JP2020051810A - Imaging device and visual inspection device - Google Patents

Abstract

To provide an imaging device with which it is easy to improve the accuracy and reliability, etc., of visual inspection.SOLUTION: A white bar movement mechanism unit 4 causes a white bar 3 to be inserted into the inside of a workpiece W on the basis of an instruction by a control unit 13. Then, a roller drive unit 2 rotates the workpiece W 360° using a roller unit 1. At this time, it is possible for an imaging unit 7 to perform imaging and thereby image the trunk of the workpiece over the entire circumference, with a white color as the background color. Next, the white bar movement mechanism unit causes the white bar to be ejected from inside of the workpiece on the basis of an instruction by the control unit, and a black bar movement mechanism unit 6 causes a black bar 5 to be inserted into the inside of the workpiece. Then, the roller drive unit rotates the workpiece 360° using the roller unit. At this time, it is possible for the imaging unit to perform imaging and thereby image the trunk of the workpiece over the entire circumference, with a black color as the background color.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a photographing device and a visual inspection device using the same.

  2. Description of the Related Art Conventionally, various apparatuses for performing a defect inspection of an object having a light-transmitting property have been developed. As one example, Patent Document 1 discloses a visual inspection apparatus for a sheet material having a light transmitting property.

  The appearance inspection device of Patent Document 1 has two background blocks of different colors, which are arranged in the direction in which the sheet material is conveyed. Above the two background blocks, two light receiving elements are arranged as photographing means, and are arranged along the sheet material conveyance direction. The one light receiving element is arranged on the upstream side in the transport direction so that the sheet material on one background block (second color background block) arranged on the downstream side in the transport direction can be photographed. The other light receiving element is disposed on the downstream side in the transport direction so that the sheet material on the other background block (first color background block) disposed on the upstream side in the transport direction can be photographed.

  The conveyed sheet material first passes over the first color background block, and then passes over the second color background block. Therefore, the two light receiving elements can photograph the same portion of the sheet material with a time difference. By using the captured image in the background block of the first color and the captured image in the background block of the second color for the same portion of the sheet material, the presence / absence and type of the defect can be detected with higher accuracy.

Japanese Patent No. 4903031

  However, in the device disclosed in Patent Literature 1, light receiving elements (one form of photographing means) separately arranged between photographing on the background block of the first color and photographing on the background block of the second color are used. Since it is used, photographing conditions such as a photographing direction are different. From the viewpoint of the accuracy and reliability of the appearance inspection, it is desirable that the imaging conditions for each background be the same as much as possible.

  In view of the above problems, an object of the present invention is to provide a photographing apparatus that can easily improve the accuracy and reliability of appearance inspection.

  In order to achieve the above object, the image capturing apparatus of the present invention has a background switching unit that sequentially switches a background color provided at a predetermined position to each of a plurality of colors, and in each state where the background is each of the plurality of colors, A configuration in which a subject in which a subject to be photographed is overlapped in front of the background is taken is taken.

  According to this configuration, it is possible to accurately detect various kinds of defects or the like in the object to be photographed by performing photographing with each of the plurality of background colors. Further, it is possible to make the photographing means common to each background and to make the photographing conditions such as the photographing direction the same as much as possible, thereby facilitating the improvement of the accuracy and reliability of the appearance inspection.

  More specifically, in the above configuration, the plurality of colors include a first color and a second color, and the background switching unit includes a first movable member used as the background of the first color and the background of the second color. And a second operation of moving the second movable member to the predetermined position and a second operation of moving the second movable member to the predetermined position.

  Further, in the photographing apparatus configured to photograph a subject in which a substantially cylindrical side wall of the photographing object is overlapped in front of the background, the predetermined position may be set inside the tubular shape. According to this configuration, at the time of photographing, the influence of the side wall of the photographing object on the side opposite to the photographing means side can be suppressed.

  In the above configuration, the first operation is an operation of inserting a substantially rod-shaped first movable member from one axial end into the inside of the imaging target, and the second operation is a substantially rod-shaped second movable member. The operation may be such that the movable member is inserted into the object to be photographed from the other axial end. According to this configuration, for example, the space required for the operation can be reduced as compared with the case where the first movable member and the second movable member are connected.

  Further, in the above configuration, the background switching unit includes a substantially bar-shaped member in which each of the plurality of colors is arranged at a different position in a circumferential direction, and by rotating the member arranged in the predetermined position in the circumferential direction. The configuration may be such that the color of the background is switched. According to this configuration, it is easy to reduce the tact time related to the switching of the background color.

  In the above configuration, a configuration may be adopted in which the subject is photographed using a line camera while rotating the photographing target having a substantially cylindrical shape in the circumferential direction. According to this configuration, it is possible to photograph the side wall of the photographing object over the entire circumferential direction, and it is possible to detect various types of defects in the entire circumferential range.

  Further, in the image capturing apparatus having the above configuration, which sequentially captures the image capturing object from different angles using a plurality of cameras, a movable illumination used at the time of image capturing with some of the cameras is provided, and a position at the time of use and another It may be configured to perform an illumination moving operation of moving the illumination between a position where the photographing by the camera is not hindered. According to this configuration, it is possible to avoid interference of illumination at the time of shooting by another camera.

  Further, in the photographing apparatus having the above-described configuration in which the direction of the photographing target is sequentially switched to perform photographing using the plurality of cameras, the illumination moving operation may be performed in parallel with the operation of switching the direction. Good. According to this configuration, the tact time can be reduced as compared with the case where these operations are performed sequentially.

  Further, in the above configuration, the object to be photographed may be a light-transmitting housing used for forming a dialyzer. According to this configuration, the performance of detecting a defect in the dialyzer housing can be improved. Further, a visual inspection device according to the present invention includes the photographing device having the above configuration, and performs a visual inspection of the photographing target object based on an image obtained by photographing with the photographing device.

  According to the photographing apparatus of the present invention, it is easy to improve the accuracy and reliability of the appearance inspection. According to the appearance inspection apparatus of the present invention, it is possible to enjoy the advantages of the photographing apparatus of the present invention.

FIG. 4 is a diagram illustrating an arrangement state of a work, a white bar, and a black bar. It is a figure showing the state where the white stick was inserted inside the work. It is a figure showing the state where the black bar was inserted inside the work. It is a figure showing the state where a backlight was moved to a position at the time of use. It is a figure showing the state where a backlight was moved to a position at the time of non-use. It is a perspective view which shows an example of the housing for dialyzers. FIG. 3 is a schematic perspective view illustrating an example of a camera arrangement in the imaging device. It is a side view showing an example of camera arrangement in an imaging device. It is a table | surface which shows the imaging | photography target and type for every camera. FIG. 2 is a schematic perspective view showing an arrangement of a camera and lighting in the photographing device. FIG. 2 is a block diagram illustrating the configuration of an imaging device. 6 is a table illustrating an operation flow of the imaging device. FIG. 4 is a side view showing a rotation operation flow of the work in the imaging device.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

1. First Feature of Imaging Method First, the first feature of the imaging method performed by the example of the imaging apparatus according to the present invention will be described with reference to FIGS. 1 to 3.

  As shown in FIG. 1, an object to be imaged by the imaging method is a workpiece W which is an inspection object. The work W is a test object having a light-transmitting property, and is a transparent cylindrical member as an example here. As shown in FIG. 1, in the imaging method, a white bar B1 and a black bar B2 are used as a background when the workpiece W is imaged. The white bar B1 and the black bar B2 are opaque bar members. The white bar B1 is colored white as the first color background color. The black bar B2 is colored black as the second background color.

  The work W, which is a cylindrical member, extends along the central axis J about the central axis J. Hereinafter, the direction in which the central axis J extends is referred to as “axial direction”, the radial direction with respect to the central axis J is referred to as “radial direction”, and the direction around the central axis J is referred to as “circumferential direction”. The white bar B1 and the black bar B2 are arranged on the central axis J, and each extend in the axial direction. The work W is set between the white bar B1 and the black bar B2. In other words, the white bar B1 is arranged on one side in the axial direction as viewed from the workpiece W, and the black bar B2 is arranged on the other side.

  On the front side of the work W, a camera CM which is a line camera (line sensor camera) is arranged. The camera CM captures a line-shaped image for one row. The line camera can increase the number of pixels in the horizontal direction as compared with an area camera (area sensor camera) for capturing a rectangular image. By taking an image with the camera CM while rotating the work W about the central axis J, an image of the entire work W in the circumferential direction can be taken.

  The white bar B1 functions as a first movable member that is movable in the axial direction. The black bar B2 functions as a second movable member that is movable in the axial direction. With the work W set between the white bar B1 and the black bar B2 as shown in FIG. 1, first, as shown in FIG. 2, the white bar B1 is inserted into the inside of the work W from one axial end. The first operation is performed. The first operation is an operation of moving the white bar B1 as the first movable member to a predetermined position as a background. With the white bar B1 inserted inside the work W, the camera CM takes an image while rotating the work W in the circumferential direction.

  Next, as shown in FIG. 3, a white bar B1 is discharged from one axial end to the outside of the work W, and a black bar B2 is inserted into the work W from the other axial end. Perform the operation. The second operation is an operation of moving the black bar B2 as the second movable member to the predetermined position. With the black bar B2 inserted inside the workpiece W, the camera CM takes an image while rotating the workpiece W in the circumferential direction. The order in which the white bar B1 and the black bar B2 are inserted into the workpiece W may be reversed.

  In other words, the color of the background provided at the predetermined position is sequentially switched to white and black respectively by the white bar B1 and the black bar B2, and in each state where the background is white and black, the work W which is the object to be photographed is placed in front of the background. The overlapped subject is photographed by the camera CM. Various defects in the work W can be detected using the image obtained by this photographing. For example, defects such as black spot stains, white spot stains, welds, bubbles, and sink marks can be detected. In this case, for example, if only an image with a white background color is used, there is a risk that the image is assimilated into the background and white spot stains or the like are not properly detected. However, such a problem is also caused by using an image with a black background color. Is eliminated.

  Further, since the background color is switched in the above method, it is not necessary to provide a plurality of light receiving elements as in the device disclosed in Patent Document 1, and a common camera CM can be used for shooting with each background color. It is. Therefore, it is possible to make the shooting conditions for each background the same as much as possible, and it is easy to improve the accuracy and reliability of the appearance inspection.

  The white bar B1 and the black bar B2, which are backgrounds, are inserted inside the workpiece W. That is, a subject in which the side wall of the work W which is a cylindrical photographing target is overlapped is photographed in front of the background, and the predetermined position is set to the inside of the cylindrical shape. Accordingly, it is possible to perform photographing without being affected by the side wall on the back side opposite to the camera CM side (front side) of the work W, and it is possible to accurately detect a defect. When the white bar B1 and the black bar B2 are switched and arranged at the position on the back side of the work W, the front side wall and the back side wall of the work W are photographed so as to overlap with each other, and defects on the front side wall are obtained. Although the image may be unclear, such a situation is avoided in the example of the present invention.

  As another mode for switching the background color, it is also possible to adopt a mode in which the white bar B1 and the black bar B2 are connected to form a single bar and inserted inside the workpiece W. In this case, the insertion depth of the rod may be switched between a state in which the white bar B1 is located in the work W and a state in which the black bar B2 is located in the work W. When the white bar B1 and the black bar B2 are made independent as shown in FIG. 1 as compared with this embodiment, the moving space for the white bar B1 and the black bar B2 can be reduced, and the device can be easily miniaturized. This is preferred.

  As yet another mode for switching the background color, for example, using a single cylindrical rod as a background member, a semicircular portion viewed in the axial direction is a white portion, and the remaining semicircular portion is a black portion. Is also good. In this case, the background color can be switched by inserting the background member inside the work W and rotating the background member half a turn in the circumferential direction. That is, the background color is switched by providing a substantially bar-shaped background member in which a plurality of colors are arranged at different positions in the circumferential direction, and rotating the background member arranged inside the work W in the circumferential direction. be able to. In this embodiment, it is easy to switch the background color among three or more colors. For example, when the background color is switchable, a different color is used for the background member every 72 ° (= 360 ° / 5). The background member may be rotated by 72 ° every time the background color is switched. In this embodiment, since the background color can be switched only by rotating the background member, it is easy to shorten the tact time related to the switching of the background color. However, when this mode is adopted, the rotation of the background member is required to be performed in addition to the slide movement.

  Further, as another mode for switching the background color, one background member that emits light may be employed, and the background color may be switched by switching the emission color or the presence or absence of emission. However, when this mode is adopted, a light-emitting body, a light-emission control device, and the like are required.

  Regarding the background color to be switched, a different color from white and black may be used, or three or more colors may be applied, depending on the type of the imaging target and other circumstances. Further, the work W may be a cylindrical shape other than a cylindrical shape as long as the work W has translucency, and may be a sheet shape other than the cylindrical shape. The first feature of the imaging method described above is used for operations in the work order 29 to 33 (see FIG. 12) of the imaging apparatus according to the present embodiment, as described later.

2. Second Feature of Imaging Method Next, a second feature of the imaging method performed by the example of the imaging apparatus according to the present invention will be described with reference to FIGS.

  As shown in FIGS. 4 and 5, a camera CM1 and a camera CM2 are provided for photographing different photographing positions on the work W. The backlight BL is a movable illumination that is slidable between a predetermined use position and a non-use position, and illuminates a predetermined photographing position of the work W photographed by the camera CM1 from the back side.

  When shooting with the camera CM1, as shown in FIG. 4, the backlight BL is moved from the non-use position to the use position and used. The use position is a position when the backlight BL is used. However, the use position is also a position that is interposed between the camera CM2 and the work W and hinders the photographing of the work W by the camera CM2.

  Next, when photographing the work W with the camera CM2, as shown in FIG. 5, the backlight BL is moved from the use position to the non-use position. The non-use position is a position when the backlight BL is not used. The non-use position does not intervene between the camera CM2 and the work W, and even if there is the backlight BL at this position, the photographing of the work W by the camera CM2 is not hindered.

  As described above, the illumination movement operation of moving the backlight BL between the use position, which is a position used when shooting with the camera CM1, and the non-use position, which is a position that does not hinder shooting with the other camera CM2, is performed. Do. Thereby, even if the position of the backlight BL used for photographing by the camera CM1 is a position that hinders photographing by another camera CM2, the backlight BL is retracted during photographing by the camera CM2, and Interference can be prevented. In a case where the direction of the workpiece W is sequentially switched to perform photographing, if the illumination moving operation is performed in parallel with the operation of switching the direction, the tact time (the time required for these operations) is reduced accordingly. Can be shortened. The second feature of the above-described imaging method is used for the operations of the imaging apparatus according to the present embodiment in the order of operations 2 to 6 (see FIG. 12), as described later.

3. Regarding dialyzer The photographing apparatus according to the present invention can be used for visual inspection of various articles, and is useful for visual inspection of a housing forming a dialyzer as an example. Dialysers are known as instruments used for hemodialysis.

  FIG. 6 is a perspective view showing a configuration example of a housing which is a component forming a dialyzer. The housing 200 shown in FIG. 6 is a transparent member and is formed in a substantially cylindrical shape. The housing 200 has a body 201, a first flange 202, and a second flange 203, and is integrally formed of polystyrene or the like.

  The body 201 has a cylindrical shape extending in the axial direction about the central axis J. A first flange portion 202 which is formed so as to expand in a radial direction and expand is provided on one end face in the axial direction of the body portion 201. A second flange portion 203 is formed on the other end surface in the axial direction of the body portion 201 so as to extend in the radial direction and expand.

  The first flange portion 202 has an opening portion 202A penetrating in the axial direction therein. A first screw portion 202 </ b> B is formed on the outer peripheral surface of one end in the axial direction of the second flange portion 202. A first nozzle 204 is formed on the outer peripheral surface on the other axial side of the second flange portion 202 so as to protrude radially outward.

  The second flange portion 203 has an opening 203A penetrating in the axial direction therein. A second screw portion 203B is formed on the outer peripheral surface of the second flange portion 203 at the other end in the axial direction. A second nozzle 205 is formed on the outer peripheral surface on one axial side of the second flange portion 203 so as to protrude radially outward. The protruding directions of the first nozzle 204 and the second nozzle 205 coincide.

  A first cap (not shown) is screwed to the first screw portion 202B, a second cap (not shown) is screwed to the second screw portion 203B, and a thin straw is attached to the housing 200, a container including the first cap and the second cap. A dialyzer is formed by accommodating a bundle of dialysis membranes (hollow fibers) in a shape.

  Each of the first cap and the second cap is connected to a blood vessel by a tube. Dialysate flows into the first nozzle 204 from a dialysate supply device (not shown), and dialysate flows from the second nozzle 205 to the dialysate supply device. As a result, waste and excess water of blood sent from the blood vessel in the body through the second cap into the dialyzer are discharged to the dialysate side and cleaned. The cleaned blood is returned to blood vessels in the body through the first cap.

  In the case of the housing 200 forming such a dialyzer, for example, when a foreign substance that forms dirt or a debris or the like formed when a flaw is generated, the foreign substance or the debris may enter the blood. Therefore, it is important for safety and the like to detect a defect in the housing 200 by the imaging device according to the present embodiment described later.

4. Next, the imaging device according to the present embodiment will be described. The photographing device is formed to perform the photographing method according to the first feature and the second feature described above. It is assumed that the workpiece W, which is an object to be photographed by the photographing apparatus, is the dialyzer housing 200 described above.

  FIG. 7 is a schematic perspective view showing a camera arrangement in the photographing apparatus 100 according to the present embodiment. In FIG. 7, the upstream side in the transport direction for transporting the workpiece W (housing 200) is denoted by X1, and the downstream side in the transport direction is denoted by X2. FIG. 8 is a diagram illustrating the camera arrangement when the work W is viewed from the right side surface when viewed from the downstream side in the transport direction. In the following description, the right side when viewed from the downstream side in the transport direction is referred to as “right”, and the left side when viewed from the downstream side in the transport direction is referred to as “left side”. Further, the front side on the downstream side in the transport direction is referred to as “front side”.

  As shown in FIG. 7, the photographing apparatus 100 according to the present embodiment includes the first camera C1 to the twelfth camera C12 as photographing means (the sign of the n-th camera is “Cn”). As shown in FIG. 7, the photographing apparatus 100 also includes a roller unit 1. The photographing apparatus 100 sequentially photographs a photographing target (work W) from different angles using a plurality of cameras (first camera C1 to twelfth camera C12).

  The workpiece W is loaded from the upstream side in the transport direction and set on the roller unit 1. The first camera C1 to the twelfth camera C12 photograph the set work W. At this time, the work W is rotated around the central axis J by the roller unit 1 as described later. With the housing 200 (work W) set, the first screw portion 202B of the housing 200 is disposed on the right side, and the second screw portion 203B is disposed on the left side.

  Here, the shooting target and the type of each camera are shown in the table of FIG. The first camera C1 is a line camera, and the right side (the right side of the body) of the body 201 of the housing 200 (work W) is to be photographed. The second camera C <b> 2 is a line camera, and captures an image of a left portion (the left side of the body) of the body 201 of the housing 200.

  The third camera C3 is an area camera, and takes a first screw portion 202B (right-hand screw portion) of the housing 200 as an object to be photographed. The fourth camera C4 is an area camera, and captures an image of the second screw portion 203B (left-hand screw portion) of the housing 200. The fifth camera C5 is an area camera, and targets the front of the first nozzle 204 (right nozzle portion) of the housing 200 as an object to be photographed. The sixth camera C6 is an area camera, and targets the front surface of the second nozzle 205 (left nozzle part) of the housing 200 as an imaging target.

  The seventh camera C7 is an area camera, and targets the outside of the first nozzle 204 (the right nozzle portion) of the housing 200 as a shooting target. The eighth camera C8 is an area camera, and targets the outside of the second nozzle 205 (left nozzle portion) of the housing 200 as a shooting target. The ninth camera C9 is an area camera, and targets the inside of the first nozzle 204 (the right nozzle portion) of the housing 200 as a shooting target. The tenth camera C10 is an area camera, and shoots the inside of the second nozzle 205 (left nozzle part) of the housing 200 as a shooting target.

  The eleventh camera C11 is an area camera, and targets an opening 202A (a right opening) of the housing 200 as a shooting target. The twelfth camera C12 is an area camera, and captures an opening 203A (left opening) of the housing 200 as a shooting target.

  Further, the photographing apparatus 100 according to the present embodiment also includes various illuminations for photographing. FIG. 10 is a diagram showing the illumination arrangement in addition to the camera arrangement in the photographing apparatus 100. As shown in FIG. 10, the imaging device 100 includes a first illumination L1, a third illumination L3, a fourth illumination L4, a seventh illumination L7, an eighth illumination L8, a ninth illumination L9, a tenth illumination L10, and an eleventh illumination. L11, the twelfth illumination L12, the illumination L1a, and the illumination L1b are provided.

  The ninth illumination L9 and the tenth illumination L10 are movable illuminations, and the other illuminations are fixed illuminations. Hereinafter, illumination that irradiates light to the imaging target from the side where the imaging unit (camera) is arranged for the imaging target is referred to as “front light”, and the imaging unit (camera) is arranged for the imaging target. Illumination for irradiating the object to be photographed from the side opposite to the side is referred to as “backlight”.

  The first illumination L1 is a front light used at the time of shooting by the first camera C1 and the second camera C2. The third illumination L3 is a backlight used at the time of shooting by the third camera C3 and the fifth camera C5. The fourth illumination L4 is a backlight used when photographing by the fourth camera C4 and the sixth camera C6. The seventh illumination L7 is a front light used at the time of shooting by the seventh camera C7. The eighth illumination L8 is a front light used at the time of shooting by the eighth camera C8. The eleventh illumination L11 is a front light used when photographing by the eleventh camera C11. The twelfth illumination L12 is a front light used when photographing by the twelfth camera C12. The illumination L1a is a front light used at the time of shooting by the fifth camera C5. The illumination L1b is a front light used at the time of shooting by the sixth camera C6.

  The ninth illumination L9 is a backlight used when photographing with the ninth camera C9. The ninth illumination L9 can slide between a position at the time of use (use position) and a position at which photographing by the tenth camera C10 is not hindered (unuse position). The tenth illumination L10 is a backlight used when photographing by the tenth camera C10. The No. 10 illumination L10 can slide between a position at the time of use (use position) and a position at which photographing by the No. 9 camera C9 is not hindered (non-use position).

  FIG. 11 shows a block configuration of the image capturing apparatus 100 according to the present embodiment. As shown in FIG. 11, the photographing apparatus 100 includes a roller unit 1, a roller driving unit 2, a white bar 3, a white bar moving mechanism unit 4, a black bar 5, a black bar moving mechanism unit 6, and a photographing unit. The lighting device includes a unit 7, a fixed illumination unit 8, a movable illumination unit 9, an illumination moving mechanism unit 10, a display unit 11, an operation unit 12, and a control unit 13. The white bar 3, the white bar moving mechanism 4, the black bar 5, and the black bar moving mechanism 6 constitute a background switching unit 50.

  The work W (housing 200) is set on the roller unit 1, and the set work W is rotated around the central axis J. The roller driving unit 2 drives the roller unit 1 to rotate. The white bar 3 and the black bar 5 have the same configuration as the previously described white bar B1 and black bar B2, respectively. That is, the white bar 3 and the black bar 5 are inserted inside the workpiece W (housing 200) to be used as a background at the time of shooting. The white bar moving mechanism 4 inserts the white bar 3 inside the workpiece W or discharges the white bar 3 from the inside of the workpiece W. The black bar moving mechanism 6 inserts the black bar 5 inside the workpiece W or discharges the black bar 5 from the inside of the workpiece W.

  The imaging unit 7 includes the first camera C1 to the twelfth camera C12 described above. The fixed lighting unit 8 includes the first lighting L1, the third lighting L3, the fourth lighting L4, the seventh lighting L7, the eighth lighting L8, the eleventh lighting L11, the twelfth lighting L12, the lighting L1a, and the lighting L1b. including. The movable illumination unit 9 includes the ninth illumination L9 and the tenth illumination L10 described above. The illumination moving mechanism unit 10 slides the ninth illumination L9 and the tenth illumination L10.

  The display unit 11 displays an image captured by the image capturing unit 7, a setting screen, various images, and the like, and includes, for example, a liquid crystal display device or the like. The operation unit 12 is an interface for the user to operate the imaging device 100, and is configured by, for example, a keyboard.

  The control unit 13 integrally controls each unit of the imaging device 100. The display unit 11, the operation unit 12, and the control unit 13 may be realized by a PC (personal computer). Further, the control unit 13 detects the presence or absence of a defect in the work W, the type of the defect, and the like based on the image captured by the capturing unit 7. That is, the image capturing apparatus 100 is also regarded as an appearance inspection apparatus that inspects the quality of an image capturing target based on an image obtained by capturing an image.

5. Next, the operation of the photographing apparatus 100 configured as described above will be described with reference to the table shown in FIG. The table shown in FIG. 12 schematically shows, in order from the left side, the work order, the movement of the work W (housing 200), various illuminations and the movement of the white and black bars, the camera that performs shooting, and the illumination that emits light. I have. Note that the numbers in the “camera that performs shooting” column indicate the number of the camera that performs shooting, and the numbers in the “illumination that performs light emission” column indicate the numbers of illumination that performs light emission.

  First, the work W is carried in from the upstream side in the transport direction, and is set on the roller unit 1 (work order 1). In this state, the work W is sandwiched between the white bar 3 and the black bar 5 from both sides in the axial direction, similarly to the state of FIG. 1 described above. At this time, the ninth illumination L9 and the tenth illumination L10 are located at the unused positions.

  Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the work W to the first rotation position for photographing by the ninth camera C9 and the tenth camera C10 (work order 2). ). At the same time, based on a command from the control unit 13, the illumination moving mechanism unit 10 moves the ninth illumination L9 from the non-use position to the use position (work order 2).

  Subsequently, based on a command from the control unit 13, the ninth illumination L9 emits light, and the ninth camera C9 performs photographing (work order 3). At this time, the 10th illumination L10 is located at the non-use position, so that the ninth camera C9 does not hinder shooting. Next, based on a command from the control unit 13, the illumination moving mechanism unit 10 moves the ninth illumination L9 from the use position to the non-use position and moves the tenth illumination L10 from the non-use position to the use position (operation Order 4).

  Subsequently, based on a command from the control unit 13, the No. 10 illumination L10 emits light, and the No. 10 camera C10 performs photographing (work order 5). At this time, the ninth illumination L9 is located at the non-use position, so that the imaging by the tenth camera C10 is not hindered.

  Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the work W to the second rotation position for photographing by the fifth camera C5 and the sixth camera C6 (operation order 6). ). As shown in FIG. 13A, the second rotation position is a position where the nozzles 204 and 205 are shifted by a predetermined rotation angle (<90 °) from the position at the top in the vertical direction to the downstream side in the transport direction in a side view. . In parallel with this, based on a command from the control unit 13, the illumination moving mechanism unit 10 moves the tenth illumination L10 from the use position to the non-use position (work order 6).

  The operations in the work orders 2 to 6 correspond to the operations using the above-described second feature. Further, in the work order 2, by performing the rotation of the work W and the movement of the ninth illumination L9 in parallel, the tact time is reduced as compared with the case where these are sequentially performed. In work order 4, by performing the movement of the ninth illumination L9 and the movement of the tenth illumination L10 in parallel, the tact time is reduced as compared with the case where these are performed sequentially. In the work order 6, by performing the rotation of the work W and the movement of the tenth illumination L10 in parallel, the tact time is reduced as compared with the case where these are performed in order.

  Subsequently, based on an instruction from the control unit 13, the third illumination L3 and the fourth illumination L4 emit light, and the fifth camera C5 and the sixth camera C6 shoot (operation order 7). Next, based on a command from the control unit 13, the illumination L1a and the illumination L1b emit light, and the fifth camera C5 and the sixth camera C6 shoot (operation order 8).

  Next, based on a command from the control unit 13, the roller driving unit 2 rotates the work W to the third rotation position (reference position) using the roller unit 1 (operation order 9). The third rotation position is a position where the nozzles 204 and 205 are shifted by a predetermined rotation angle (<90 °) from the position at the top in the vertical direction to the upstream side in the transport direction in side view, as shown in FIG. 13B. . Then, based on a command from the control unit 13, the third illumination L3 and the fourth illumination L4 emit light, and the third camera C3, the fourth camera C4, the fifth camera C5, and the sixth camera C6 perform photographing (work order 10). ).

  Subsequently, based on a command from the control unit 13, the illumination L1a and the illumination L1b emit light, and the third camera C3, the fourth camera C4, the fifth camera C5, and the sixth camera C6 perform shooting (operation sequence 11). Then, based on a command from the control unit 13, the seventh illumination L7 emits light, and the seventh camera C7 performs photographing (work order 12). Next, based on a command from the control unit 13, the eighth illumination L8 emits light, and the eighth camera C8 performs photographing (work order 13). Next, based on a command from the control unit 13, the eleventh illumination L11 emits light and the eleventh camera C11 performs photographing (work order 14). Next, based on a command from the control unit 13, the twelfth illumination L12 emits light, and the twelfth camera C12 performs shooting (work order 15).

  Next, based on a command from the control unit 13, the roller driving unit 2 rotates the work W to the fourth rotation position using the roller unit 1 (operation 16). As shown in FIG. 13C, the fourth rotation position is rotated by 90 ° from the third rotation position in a direction in which the upper portion of the workpiece W rotates from the downstream side in the transport direction to the upstream side in the transport direction (forward rotation direction). It is a position that did.

  Subsequently, based on a command from the control unit 13, the third illumination L3 and the fourth illumination L4 emit light, and the third camera C3 and the fourth camera C4 shoot (operation order 17). Then, based on a command from the control unit 13, the eleventh illumination L11 emits light and the eleventh camera C11 performs photographing (work order 18). Further, based on a command from the control unit 13, the twelfth illumination L12 emits light, and the twelfth camera C12 performs photographing (work order 19).

  Next, based on a command from the control unit 13, the roller driving unit 2 rotates the work W to the fifth rotation position using the roller unit 1 (operation order 20). The fifth rotation position is, as shown in FIG. 13D, a position rotated by 90 ° in the normal rotation direction from the fourth rotation position.

  Subsequently, based on a command from the control unit 13, the third illumination L3 and the fourth illumination L4 emit light, and the third camera C3 and the fourth camera C4 perform shooting (work order 21). Then, based on the instruction from the control unit 13, the illumination L1a and the illumination L1b emit light, and the third camera C3 and the fourth camera C4 perform photographing (work order 22). Next, based on a command from the control unit 13, the eleventh illumination L11 emits light and the eleventh camera C11 performs photographing (working order 23). Next, based on a command from the control unit 13, the twelfth illumination L12 emits light, and the twelfth camera C12 performs shooting (work order 24).

  Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the work W to the sixth rotation position (work order 25). As shown in FIG. 13E, the sixth rotation position is a position rotated by 90 ° in the normal rotation direction from the fifth rotation position.

  Subsequently, based on a command from the control unit 13, the third illumination L3 and the fourth illumination L4 emit light, and the third camera C3 and the fourth camera C4 shoot (operation order 26). Then, based on a command from the control unit 13, the eleventh illumination L11 emits light, and the eleventh camera C11 performs photographing (working order 27). Further, based on a command from the control unit 13, the twelfth illumination L12 emits light, and the twelfth camera C12 performs photographing (work order 28).

  Next, based on a command from the control unit 13, the white bar moving mechanism unit 4 causes the white bar 3 to be inserted inside the work W (housing 200) (work order 29). Then, based on a command from the control unit 13, the roller driving unit 2 rotates the work W by 360 ° using the roller unit 1 (operation order 30). At this time, based on a command from the control unit 13, the first illumination L1 emits light, and the first camera C1 and the second camera C2, which are line cameras, shoot (operation order 30). Thereby, the torso 201 of the work W can be photographed over the entire circumferential direction with white as the background color.

  Next, based on a command from the control unit 13, the white bar moving mechanism unit 4 causes the white bar 3 to be ejected from the inside of the workpiece W, and the black bar moving mechanism unit 6 causes the black bar 5 to be inserted into the workpiece W (operation). Order 31). Then, based on a command from the control unit 13, the roller driving unit 2 rotates the work W by 360 ° using the roller unit 1 (operation order 32). At this time, based on a command from the control unit 13, the first illumination L1 emits light, and the first camera C1 and the second camera C2, which are line cameras, shoot (operation order 32). Thus, the body 201 of the work W can be photographed over the entire circumferential direction with black as the background color.

  Next, based on a command from the control unit 13, the roller driving unit 2 rotates the work W to a predetermined discharge position using the roller unit 1, and the black bar moving mechanism unit 6 discharges the black bar 5 from the inside of the work W. (Operation order 33). The operations in the work order 29 to 33 correspond to operations using the above-described first feature. Thereafter, the work W is discharged to the downstream side in the transport direction (work order 34).

  By performing a series of operations from the work order 1 to the work order 34 as described above, each image obtained by photographing each part of the work W from an appropriate angle is obtained. The photographing apparatus 100, which also functions as a visual inspection apparatus, can perform a high-precision visual inspection of the work W by using each of the images obtained in this manner. Can be detected.

6. Others As described above, the image capturing apparatus 100 according to the present embodiment includes the background switching unit 50 that sequentially switches the color of the background provided at a predetermined position to white and black, respectively. Then, the subject on which the work W is superimposed is photographed in front of the background. Therefore, by performing shooting with each of the plurality of background colors, it is possible to accurately detect various defects and the like in the work W. In addition, it is possible to use the same photographing means for each background and make the photographing conditions such as the photographing direction the same as much as possible, and it is easy to improve the accuracy and reliability of the appearance inspection.

  Further, the photographing device 100 is a photographing device that sequentially photographs the work W from different angles using a plurality of cameras, and includes movable illuminations (L9, L10) used when photographing with some cameras. An illumination moving operation for moving the illumination is performed between a position at the time of use (use position) and a position at which photographing by another camera is not hindered (unused position). Therefore, even if the position of the light used for shooting with some cameras is a position that hinders shooting with another camera, the lighting is retracted during shooting with the other camera so that shooting is not hindered. It is possible to

  As described above, one embodiment of the present invention has been described. However, the configuration of the present invention can be variously modified without departing from the gist of the present invention in addition to the above embodiment. That is, the above-described embodiment is to be considered in all respects as illustrative and not restrictive. The technical scope of the present invention is not described by the above-described embodiment, but by the claims. It is to be understood that all changes that come within the meaning and range of equivalency of the claims are included.

DESCRIPTION OF SYMBOLS 1 Roller part 2 Roller drive part 3 White stick 4 White stick moving mechanism part 5 Black stick 6 Black stick moving mechanism part 7 Imaging part 8 Fixed lighting part 9 Movable lighting part 10 Lighting moving mechanism part 11 Display part 12 Operating part 13 Control part 50 Background switching unit 100 Photographing device 200 Housing 201 Body 202 First flange 202A Open 202B First screw 203 Second flange 203A Open 203B Second screw 204 First nozzle 205 Second nozzle W Work B1 White Stick B2 Black stick CM, CM1, CM2, C1-C12 Camera L1, L3, L4, L7-L12, L1a, L1b Lighting BL Backlight

Claims (10)

A background switching unit that sequentially switches a background color provided at a predetermined position to each of a plurality of colors,
An imaging device, wherein in each state where the background is each of the plurality of colors, an object in which an object to be imaged is placed in front of the background is imaged. The plurality of colors include a first color and a second color,
The background switching unit includes:
A first movable member used as the background of a first color, and a second movable member used as the background of a second color;
The photographing apparatus according to claim 1, wherein a first operation of moving the first movable member to the predetermined position and a second operation of moving the second movable member to the predetermined position are performed. The photographing apparatus according to claim 2, wherein the photographing apparatus photographs a subject in which a substantially cylindrical side wall of the photographing target is overlapped in front of the background.
An imaging device, wherein the predetermined position is the inside of the cylindrical shape. The first operation is an operation of inserting a substantially rod-shaped first movable member from one axial end to the inside of the imaging target,
The photographing apparatus according to claim 3, wherein the second operation is an operation of inserting a substantially rod-shaped second movable member into the photographing object from the other axial end. The background switching unit includes:
Comprising a substantially rod-shaped member in which each of the plurality of colors is arranged at a different position in a circumferential direction,
The photographing apparatus according to claim 1, wherein the background color is switched by rotating the member disposed at the predetermined position in a circumferential direction thereof.   6. The photographing apparatus according to claim 3, wherein the photographing object is photographed by using a line camera while rotating the photographing target having a substantially cylindrical shape in a circumferential direction. The photographing apparatus according to any one of claims 1 to 6, wherein the photographing object is sequentially photographed from different angles using a plurality of cameras,
With movable lighting used when shooting with some of the cameras,
An image capturing apparatus, comprising: performing an illumination moving operation of moving the illumination between a position at the time of use and a position that does not hinder shooting by another camera. The photographing apparatus according to claim 7, wherein the direction of the photographing target is sequentially switched, and photographing is performed using the plurality of cameras.
The photographing apparatus, wherein the illumination moving operation is performed in parallel with the operation of switching the direction.   The photographing apparatus according to any one of claims 1 to 8, wherein the photographing object is a light-transmitting housing used for forming a dialyzer. An imaging device according to any one of claims 1 to 9, comprising:
An appearance inspection device, wherein an appearance inspection of the object to be imaged is performed based on an image obtained by imaging by the imaging device.