on the set path along the inspection target area. A computer program used for robot-following image inspection that functions as an image processing device comprising image acquisition means for acquiring images continuously captured by the apparatus and image processing means for processing the images and inspecting the state of the inspection target region It is.

According to the fourteenth aspect of the invention, the image acquired by the computer is an image obtained by photographing the inspection target area on the inspection target at a close distance by an infrared imaging device attached to the robot hand. The shooting range to be covered is narrow and highly accurate. In addition, the inspection target area photographed by the infrared imaging device is irradiated with infrared rays from a short distance from the infrared irradiation device, so that it is not easily affected by external light, and the infrared irradiation conditions are constant, and the image is clear. It is. Further, since the images are taken continuously, the obtained image covers the entire belt-shaped inspection target area without any gaps. Therefore, the state of the inspection target region can be inspected with high accuracy by processing the computer with a high-accuracy and clear image obtained by the continuous photographing.
Therefore, it is possible to provide a computer program used for image inspection that is hardly affected by light from the outside at the installation site and does not require adjustment for avoiding the influence of light from the outside.

According to each invention of the present invention described above, the following effects can be obtained.
First, according to the first invention described above, it is possible to provide an image inspection apparatus that is not easily affected by light from the outside at the installation location and does not require adjustment for avoiding the influence of light from the outside.
Next, according to the above-mentioned 2nd invention, the application quantity of an adhesive can be grasped | ascertained simply by inspecting the application height of an adhesive, and the application state of an adhesive can be test | inspected.
Next, according to the above-mentioned third invention, since the application of the adhesive and the inspection of the application height of the adhesive can be performed at the same time, the inspection of the application state of the adhesive can be performed efficiently.
Next, according to the above-described fourth invention, the application state of the adhesive can be accurately inspected by inspecting the application position, the application width, and the application height of the adhesive.
Next, according to the above-mentioned fifth invention, since it is possible to simultaneously inspect the application of the adhesive and the application position, the application width and the application height of the adhesive, the inspection of the application state of the adhesive can be performed efficiently and It can be performed with high accuracy.
Next, according to the above-mentioned sixth invention, the application amount of the adhesive can be easily grasped by inspecting the application position and the application width of the adhesive, and the application state of the adhesive can be inspected.
Next, according to the seventh invention described above, since the application of the adhesive and the inspection of the application position and the application width of the adhesive can be performed at the same time, the inspection of the application state of the adhesive can be performed efficiently.
Next, according to the above-mentioned eighth invention, it is possible to easily grasp the amount of urethane applied to the glass member and to inspect the applied state of urethane.
Next, according to the above-mentioned ninth invention, since the seal is raised and applied in a semicircular shape, if the image is taken from above to inspect the application width or the image is taken from the side to inspect the application height. It is possible to easily grasp the application amount of the seal and inspect the application state of the seal.
Next, according to the tenth aspect described above, it is easy to inspect the application state of the primer, and the application state of the primer can be inspected with high accuracy.
Next, according to the eleventh aspect of the present invention, since the primer application and the primer inspection can be performed simultaneously, the primer application state inspection can be efficiently performed.
Next, according to the above-described twelfth aspect, it is possible to accurately inspect the application state of the primer applied in a belt shape to the glass member for automobiles.
Next, according to the thirteenth aspect described above, it is possible to provide an image inspection method that is not easily affected by external light at the installation location and does not require adjustment for avoiding the influence of external light.
Next, according to the fourteenth aspect described above, a computer program used for image inspection is provided that is not easily affected by external light at the installation location and does not require adjustment to avoid the influence of external light. be able to.

It is a top view of the glass by which the primer was apply | coated. It is a figure which shows the cross section of the opening part of the motor vehicle with which the primer and the glass which the primer and urethane were apply | coated, and the primer which was the attachment object of glass. It is a figure which shows the structure of the robot hand in Example 1. FIG. It is a figure which shows the whole structure of the robot follow-up type image inspection apparatus in Example 1. It is a figure which shows the wavelength characteristic of the infrared irradiation apparatus and infrared imaging device which are used in Example 1. FIG. It is a figure explaining the division of the electromagnetic waves by a wavelength. The image figure which image | photographed the glass in the state where the urethane was apply | coated with the infrared imaging device in the room of a bright state is shown. FIG. 3 is a diagram illustrating a shooting range of continuously shot images in the first embodiment. It is a figure which shows the image for a test | inspection in the state by which the adhesive agent was apply | coated to glass in Example 1. FIG. It is a figure which shows the operation | movement flow of the robot tracking type image inspection apparatus in Example 1. FIG. It is a figure explaining the method of determining the suitability of the application | coating state of the adhesive agent apply | coated linearly. It is a figure explaining the method to determine the suitability of the application state of the adhesive apply | coated to the corner part. It is a figure which shows the example in which disorder of the application | coating state of an adhesive agent is detected. It is a figure which shows the example in which the discontinuity of the apply | coated adhesive agent is detected. 2 is a flowchart of image inspection in Embodiment 1. FIG. It is a figure which shows the structure of the robot hand in Example 2. FIG. It is a figure which shows the whole structure of the robot follow-up type image inspection apparatus in Example 2. It is a figure explaining the method to determine the suitability of an application state from the image image | photographed with the upper imaging device in Example 2. FIG. It is a figure which shows the example of determination of the appropriateness of the application | coating width | variety of an adhesive agent, and an application position. FIG. 10 is a flowchart of image inspection in the second embodiment. FIG. 10 is a diagram illustrating a configuration of a robot hand in a third embodiment. It is a figure which shows the whole structure of the robot tracking type | formula image inspection apparatus in Example 3. FIG. FIG. 10 is a diagram illustrating a shooting range of continuously shot images in the third embodiment. In Example 3, it is a figure which shows the image for a test | inspection in the state by which the primer was apply | coated to glass. FIG. 10 is a diagram illustrating an example in which fading is detected in the third embodiment. It is a figure which shows the structure of the robot hand in Example 4. FIG. FIG. 10 is a diagram illustrating a configuration of a robot hand according to a fifth embodiment. FIG. 10 is a diagram for explaining overlapping of shooting ranges in the fifth embodiment.

  Hereinafter, modes for carrying out the present invention will be described according to examples.

  FIG. 3 shows the robot hand 112 constituting the robot follow-up image inspection apparatus according to the first embodiment of the present invention, and FIG. 4 shows the overall structure of the robot follow-up image inspection apparatus 110 provided with the robot hand 112. This robot follow-up type image inspection apparatus 110 is a robot follow-up type that inspects an application state of urethane 144 applied as an adhesive to a urethane application region set in a belt shape around a glass 140 for a fixed window of an automobile by an infrared image. An image inspection apparatus. The glass 140 corresponds to the inspection object of the present invention, and the urethane coating area corresponds to the inspection object area of the present invention. In FIG. 3, the connection portion between the robot hand 112 and the robot body 111 (see FIG. 4) is not shown.

[Configuration and operation of robot hand]
First, the configuration and operation of the robot hand 112 will be described. The robot hand 112 is controlled by a robot control panel 128 (see FIG. 4), and is configured to be able to move on a path set along a belt-like urethane coating region on the glass 140 by teaching.
A nozzle 114 for applying urethane 144 to the glass 140 is attached to the tip of the robot hand 112. Here, the direction of the robot hand 112 is configured to follow the traveling direction of the robot hand 112, and a triangular opening 115 that is formed on one side of the tip of the nozzle 114 and supplies urethane 144 onto the glass 140 is a robot. The hand 112 is configured to face backward in the traveling direction.

The infrared irradiation device 120 is attached to the rear of the moving direction of the robot hand 112 above the nozzle 114, and the infrared photographing device 116 is attached to the right rear of the moving direction of the robot hand 112 above the nozzle 114. .
Here, since the direction of the robot hand 112 follows the traveling direction, the infrared irradiation device 120 is always located behind the traveling direction of the robot hand 112, and the infrared imaging device 116 is always traveling in the traveling direction of the robot hand 112. At the right side of the nozzle 114. The imaging range of the infrared imaging device 116 is an area where the urethane 144 coating area behind the nozzle 114 is viewed from the side, and the area is configured to be irradiated with infrared rays from above by the infrared irradiation apparatus 120. ing. The infrared irradiation device 120 is configured to irradiate infrared rays with an infrared LED.

Then, when the robot hand 112 is controlled by the robot control panel 128 (see FIG. 4) and moves on a set path along the urethane coating area on the glass 140, urethane from a urethane supply device (not shown) is moved accordingly. 144 is supplied to the nozzle 114 via the pipe 113. Then, the urethane 144 is supplied onto the glass 140 from the opening 115 of the nozzle 114, and the urethane 144 is applied to the application region set on the glass 140. Then, since the region immediately after the urethane 144 is applied enters the field of view of the infrared imaging device 116 in a state where infrared rays are irradiated by the infrared irradiation device 120, the urethane 144 immediately after being applied by the infrared imaging device 116 is moved to the side. It is possible to shoot with infrared rays.
Then, as the robot hand 112 moves on the set path along the urethane 144 application area, the infrared imaging device 116 continuously shoots the urethane 144 application area at time intervals where the imaging ranges overlap. Thus, the whole of the urethane 144 applied by the nozzle 114 is covered, and an infrared image that can be used for inspection of the applied state of the urethane 144 can be obtained.
And since application | coating of the urethane 144 and imaging | photography of the urethane 144 are implemented simultaneously, the efficiency of a test | inspection is good. Note that an image obtained by the infrared imaging device 116 is a gray scale image, where a portion where infrared reflection is strong is bright and a portion where infrared reflection is weak is dark.

[Infrared rays used in Example 1]
Here, the infrared rays used in Example 1 of the present invention will be described. FIG. 5 shows the wavelength characteristics of the infrared imaging device 116 and the infrared irradiation device 120 used in the first embodiment. The vertical axis represents transmittance and the horizontal axis represents wavelength. As shown in FIG. 5, since the infrared imaging device 116 has a high transmittance of about 90% in the near-infrared wavelength region, it has high sensitivity to the near-infrared. In the visible light wavelength range, visible light is only slightly transmitted in a wavelength range close to near infrared, and the infrared imaging device 116 hardly accepts visible light. As shown in FIG. 5, the infrared irradiation device 120 does not irradiate light in the visible wavelength range, and the infrared imaging device 116 irradiates near infrared rays in a wavelength range with high transmittance.

FIG. 6 shows the classification of electromagnetic waves by the wavelength corresponding to the designation. Infrared rays used in this embodiment are preferably near infrared rays having a wavelength of 700 nm to 2.5 μm, which can grasp the outer shape of the object to be photographed. When photographing with near infrared rays, it is possible to obtain an image in which the outer shape of the object can be grasped by contrast as in a normal black-and-white photograph.
FIG. 7 shows an image obtained by photographing the glass 140 with the urethane 144 applied in a bright room with the infrared imaging device 116. 7A is an image obtained when the infrared LED of the infrared irradiation device 120 is turned off, and FIG. 7B is an image obtained when the infrared LED of the infrared irradiation device 120 is turned on. FIG. Since near infrared rays are weak even when natural light or illumination light is bright, in FIG. 7A, the glass 140 and the urethane 144 cannot be discriminated in black, and the nozzle 114 can be discriminated slightly. On the other hand, in FIG.7 (b), the nozzle 114 and urethane 144 which reflect infrared rays can be identified, and the glass 140 which hardly reflects infrared rays becomes black.

  According to the first embodiment, since the urethane 144 applied on the glass 140 is photographed by the infrared imaging device 116 from a close distance in a state where the infrared irradiation device 120 irradiates infrared rays on the application region of the urethane 144, the infrared imaging device 116 reflects infrared rays. It is possible to obtain an image that is exposed only to a portion. And since the infrared imaging device 116 has almost no sensitivity to the wavelength of visible light, even if the state of visible light such as natural light or room light entering from a window that hits the urethane coating region changes, the change in the state of visible light hardly occurs. The image of the application area | region of urethane 144 can be acquired in the state which does not receive.

[Overall control of robot-following image inspection system]
Next, referring back to FIG. 4, the overall control of the robot following image inspection apparatus 110 will be described.
The line control panel 130 performs overall control of the robot following image inspection apparatus 110. Then, the robot control panel 128 issues a command to the robot body 111 so that the robot hand 112 moves on the glass 140 along the urethane application area on the glass 140 by teaching. Then, the robot body 111 creates a movement in which the robot hand 112 moves on a predetermined route.
The image processing device 122 takes an image photographed by the infrared photographing device 116 attached to the robot hand 112 via the relay box 126 and immediately checks the application state of the urethane 144 from the image data to determine whether the application state is appropriate. The result is reported to the line control panel 130. Here, in addition to relaying image data, the relay box 126 also serves as a power source for the infrared irradiation device 120, receives control information of the infrared irradiation device 120 from the line control panel 130 via the image processing device 122, and receives infrared rays. It controls the turning on / off of the infrared LED of the irradiation device 120. The infrared irradiation device 120 emits near infrared rays as described above.

The display device 124 displays an image photographed by the infrared photographing device 116, an inspection result of the application state of the urethane 144, and the like.
The recording device 125 receives an image photographed by the infrared photographing device 116 as video data via the image processing device 122, and stores an image obtained by continuously photographing the application state of the urethane 144 as moving image data. Thereby, it is possible to make the inspection data at the time of the application inspection of the urethane 144 compact and leave it as history data, thereby improving the traceability of the inspection result. The recording device 125 may be omitted.

[Image for inspection of urethane application]
Next, an inspection image of the applied state of urethane 144 will be described. FIG. 8 shows a shooting range 146 of successive frames of images continuously shot by the infrared imaging device 116. As shown in FIG. 8, since the imaging ranges 146 overlap with the front and rear frames, an image covering the entire area where the urethane 144 is applied by the infrared imaging device 116 can be obtained without any gap.
FIG. 9 is an image obtained by converting the image of the photographing range 146 photographed by the infrared photographing device 116 into the inspection image 148. Here, the photographing range 146 by the infrared photographing device 116 is a position range where the nozzle 114 is photographed as shown in FIG. The urethane 144 and its surroundings are irradiated with near infrared rays by the infrared irradiation device 120. As described above, the nozzle 114 and the urethane 144 that reflect infrared rays appear bright, and the glass 140 that hardly reflects infrared rays appears dark. Therefore, the brightness and darkness of the image is inverted and binarized to convert the glass 140 to white and the nozzle 114 and urethane 144 to black to obtain an inspection image 148.

[Control and data flow in robot-following image inspection equipment]
FIG. 10 shows the flow of control and data among the line control panel 130, the robot control panel 128, and the image processing apparatus 122 along the flow of time.
When an instruction to start inspection is given to the line control panel 130, a start command is sent from the line control panel 130 to the robot control panel 128. Upon receiving the start command, the robot control panel 128 activates the robot body 111 and moves the robot hand 112 to the application start position on the path set along the urethane application area on the glass 140 by teaching. When the robot hand 112 arrives at the application start position, the robot control panel 128 notifies the line control panel 130 to that effect. Then, the robot control panel 128 applies the urethane 144 onto the glass 140 by the nozzle 114 attached to the robot hand 112 while moving the robot hand 112 on the glass 140 on a path along the planned application area of urethane. To start.

When the line control panel 130 receives a notification from the robot control panel 128 that the robot hand 112 has arrived at the application start position, it sends a start command to the image processing apparatus 122. Receiving the start command, the image processing device 122 turns on the infrared LED of the infrared irradiation device 120 via the relay box 126 and sets the recording device 125 in a recordable state. Then, imaging of the urethane 144 applied by the nozzle 114 is started by the infrared imaging device 116 at regular time intervals.
In addition, the interval of the imaging time by the infrared imaging device 116 is set to 40 milliseconds, and the imaging range overlaps about 70% in consecutive captured images.

  When photographing by the infrared photographing device 116 is started, the image processing device 122 captures the photographed image via the relay box 126, sends the original image to the recording device 125 in a video format, and captures the captured image. Is converted into the format of the aforementioned inspection image 148 and displayed on the display device 124. Then, the image processing device 122 performs image processing on the inspection image 148 to inspect the application state of the urethane 144, determines whether the application state is appropriate, displays the result on the display device 124, and performs line control on the determination result. The board 130 is notified. Here, the time required from when the image processing device 122 captures an image captured by the infrared imaging device 116 to determine whether the application state of the urethane 144 is appropriate is equal to or shorter than the imaging time interval of the infrared imaging device 116. Determination of suitability of the application state is performed in real time.

When the robot hand 112 reaches the end point of the urethane 144 application area, the robot control panel 128 notifies the line control panel 130 of the end of application and ends the application of the urethane 144. When the line control panel 130 receives a notification of the end of application, it sends an image processing end command to the image processing device 122. When the image processing device 122 receives the image processing end command, the image capturing by the infrared photographing device 116 is finished, the infrared LED of the infrared irradiation device 120 is turned off via the relay box 126, and the recording device 125 is instructed to finish the recording. Send.
The robot control panel 128 notifies the line control panel 130 of the arrival of the standby position after moving the robot hand 112 to the standby position away from the glass 140. Therefore, the line control panel 130 sends a stop command to the robot control panel 128, and the robot main body 111 is stopped by the robot control panel 128.

[Inspection of urethane coating by image processing]
Next, a method for inspecting the application state of the urethane 144 and determining the suitability of the application state will be described with reference to FIGS. As described above, the urethane 144 is applied in a state where the cross section is a triangle, and therefore, if the urethane 144 is applied in a state having a predetermined height, the amount of the urethane 144 applied may be considered appropriate. Therefore, the application height of the urethane 144 is inspected to determine whether the application state is appropriate.
Specifically, first, it is determined from the inspection image 148 whether the urethane 144 is applied linearly or non-linearly in the imaging range 146. FIG. 11 is an example in which the shooting range is determined to be linear, and FIGS. 12 to 14 are examples in which the shooting range is determined to be non-linear.
As shown in FIGS. 11 to 14, the nozzle 114 is set to appear in the imaging range 146. Therefore, the position of the upper end of the urethane 144 is estimated from the position of the opening 115 of the nozzle 114, and if a straight line that is a boundary between white and black is detected at the upper end of the urethane 144, the application of the urethane 144 is determined to be linear, and the straight line is If it cannot be detected, the application of urethane 144 is determined to be non-linear.

  The detection of a straight line as a boundary is performed by, for example, sampling the places where the upper part is white and the lower part is black at several places in the width direction of the inspection image 148 as the upper end of the urethane 144, and whether or not the upper end of the urethane 144 is on the straight line. It is done by judging. When the sampling point is on a straight line, it is determined that the application is a straight line, and the line is set as an assumed upper end line 150. Then, the upper end of the urethane 144 is detected by finely sampling the upper end of the urethane image 144 in the width direction of the inspection image 148 to obtain a point that changes from white to black. A fine vertical line in FIG. 11 indicates a sampling position. If the error between the upper end assumption line 150 of the urethane 144 and the upper end of the urethane 144 is within an allowable value, the application state is determined to be appropriate. If the error exceeds the allowable value, the application state is inappropriate. Judge that there is.

  When it is determined that the application of the urethane 144 is non-linear, as shown in FIG. 12, a rectangular survey block 154 is defined in the width direction of the inspection image 148, and the urethane is sampled for each survey block 154 by fine sampling. The upper end line 152 of 144 is extracted. And when disturbance is recognized in the upper end line 152 of the adjacent investigation block 154, for example, when a level | step difference arises in the upper end line 152, it determines with the application | coating state being unsuitable. If the upper end line 152 is not disturbed, it is determined that the application state is appropriate. In the example shown in FIG. 12, it is determined that there is no disturbance in the upper end line 152 at the corner and the application state is appropriate. In the example shown in FIG. 13, a step is generated in the upper end line 152 at the corner, and the application state is determined to be inappropriate.

  FIG. 14 shows an example in which the application of urethane 144 is interrupted. In the example shown in FIG. 14, the application is determined to be non-linear by sampling the upper end of the urethane 144, and changes from white as the upper end of the urethane 144 to black in the detection of the upper end line 152 for each survey block 154. A point cannot be detected, and it is determined that the application has run out. If the upper end of the urethane 144 cannot be detected at the time of sampling for determining whether or not the application state is linear, it can be determined that the application has run out at that time.

FIG. 15 shows a processing flow of image inspection by a computer program executed by the image processing apparatus 122. When a start command is sent from the line control panel 130 (see FIG. 10) to the image processing device 122, the image inspection is started. When the image inspection is started, an image photographed by the infrared photographing device 116 is acquired through the image processing device 122 in S100, and the photographed image is converted into an inspection image 148 in S102.
Next, in S110, it is determined whether or not the urethane 144 is linear within the imaging range 146. If it is determined that the shape is linear, in S112, an error between the estimated upper end line 150 and the upper end of the urethane 144 sampled finely is evaluated to determine whether the urethane 144 is applied properly (see FIG. 11). When it is determined that the urethane 144 is not linear, the upper end line 152 for each survey block 154 is detected in S114. Then, in S116, it is inspected whether the upper end line 152 of the adjacent investigation block 154 is aligned, and the suitability of the application state of the urethane 144 is determined (see FIG. 12). In S120, the determination result is reported to the image processing apparatus 122.
Next, in S130, it is inspected whether or not the image processing apparatus 122 has received an image processing end command from the line control panel 130, and if the end command has been received, the image inspection is ended. If an end command has not been received, the process returns to S100 to process the next captured image. And the process after S100 is repeated until an end command comes.
In the flow of FIG. 15, the processing when the upper end of the urethane 144 cannot be detected is omitted, but in this case, it can be determined that the applied urethane 144 is interrupted, so the application state is not good. It is determined as appropriate, and the process jumps to S120 to report the determination result.

[Effect of Example 1]
According to the first embodiment, the infrared imaging device 116 attached to the robot hand 112 continuously shoots the urethane 144 applied on the glass 140 in the state irradiated with infrared rays from the infrared irradiation device 120 from a close range. In addition, a highly accurate infrared image showing the application state of urethane 144 can be obtained. Since the image obtained by continuous photographing covers the application area of the belt-like urethane without any gap, the application state of the urethane 144 can be thoroughly inspected. Since the infrared image is hardly affected by natural light or illumination light, it is not necessary to adjust the threshold of image processing or the like according to the use environment, and the application state of urethane can be inspected accurately and stably.
Therefore, it is possible to provide an image inspection apparatus that is hardly affected by light from the outside at the installation site and does not require adjustment for avoiding the influence of light from the outside.

According to the first embodiment, since the infrared imaging device 116 images the urethane 144 from the side, the application amount of the urethane 144 can be easily grasped by inspecting the application height of the urethane 144 by image processing.
Since the urethane 144 is photographed when the urethane 144 is applied and the application state of the urethane 144 is inspected in real time, the application state of the urethane 144 can be efficiently inspected.

[Overview of Example 2]
Next, a second embodiment of the present invention will be described. FIG. 16 shows a robot hand 112A constituting the robot follow-up type image inspection apparatus 110A (see FIG. 17) in the second embodiment. The difference between the robot hand 112A and the robot hand 112 according to the first embodiment is that a side photographing device 117 that photographs the urethane coating region with infrared rays from the side and an upper photographing device 118 that photographs the urethane coating region with infrared rays from above. It is in the point provided with two infrared imaging devices. The infrared characteristics of the side imaging device 117 and the upper imaging device 118 are the same as those of the infrared imaging device 116 of the first embodiment. Since other configurations are the same as the robot hand 112, the same reference numerals are given and description thereof is omitted.
The side photographing device 117 is attached slightly to the right of the moving direction of the robot hand 112A, and the upper photographing device 118 is attached to the rear of the moving direction of the robot hand 112A. Then, the center in the width direction of the photographing range by the upper photographing device 118 is set to be the center in the width direction of the urethane coating region. Then, the lateral imaging device 117 and the upper imaging device 118 are continuously photographed in a state where the infrared ray is irradiated onto the urethane 144 immediately after being applied to the glass 140 by the nozzle 114. Note that the shooting range by the side shooting device 117 and the shooting range by the upper shooting device 118 almost overlap each other in the traveling direction of the robot hand 112A, and shooting is performed in synchronization.
And the image image | photographed with the side imaging device 117 is test | inspected with the test | inspection method similar to Example 1, and the suitability of the application | coating state of the urethane 144 when it sees from a side is determined. Further, the image photographed by the upper photographing device 118 is inspected by an inspection method described later, and the suitability of the application state of the urethane 144 when viewed from above is determined. Then, both when viewed from the side and when viewed from above, when the application state is determined to be appropriate, it is determined that the application state of the urethane 144 is appropriate.

  FIG. 17 shows an overall configuration of the robot following image inspection apparatus 110A. Two infrared imaging devices, a side imaging device 117 and an upper imaging device 118, are attached to the robot hand 112A. The image processing device 122A processes the images photographed by the side photographing device 117 and the upper photographing device 118. The relay box 126A relays images taken by the side photographing device 117 and the upper photographing device 118, and the recording device 125A records the images photographed by the side photographing device 117 and the upper photographing device 118, respectively. The display device 124A displays an image photographed by the side photographing device 117 and the upper photographing device 118, an inspection result of the application state of the urethane 144, and the like. Since the configurations and functions of the other components are the same as those of the robot follow-up image inspection apparatus 110, the same reference numerals are given and description thereof is omitted.

[Outline of inspection of urethane coating by image taken by upper camera]
A method for inspecting the suitability of the application state of the urethane 144 based on an image photographed by the upper photographing device 118 will be described. First, the brightness and darkness of the photographed image is inverted and binarized, and converted so that the glass 140 becomes white and the urethane 144 becomes black, and an inspection image 148A is obtained. Then, the suitability of the application width and the application position of the urethane 144 is inspected based on the inspection image 148A. Note that when the primer is applied to the glass 140, the primer reflects the infrared rays and appears gray, but the primer appears darker than the urethane 144, so the binarization threshold is set to the brightness of the primer and the brightness of the urethane 144. By setting in between, the primer is processed so as to be the same black color as the glass 140 in the inspection image 148A.
FIG. 18 shows an inspection image 148A in the imaging range 146A of the upper imaging device 118. The lower arrow in FIG. 18 indicates the traveling direction of the robot hand 112A. Then, the image center line 160 that is the center in the height direction in FIG. 18 is the center in the width direction of the application region of the urethane 144. Note that the photographing range 146A includes the glass edge 161 at the end of the glass 140 and the background 162 outside the glass 140, but both the glass 140 and the background 162 appear black in the infrared image, and both become white when inverted and binarized. In the inspection image 148A, it is difficult to identify the glass edge 161.

  Accordingly, the application position and application width of the urethane 144 are inspected using the image center line 160. First, as shown in FIG. 18, a rectangular inspection block 164 having a length approximately twice as large as the urethane application planned width is set with the image center line 160 as the center. Then, in the inspection block 164, when viewed from the lower side of FIG. 18, the position where the white changes to black first is the outer end of the application position of the urethane 144, and the position where the black changes to white is then changed to the urethane 144. This is the inner end of the application position. Therefore, fine sampling is performed in the direction of the image center line 160 in the inspection block 164 to obtain the application width of the urethane 144 from the image center line 160 to both sides, and the average is set as the application width in the inspection block 164.

  FIG. 19 shows an example of determining whether or not the application width and application position of urethane 144 are appropriate. The lower side of the figure is the outside of the glass 140. In the inspection block 164A of FIG. 19A, the width from the center to the outer end (outer width) and the width from the center to the inner end (inner width) are both appropriate, so that the application position and the application width are both appropriate. To be judged. In the inspection block 164B in FIG. 19B, both the outer width and the inner width are insufficient, and it is determined that the coating width is inappropriate. In the inspection block 164C of FIG. 19C, the outer width is appropriate but the inner width is insufficient, and the coating width is determined to be inappropriate. The inspection block 164D in FIG. 19D has an outside width that is insufficient, an inside width that is excessive, and the sum of the outside width and the inside width is appropriate, so that the application position is determined to be inappropriate.

FIG. 20 shows a processing flow of image inspection by a computer program executed by the image processing apparatus 122A. When a start command is sent from the line control panel 130 (see FIG. 17) to the image processing apparatus 122A, image inspection is started. Then, the image captured by the side image capturing device 117 is acquired through the image processing device 122A from S210, and converted to the inspection image 148 by S212. In step S214, whether the application state of the urethane 144 is appropriate for an image obtained by photographing the urethane 144 from the side is the same as the procedure for determining the appropriateness of the application state based on the image captured by the infrared imaging device 116 described in the first embodiment. Determine. Then, the determination result is evaluated in S216. If the application state is appropriate, the process proceeds to S220, and if the application state is inappropriate, the process proceeds to S230.
In S220, an image photographed by the upper photographing device 118 at the same timing as the image obtained in S210 is obtained via the image processing device 122A, and the photographed image is converted into an inspection image 148A in S222. Next, the image center line 160 is set on the inspection image 148A in S224, the application range (outer width and inner width) is extracted in S226 for each inspection block 164, and the suitability of the application width is determined in S227. S228 To determine the suitability of the application position. When it is determined that the application state is inappropriate, the process proceeds to S230. If the application width and the application position are appropriate in all the inspection blocks 164, the block process is terminated and the process proceeds to S230.
In S230, the determination result is reported to the image processing apparatus 122A. Next, end determination is performed in S232. The end determination is performed by examining whether or not the image processing apparatus 122A has received an image processing end command from the line control panel 130. If the end instruction is received, the image inspection is ended. If an end command has not been received, the process returns to S210 to process the next captured image. Then, the processes after S210 are repeated until an end command is received.

[Effect of Example 2]
According to the second embodiment, since the application state of the urethane 144 applied to the glass 140 is inspected not only for the application height but also for the application width and the application position, the accuracy of the application state inspection can be improved. . Moreover, since two types of inspections regarding the application of urethane 144 and the application state of urethane 144 can be performed at the same time, the inspection of the application state of urethane can be performed efficiently and accurately.

  Next, Embodiment 3 of the present invention will be described. FIG. 21 shows a configuration of a robot hand 212 constituting the robot follow-up type image inspection apparatus according to the third embodiment, and FIG. 22 shows a configuration of the robot follow-up type image inspection apparatus 210 including the robot hand 212. This robot follow-up image inspection apparatus 210 is a robot follow-up image inspection apparatus that inspects for faint application of the primer 242 applied to a primer application region set in the peripheral portion of a glass 240 for a fixed window of an automobile by an infrared image. is there. The glass 240 corresponds to the inspection object of the present invention, and the primer application area corresponds to the inspection object area of the present invention. In FIG. 21, the connection portion between the robot hand 212 and the robot body 211 (see FIG. 22) is not shown.

[Robot hand configuration and operation]
As shown in FIG. 21, a brush 214 for applying primer is attached to the tip of the robot hand 212, and an infrared imaging device 216 and an infrared irradiation device 220 are attached to the upper rear of the brush 214. Since the orientation of the robot hand 212 follows the traveling direction of the robot hand 212, the infrared imaging device 216 and the infrared irradiation device 220 are always located behind the traveling direction of the robot hand 212. The imaging region of the infrared imaging device 216 is a primer application region behind the brush 214, and the region is configured to be irradiated with infrared rays from above by the infrared irradiation device 220. The infrared irradiation device 120 is configured to irradiate infrared rays with an infrared LED.

Then, the robot hand 212 is controlled by the robot control panel 228 (see FIG. 22), and moves on the route set along the primer application region on the glass 240 by teaching. In accordance with this, a primer 242 is supplied from a primer supply device (not shown) to the brush 214 via the pipe 213, and the primer 242 is applied to the application region set on the glass 240. Then, the region immediately after the primer 242 is applied is irradiated by the infrared irradiation device 220 and enters the imaging field of view of the infrared imaging device 216. Therefore, by continuously photographing the primer application region immediately after being applied by the infrared imaging device 216 from above at a time interval where the imaging ranges overlap, the infrared region that covers the entire primer application region and can be used for the inspection of the application state of the primer 242. An image can be obtained.
Since the application of the primer 242 and the photographing of the primer 242 are performed simultaneously, an inspection image relating to the application state of the primer 242 can be obtained efficiently.

The wavelength characteristics of the infrared imaging device 216 and the infrared irradiation device 220 used in the third embodiment are the same as those of the infrared imaging device 116 and the infrared irradiation device 120 of the first embodiment. An image obtained by the infrared imaging device 216 is a grayscale image, where a portion where infrared reflection is strong is bright and a portion where infrared reflection is weak is dark. The glass 240 reflects little infrared light, and the primer 242 reflects infrared light. Further, as described in the first embodiment, infrared rays are weak even when natural light or illumination light is bright.
Therefore, according to the third embodiment, even if the state of visible light such as sunlight from the window that hits the primer application region or room light changes, the application region of the primer 242 is hardly affected by the change of the state of visible light. Images can be acquired.

[Overall control of robot-following image inspection system]
The overall configuration of the robot following image inspection apparatus 210 shown in FIG. 22 is that the position of the infrared imaging apparatus 216 is above the rear part of the robot hand 212 and that the brush 214 is attached to the robot hand 212 instead of the nozzle 114. Except for this point, the robot tracking type image inspection apparatus 110 according to the first embodiment is the same. The overall control of the robot follow-up image inspection apparatus 210 is the same as that of the robot follow-up image inspection apparatus 110 according to the first embodiment.

[Overview of primer application status]
Next, a method for inspecting the suitability of the application state of the primer 242 will be described. Although the primer 242 is applied by the brush 214, it becomes difficult to maintain the contact between the brush 214 and the glass 240 uniformly due to solidification of the primer attached to the brush 214 by drying, removal of the brush 214, or the like. Fading may occur. Therefore, in the inspection of the application state of the primer 242, the primer 242 is inspected for fading.
FIG. 23 shows an imaging range 246 of successive frames of images continuously shot by the infrared imaging device 216. As shown in FIG. 23, since the imaging ranges 246 overlap with the front and back frames, an image covering the entire area where the primer 242 is applied by the infrared imaging device 216 can be obtained without any gaps. Then, the brightness and darkness of the photographed image is inverted and binarized, and converted so that the glass 240 is white and the primer 242 is black, and an inspection image 248 is obtained.
FIG. 24 shows an image obtained by converting the image in the photographing range 246 photographed by the infrared photographing device 216 into the inspection image 248. The arrows shown in FIG. 24 indicate the traveling direction of the robot hand 212. 24 is the center in the width direction of the application region of the primer 242. Note that the shooting range 246 includes the glass edge 261 at the end of the glass 240 and the background 262 outside the glass 240, but the glass 240 and the background 262 appear black in the infrared image, and both become white when inverted and binarized. The glass edge 261 is difficult to identify on the inspection image 248.

Therefore, as shown in FIG. 24, a rectangular inspection block 264 having a predetermined application width of the primer 242 is set in the application area of the primer 242 with the image center line 260 as the center. Next, as shown in FIG. 25, subdivision areas 266 are obtained by dividing the inspection block 264 into 10 equal parts in the direction of the intended application width of the primer 242, and the ratio of the application area of the primer 242 in each subdivision area 266 is obtained. In the inspection image 248, the portion where the primer 242 is applied is black, and the portion where the primer 242 is faded and the ground glass 240 is exposed is white.
In the fading inspection, when the area where the application area of the primer 242 is 80% or less in the subdivision area 266 is 3 or more, it is determined that the fading in the application direction has occurred. When three or more areas of the application area of 95% or less of the primer 242 continue in the subdivision area 266, it is determined that the blur has occurred in the direction intersecting the application direction. FIG. 25 shows an example of determining blur in the subdivision area 266. FIG. 25A shows an example in which a blur in the application direction is detected and the application state is determined to be inappropriate. FIG. 25B shows an example in which a blur in the direction crossing the application direction is detected and the application state is determined to be inappropriate. . Note that the above-described reference values for the area and the number of areas are only examples, and the present invention is not limited to these.

[Effect of Example 3]
According to the third embodiment, the infrared imaging device 216 attached to the robot hand 212 continuously photographs the primer 242 applied on the glass 240 in the state irradiated with infrared rays from the infrared irradiation device 220 from a close range. A high-accuracy infrared image showing the application state of the primer 242 can be obtained. Since the image obtained by the continuous photographing covers the application region of the belt-like primer without a gap, the application state of the primer 242 can be inspected without fail. Since the infrared image is hardly affected by natural light or illumination light, it is not necessary to adjust the threshold value for image processing, and the application state of the primer can be accurately and stably inspected.
Therefore, it is possible to provide an image inspection apparatus that is hardly affected by light from the outside at the installation site and does not require adjustment for avoiding the influence of light from the outside.
According to the third embodiment, since the infrared imaging device 216 images the primer 242 from above, the suitability of the application state of the primer 242 can be determined by inspecting the fading of the primer 242 by image processing.
Since the primer 242 is photographed when the primer 242 is applied and the application state is inspected, the application state of the primer 242 can be efficiently inspected.

  Next, a fourth embodiment of the present invention will be described. FIG. 26 shows a robot hand 312 constituting the robot follow-up image inspection apparatus according to the fourth embodiment of the present invention. The robot follow-up image inspection apparatus according to the fourth embodiment is a robot follow-up image inspection apparatus that inspects an application state of a seal 342 applied to a seal application region set in a belt shape on a metal member 340 of an automobile using an infrared image. . The metal member 340 corresponds to the inspection object of the present invention, and the seal application area corresponds to the inspection object area of the present invention. Since the seal 342 swells and is applied in a semicircular shape, the amount of application of the seal can be easily reduced by photographing from above and inspecting the application width and application position, or from the side and inspecting the application height. It is possible to grasp and inspect the application state of the seal. In FIG. 26, the connection portion between the robot hand 312 and the robot body is not shown. The overall configuration and control of the robot follow-up image inspection apparatus according to the fourth embodiment are the same as those of the robot follow-up image inspection apparatus 110 according to the first embodiment.

[Configuration and operation of robot hand 312]
A seal applicator 314 for applying a seal 342 to the metal member 340 is attached to the tip of the robot hand 312. An infrared imaging device 316 and an infrared irradiation device 320 are attached to the upper rear of the seal applicator 314. Yes. The orientation of the robot hand 312 follows the traveling direction of the robot hand 312, and the infrared imaging device 316 and the infrared irradiation device 320 are always located behind the traveling direction of the robot hand 312. The imaging region of the infrared imaging device 316 is a seal application region behind the seal applicator 314, and the region is configured to be irradiated with infrared rays from above by the infrared irradiation device 320. The robot hand 312 is controlled by a robot control panel (not shown) and can move on a path set along a strip-shaped seal application region on the metal member 340 by teaching.
Therefore, by continuously photographing the seal application area immediately after the seal 342 is applied by the infrared imaging device 316 from above at a time interval where the imaging ranges overlap, the entire seal application area is covered and the application state of the seal 342 is inspected. An infrared image to be used can be obtained. Since the application of the seal 342 and the photographing of the seal 342 are performed at the same time, an inspection image relating to the application state of the seal 342 can be obtained efficiently.

[Outline of seal application state inspection]
The wavelength characteristics of the infrared imaging device 316 and the infrared irradiation device 320 are the same as those of the infrared imaging device 116 and the infrared irradiation device 120 of the first embodiment. The image obtained by the infrared imaging device 316 is a gray scale image, the seal 342 and the background appear dark, and the metal member 340 and the seal applicator 314 appear bright.
Therefore, the threshold is set so that the seal 342 and the metal member 340 can be distinguished, and the photographed image is converted into a black and white binary inspection image, which is the same as the method of inspecting the urethane application width and application position in Example 2. By the method, the application width and application position of the seal 342 can be inspected.

[Effect of Example 4]
Therefore, according to the fourth embodiment, it is possible to provide an image inspection apparatus that is not easily affected by light from the outside at the installation location and does not require adjustment for avoiding the influence of light from the outside. Further, when the seal 342 is applied, the seal 342 is photographed and the application state of the seal 342 is inspected, so that the inspection of the application state of the seal 342 can be performed efficiently.

In Example 4 described above, the orientation of the robot hand changes following the direction of travel of the robot hand, and the infrared imaging device can always take an image of the seal immediately after being applied from behind. However, there is a robot hand for applying a seal in which the orientation of the robot hand is fixed. When the orientation of the robot hand is fixed, when the robot hand advances in the direction in which the infrared imaging apparatus is attached, the imaging area of the infrared imaging apparatus becomes an area before the application of the seal.
Accordingly, in the fifth embodiment, as shown in FIG. 27, two infrared imaging devices 416A and 416B are arranged on the opposite side with the seal applicator 414 of the robot hand 412 interposed therebetween. As shown in FIG. 28, the imaging range 446A of the infrared imaging device 416A and the imaging range 446B of the infrared imaging device 416B overlap each other. According to this configuration, even if the robot hand 412 travels in any direction, the area where the seal is applied is included in one of the imaging areas of the infrared imaging apparatuses 416A and 416B. An infrared image can be obtained. The suitability of the seal application state can be determined by selecting an infrared image corresponding to an imaging region that is lateral or rearward in the traveling direction of the robot hand 412 and inspecting the application state of the seal.

[Modification]
In each of the above-described embodiments, application and inspection of urethane, primer, and the like are performed simultaneously, but application and inspection may be performed separately. If the inspection object to which urethane or primer is applied is inspected, the configuration of the robot following image inspection apparatus can be simplified.
In addition, the inspection object is not limited to glass or a metal member, and the inspection object area is not limited to an application area such as urethane, primer, or seal. The present invention can be applied as long as a difference in brightness occurs between the inspection object and the inspection object area on the inspection object on the infrared image.
In addition, the robot follow-up type image inspection apparatus, the robot follow-up type image inspection method, and the computer program used for the robot follow-up type image inspection according to the present invention can be implemented in various forms within the scope of the idea of the invention.

110, 110A Robot following image inspection device 111 Robot main body 112, 112A Robot hand 113 Pipe 114 Nozzle 115 Opening 116 Infrared imaging device 117 Side imaging device 118 Upper imaging device 120 Infrared irradiation device 122, 122A Image processing devices 124, 124A Display device 125, 125A Recording device 126, 126A Relay box 128 Robot control panel 130 Line control panel 140 Glass 142 Primer 144 Urethane 146, 146A Imaging range 148, 148A Inspection image 150 Upper line assumed line 152 Upper line 154 Investigation block 160 Image center Line 161 Glass edge 162 Background 164, 164A, 164B, 164C, 164D Inspection block 210 Robot following image inspection apparatus 211 Robot main body 212 Robot Hand 213 Pipe 214 Brush 216 Infrared imaging device 220 Infrared irradiation device 222 Image processing device 224 Display device 225 Recording device 226 Relay box 228 Robot control panel 230 Line control panel 240 Glass 242 Primer 246 Imaging range 248 Inspection image 260 Image center line 261 Glass edge 262 Background 264 Inspection block 266 Subdivision area 312 Robot hand 313 Pipe 314 Seal applicator 316 Infrared imaging device 320 Infrared irradiation device 340 Metal member 342 Seal 412 Robot hand 414 Seal applicator 416A, 416B Infrared imaging device 420 Infrared irradiation device 440 Metal member 446A, 446B

Claims (14)

An image inspection apparatus that inspects the state of the inspection target region from an image obtained by photographing the inspection target region set in a strip shape on the inspection target,
The robot hand is provided with an infrared irradiation device that irradiates the inspection target region with infrared rays and an infrared imaging device that images the inspection target region, and the robot hand is on a route set along the inspection target region. Is configured to be able to move,
When the robot hand moves on the path, the inspection target region irradiated with infrared rays by the infrared irradiation device is continuously captured by the infrared imaging device to acquire an image, and the image acquired by the infrared imaging device Robot-following image inspection device that inspects the state of the inspection target area by means of the above. The robot following type image inspection apparatus according to claim 1,
The inspection target area is an adhesive application area, and the infrared imaging apparatus is configured to image the adhesive application area from the side, and the inspection of the inspection target area is performed by applying an adhesive. A robot follow-up type image inspection apparatus, characterized in that it is an inspection of an adhesive application height in a region. The robot following type image inspection apparatus according to claim 2,
The robot hand is equipped with an adhesive application device for applying an adhesive,
When the robot hand moves on a path set along the adhesive application area set in a strip shape on the inspection object, the adhesive is applied onto the inspection object by the adhesive application device. In addition, the robot follow-up type image inspection apparatus is characterized in that the area where the adhesive is applied immediately after the adhesive is applied by the adhesive application apparatus is imaged by the infrared imaging apparatus. The robot following type image inspection apparatus according to claim 1,
The inspection object area is an adhesive application area, and the infrared imaging apparatus includes a lateral imaging apparatus that images the adhesive application area from the side and an upper imaging apparatus that images the adhesive application area from above. Consists of
The inspection of the state of the inspection target area is performed by inspecting the adhesive application height in the adhesive application area by the image acquired by the side imaging apparatus and in the adhesive application area by the image acquired by the upper imaging apparatus. A robot follow-up type image inspection apparatus characterized in that it is an inspection of an adhesive application position and an application width. The robot following type image inspection apparatus according to claim 4,
The robot hand is equipped with an adhesive application device for applying an adhesive,
When the robot hand moves on a path set along the adhesive application area set in a strip shape on the inspection object, the adhesive is applied onto the inspection object by the adhesive application device. In addition, the robot follow-up type image inspection apparatus is characterized in that an area where the adhesive is applied immediately after the adhesive is applied by the adhesive application apparatus is imaged by the side imaging apparatus and the upper imaging apparatus. The robot following type image inspection apparatus according to claim 1,
The inspection target area is an adhesive application area, and the infrared imaging device is configured to image the adhesive application area from above, and the inspection of the inspection target area is performed by applying the adhesive application area. A robot follow-up type image inspection apparatus characterized in that it is an inspection of an adhesive application position and an application width. The robot following type image inspection apparatus according to claim 6,
The robot hand is equipped with an adhesive application device for applying an adhesive,
When the robot hand moves on a path set along the adhesive application area set in a strip shape on the inspection object, the adhesive is applied onto the inspection object by the adhesive application device. In addition, the robot follow-up type image inspection apparatus is characterized in that the area where the adhesive is applied immediately after the adhesive is applied by the adhesive application apparatus is imaged by the infrared imaging apparatus. The robot follow-up image inspection apparatus according to any one of claims 2 to 5,
The robot follow-up type image inspection apparatus, wherein the adhesive application device is a nozzle, the inspection object is a glass member, and the adhesive is urethane. The robot follow-up image inspection apparatus according to any one of claims 2 to 7,
The robot follow-up type image inspection apparatus, wherein the adhesive application device is a seal applicator, the inspection object is a metal member, and the adhesive is a seal. The robot following type image inspection apparatus according to claim 1,
The inspection object area is a primer application area, and the infrared imaging device is configured to image the primer application area from above, and the inspection of the state of the inspection object area is performed on the primer in the primer application area. A robot follow-up type image inspection apparatus, characterized in that the inspection is a coating state. The robot following image inspection apparatus according to claim 10,
A brush for primer application is attached to the robot hand,
When the robot hand moves on a path set along a primer application region set in a strip shape on the inspection object, the brush applies the primer onto the inspection object, and the brush A robot follow-up type image inspection apparatus characterized in that a region where a primer is applied immediately after the primer is applied is imaged by the infrared imaging device. The robot follow-up type image inspection apparatus according to claim 10 or 11,
A robot follow-up image inspection apparatus, wherein the inspection object is a glass member for an automobile. An image inspection method for inspecting the state of an inspection target area from an image obtained by photographing an inspection target area set in a strip shape on an inspection target,
When a robot hand equipped with an infrared irradiation device that irradiates infrared rays to the inspection target area and an infrared imaging device that images the inspection target area moves on a route set along the inspection target area The region to be inspected that has been irradiated with infrared rays by the infrared irradiation device is continuously captured by the infrared imaging device to obtain images,
A robot follow-up type image inspection method for inspecting a state of an inspection object region based on an image acquired by the infrared imaging apparatus. A computer program for inspecting the state of the inspection target region from an image obtained by photographing the inspection target region set in a strip shape on the inspection target,
Infrared imaging of the inspection target area area irradiated with infrared rays by the infrared irradiation apparatus when the robot hand with the infrared irradiation apparatus and the infrared imaging apparatus moves on the set path along the inspection target area. A computer used for robot-following image inspection, which functions as an image processing device comprising image acquisition means for acquiring images taken continuously by the apparatus and image processing means for processing the images and inspecting the state of the inspection target region program.

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