JP2022115133A - Inspection device - Google Patents

Abstract

To provide a technique capable of efficiently inspecting the inside of an inspection object in an inspection device used for inspecting the inside of an article.SOLUTION: An inspection device used for inspecting the inside of an article comprises: an endoscope camera which has an imaging part for acquiring an image; an endoscope camera movement part which moves the endoscope camera; and a control device which controls the endoscope camera movement part to move the endoscope camera along inspection path data of the inside of the article previously set by using data expressing the inner structure of the article and controls the imaging part to acquire an internal image of the article.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present disclosure relates to an inspection device used to inspect the interior of an article.

BACKGROUND ART An endoscope apparatus is known in which an endoscope having an imaging device is inserted into an object to be inspected and an abnormality inside the object to be inspected is detected using image data acquired by the imaging device. (For example, Patent Document 1).

JP-A-2005-55756

In the conventional technology, acquisition of image data inside an object to be inspected and operation for moving the endoscope are performed by a person operating a remote control, which is not efficient. Therefore, there is a demand for a technique capable of efficiently inspecting the inside of an object to be inspected.

The present disclosure can be implemented as the following forms.

(1) According to one aspect of the present disclosure, an inspection device used to inspect the inside of an article is provided. This inspection apparatus controls an endoscope camera including an imaging unit that acquires an image, an endoscope camera movement unit that moves the endoscope camera, and the endoscope camera movement unit to move the endoscope camera to the a control device that moves along inspection path data inside the article set in advance using data representing the internal structure of the article, controls the imaging unit, and obtains an internal image of the article. .
According to the inspection apparatus of this form, image data on the inspection path inside the article can be obtained without a person operating a remote controller. Therefore, the inside of the object to be inspected can be efficiently inspected.
(2) In the inspection apparatus of the above aspect, the control device may include an abnormality detection section that detects an abnormality inside the article using the internal image.
According to the inspection apparatus of this form, it is possible to detect an abnormality on the inspection path inside the article without manipulating a remote controller. Therefore, the inside of the object to be inspected can be inspected more efficiently.
(3) In the inspection apparatus of the above aspect, the control device performs the inspection using a plurality of images acquired by the imaging unit at predetermined intervals and subject images included in the plurality of images. A position acquisition unit that acquires the position of the imaging unit in the route data may be provided.
According to the inspection apparatus of this aspect, since the image acquired for inspection can be used to acquire the position of the imaging unit, the position of the imaging unit can be detected without providing a separate device for position detection. can.
(4) In the inspection apparatus of the above aspect, the control device may associate and store the position of the imaging unit acquired by the position acquisition unit and the position where the abnormality is detected.
According to the inspection device of this form, the operator can easily recognize the position of the abnormality inside the article from the inspection result.
(5) The inspection apparatus of the above aspect may further include a path generation unit that generates the inspection path data using the three-dimensional model data of the article.
According to the inspection device of this form, the three-dimensional model data of the object to be inspected can be used as it is for the inspection of the inspection device.
(6) In the inspection apparatus of the above aspect, the endoscopic camera moving unit includes a plurality of rollers capable of gripping at least a part of the endoscopic camera, and switching the rotation direction of the rollers enables the movement of the endoscopic camera. A plurality of rollers may be included to advance or reverse the endoscopic camera.
According to the inspection device of this form, the endoscope camera can be stably moved by gripping the main body with the rollers.
(7) In the inspection apparatus of the above aspect, the article may be a part mounted on a vehicle.
According to the inspection apparatus of this aspect, it is possible to provide an inspection apparatus used in the manufacturing process of vehicle parts.
The present disclosure can also be implemented in various forms other than inspection devices. For example, it can be realized in the form of an article inspection method, an inspection apparatus control method, a computer program for realizing the control method, a non-temporary recording medium recording the computer program, or the like.

1 is an explanatory diagram showing an inspection device as a first embodiment of the present disclosure; FIG. Explanatory drawing which expands and shows the arm end vicinity. FIG. 2 is a block diagram showing functions of a control device; FIG. 4 is a flowchart showing inspection control executed by a control device of the inspection apparatus; FIG. 2 is an explanatory diagram schematically showing a three-dimensional model of a workpiece to be inspected; FIG. 4 is an explanatory diagram showing a state in which an abnormality detection unit executes abnormality detection; FIG. 4 is an explanatory diagram showing a state in which a position acquisition unit acquires feature points of image data; FIG. 4 is an explanatory diagram showing a state in which a position acquisition unit acquires a movement distance of an imaging unit; Explanatory drawing which shows the inspection result data by an inspection apparatus.

A. First embodiment:
The configuration of the inspection apparatus 100 will be described with reference to FIGS. 1 and 2. FIG. FIG. 1 is an explanatory diagram showing an inspection device 100 as a first embodiment of the present disclosure. Inspection apparatus 100 is used to inspect the inside of an article to be inspected. For purposes of this disclosure, articles include, for example, industrial products such as devices and structures in general, and do not include animals or humans. The interior of the article includes a space existing inside the article and a member such as a wall surface of the article that defines the space. Articles include, for example, castings manufactured by a die casting machine or the like. In this embodiment, the objects to be inspected are various cast parts mounted on a vehicle, such as cylinder heads and cylinder blocks. FIG. 1 depicts three axes X, Y, and Z that define an orthogonal coordinate system in three-dimensional space. The X and Y axes are horizontal axes and the Z axis is vertical.

The inspection apparatus 100 includes an endoscope camera device 50 , an endoscope camera moving section 80 and a control device 30 . The endoscope camera device 50 includes an endoscope camera 52 and an endoscope camera controller 54 . The endoscope camera 52 is also called an endoscope. The endoscope camera 52 is controlled by an endoscope camera controller 54 . The control device 30 is, for example, a personal computer. The control device 30 controls the endoscope camera device 50 and the endoscope camera moving section 80 . In this embodiment, the endoscope camera moving unit 80 includes the robot 40, the roller device 70, and a direction switching unit 524 of the endoscope camera 52, which will be described later. The control device 30 controls the robot 40 , the roller device 70 , and the direction switching unit 524 , so that the inspection device 100 can control operations such as movement and orientation switching of the endoscope camera 52 .

FIG. 1 shows a pedestal 60 for placing a work WK to be inspected. The work WK has an internal space SP. A holder 62 that holds the work WK is fixed to the pedestal 60 . A mark 64 for calibration, which can be imaged by a robot camera 424 to be described later, is installed on the mount 60 .

The robot 40 adjusts the position of the endoscope camera 52 relative to the work WK. The robot 40 has a base 44 and an arm 42 . The robot 40 is controlled by the robot controller 20 . Arms 42 are serially connected at a plurality of joints including bending joints and torsion joints. The robot 40 may have an arm 42 of any mechanism with one or more joints.

A roller device 70 and a robot camera 424 are attached to an arm end 422 that is the tip of the arm 42 . In this embodiment, the roller device 70 moves the endoscope camera 52 along one direction. Specifically, the roller device 70 feeds the endoscope camera 52 in a direction from the roller device 70 toward the work WK (hereinafter also referred to as “advancing”), and a direction from the work WK toward the roller device 70 (hereinafter referred to as “advancing”). (also referred to as “backward”).

An image captured by the robot camera 424 is output to the control device 30 and can be used to recognize the position and shape of the work WK. In this embodiment, the robot camera 424 is used for calibration for recognizing the origin position of the arm 42 and recognition of the inspection start position for the work WK. The robot 40 arranges the robot camera 424 in the vicinity of the mark 64 provided on the gantry 60 by a preset operation. By recognizing the mark 64 with the robot camera 424, the robot 40 recognizes the relative position with respect to the gantry 60 and arranges the arm 42 at the origin position. As will be described later, the robot camera 424 recognizes the shape of the member provided on the workpiece WK and the dedicated mark, and thereby positions the endoscope camera 52 at the inspection start position.

FIG. 2 is an explanatory diagram showing an enlarged view of the vicinity of the arm end 422. As shown in FIG. FIG. 2 shows the roller device 70 provided at the arm end 422 and the vicinity of the end of the endoscope camera 52 gripped by the roller device 70 . As shown in FIG. 2 , the endoscope camera 52 includes an imaging section 522 , a direction switching section 524 and a cable 526 . Cable 526 is a long hollow tube with a cross-sectional width of about 5 mm to 10 mm. The cable 526 is preferably a flexible member using polyurethane or fluororesin, for example. An imaging unit 522 is provided at the tip of the cable 526 . The other end of the cable 526 is connected to the endoscope camera controller 54 .

The imaging unit 522 is, for example, a solid-state imaging device such as a CCD, and is used to acquire an image of an inspection target. The imaging unit 522 is provided with an objective lens in addition to the solid-state imaging device, and the solid-state imaging device is arranged on its focal plane. The imaging unit 522 is connected to the endoscope camera control unit 54 via a signal line inserted through the cable 526 . At the tip of the cable 526, in addition to the imaging unit 522, a light guide for adjusting the brightness inside the object, forceps for collecting foreign matter in the inspection object, a nozzle for sending fluid from the tip of the cable 526, and the like are provided. may be The imaging unit 522 may be connected to the endoscope camera control unit 54 via an optical cable. The imaging unit 522 may be provided, for example, at a position other than the tip of the cable 526. In this case, the imaging unit 522 receives light from a lens arranged at the tip of the cable 526 via an optical fiber. By detecting, an image of the inspection object is obtained.

Direction switching portion 524 is provided near the tip of cable 526 . Direction switching unit 524 is operated by endoscopy camera control unit 54 under the control of control device 30 . Specifically, the direction switching unit 524 operates when a wire or the like (not shown) inserted through the cable 526 is operated by the endoscopy camera control unit 54 . The direction switching unit 524 can switch the direction of the tip of the endoscope camera 52 within a predetermined range along any one direction that intersects the axial direction of the cable 526, as indicated by the direction M2 in FIG. can. As a result, the angle of view of the imaging unit 522 can be switched to a desired direction. The direction switching unit 524 may switch the direction of the endoscope camera 52 not only in one direction but also in two directions that intersect each other.

The endoscope camera control unit 54 is connected to the control device 30 via a signal line. Image data acquired from the imaging unit 522 is output to the control device 30 . The endoscopic camera control unit 54 processes the image signal acquired from the imaging unit 522, switches the direction of the endoscopic camera 52 by the direction switching unit 524, and operates the light source of the light guide according to the operation signal input from the control device 30. etc. to control.

FIG. 2 schematically shows the configuration of the roller device 70. As shown in FIG. In this embodiment, the roller device 70 includes a pair of rollers facing each other, a first roller 71 and a second roller 72 . The first roller 71 and the second roller 72 are close to each other and grip a portion of the cable 526 therebetween. The roller device 70 may grip not only the cable 526 but also the direction switching portion 524 and the imaging portion 522 . The roller device 70 is not limited to having two rollers, the first roller 71 and the second roller 72, and may have three or more rollers. The roller device 70 rotates along the direction M1 shown in FIG. to move the endoscope camera 52 forward or backward.

FIG. 3 is a block diagram showing functions of the control device 30. As shown in FIG. Controller 30 includes microprocessor 32 , memory 34 and interface circuitry 36 . The interface circuit 36 is connected to the robot control section 20, the endoscope camera control section 54, and the display section 38 such as a liquid crystal display.

The memory 34 stores operation programs for the path generation unit 341, the position acquisition unit 342, and the abnormality detection unit 343, the CAD program 344, the CAM program 345, the robot operation program RP, and the endoscope camera operation program CP. , and inspection result data HD indicating past inspection results are stored. The function of each part of the inspection apparatus 100 is realized by the microprocessor 32 executing a computer program stored in the memory 34 . However, part or all of the functions of these units may be realized by hardware circuits.

The CAD program 344 is CAD (computer aided design) software for generating design data to be inspected. The CAM program 345 is CAM (computer aided manufacturing) software that generates an operation program for the endoscope camera moving section 80 . The CAM program 345 uses the inspection path data generated using the CAD program 344 to create a robot operation program RP for moving the endoscope camera 52 along the inspection path, an operation program for the roller device 70, and an endoscope. Generate a camera operation program CP. The robot operation program RP is composed of a plurality of instructions for operating the robot 40 . The endoscopic camera operation program CP is composed of a plurality of commands for operating the endoscopic camera 52 .

The path generation unit 341 generates inspection path data for the endoscope camera 52 using the three-dimensional model data of the inspection target generated using the CAD program 344 . The position acquisition unit 342 acquires position information of the imaging unit 522 on the examination route using the image data acquired by the imaging unit 522 . The abnormality detection unit 343 performs image processing based on the image data acquired by the imaging unit 522, and detects an abnormality inside the inspection object. If a person directly confirms the presence or absence of an abnormality using the image data acquired by the imaging unit 522, the abnormality detection unit 343 may be omitted.

FIG. 4 is a flowchart showing inspection control executed by the control device 30 of the inspection apparatus 100 of this embodiment. The flow shown in FIG. 4 is started, for example, by the user pushing down the start switch of the inspection apparatus 100 .

In step S10, the path generator 341 sets an inspection path in the workpiece WK to be inspected. For example, the user operates the CAD software, designates the three-dimensional model data of the work WK, and designates the internal space to be inspected on the three-dimensional model data. The path generation unit 341 reads from the memory 34 3D model data setting information regarding the endoscope camera 52 including the size of the endoscope camera 52 and the movable range of the endoscope camera 52 by the direction switching unit 524 .

The path generation unit 341 extracts a path along which the endoscope camera 52 can move within the internal space of the work WK as three-dimensional model data, and generates it as an inspection path. The display unit 38 may display the inspection route in the three-dimensional model data of the workpiece WK so that the user can easily determine the inspection route and inspection position. may be displayed. At the start of inspection control, the path generation unit 341 recognizes the type and serial number of the work WK by the robot camera 424, for example, and reads information such as three-dimensional model data corresponding to the recognized work WK from the memory 34. , the inspection path of the inspection object may be automatically generated at the start of the inspection. The path generation unit 341 that generated the inspection path uses the CAM program 345 to generate the robot operation program RP and the endoscope camera operation program CP required to move the endoscope camera 52 along the inspection path. If the inspection route is set in advance before starting this flow, step S10 may be omitted.

In step S20, the control device 30 controls the robot 40 to move the endoscope camera 52 to the inspection start position on the inspection path of the workpiece WK. In step S<b>30 , the control device 30 controls the endoscope camera device 50 to start imaging by the imaging section 522 . In step S40, the control device 30 drives the roller device 70 to move the endoscope camera 52 along the inspection path. The movement of the endoscope camera 52 includes forward movement of the endoscope camera 52 by rotating the first roller 71 and the second roller 72 of the roller device 70 in the normal direction, and rotation of the first roller 71 and the second roller 72 in the reverse direction. and backward movement of the endoscope camera 52 by rotation.

In step S50, the position acquisition unit 342 acquires the position of the imaging unit 522 on the examination route. As will be described later, the position acquisition unit 342 calculates the moving distance of the imaging unit 522 using a plurality of images acquired by the imaging unit 522 at predetermined intervals and subject images included in the plurality of images. calculate. The position acquisition unit 342 acquires the position of the imaging unit 522 on the examination route by integrating the calculated moving distances.

In step S<b>60 , the abnormality detection section 343 uses the image data acquired by the imaging section 522 to detect an abnormality in the work WK. In this embodiment, the anomaly detection unit 343 uses deep learning to detect an anomaly. The abnormality detection unit 343 associates the detection position of the abnormality with the position information of the imaging unit 522 acquired by the position acquisition unit 342, and stores the inspection result data HD in the memory 34. FIG. In step S70, control device 30 confirms whether or not the inspection on all inspection routes has been completed. If the inspection on all inspection paths has not been completed (S70: NO), the control device 30 proceeds to step S80.

In step S80, the control device 30 checks the inspection path and checks whether or not it is necessary to switch the direction of the endoscope camera 52 in order to move the endoscope camera 52 to the next position on the inspection path. If it is not necessary to switch the direction of the endoscope camera 52 (S80: NO), the control device 30 returns to step S40 to continue the inspection. If it is necessary to switch the direction of endoscope camera 52 (S80: YES), control device 30 proceeds to step S82. In step S82, the control device 30 controls the direction switching unit 524 to switch the direction of the endoscope camera 52 to the direction corresponding to the next movement position on the inspection route. The control device 30 may control the arm 42 of the robot 40 to switch the direction of the endoscope camera 52 instead of switching the direction of the endoscope camera 52 by the direction switching unit 524 or together with it. The control device 30 may switch the direction of the endoscope camera 52 with respect to the work WK by rotating or moving the work WK with respect to the endoscope camera 52 . In step S70, when the inspection on all inspection paths is completed (S70: YES), this flow is ended. The control device 30 may display the inspection result on the display unit 38 when the inspection is completed.

Details of inspection control by the inspection apparatus 100 will be described with reference to FIGS. 5 to 9. FIG. FIG. 5 is an explanatory diagram schematically showing a three-dimensional model of the work WK1 to be inspected. A work WK1 is a cylinder block as an example of an object to be inspected. The work WK1 includes an opening OP1, an internal space SP1 communicating with the opening OP1, an opening OP2, and an internal space SP2 communicating with the opening OP2. The opening OP1 and the opening OP2 have substantially the same shape, and the internal space SP1 and the internal space SP2 have substantially the same shape.

FIG. 5 shows an inspection route IR generated by the route generation unit 341. As shown in FIG. When the user operates the control device 30 to specify the internal space SP1 and the internal space SP2 of the workpiece WK1 of the three-dimensional model data, the path generation unit 341 causes the internal space SP1 and the internal space SP2 to be captured by the endoscope camera 52. generates an inspection path IR as movable inspection path data. As shown in FIG. 5, the inspection path IR includes an inspection path in a substantially cylindrical internal space SP1 that is inspected in the order from the inspection start position PS to the inspection position P1 and then to the inspection position P2, and from the inspection position P3 to the inspection position P4. , the inspection path of the substantially cylindrical internal space SP2, which is inspected in the order of the inspection end position PE. The direction of the inspection path from the inspection position P1 to the inspection position P2 is bent at a predetermined angle with respect to the direction of the inspection path from the inspection start position PS to the inspection position P1. Similarly, the direction of the inspection path from the inspection position P4 to the inspection end position PE is bent at a predetermined angle with respect to the direction of the inspection path from the inspection position P3 to the inspection position P4.

When inspection control is executed, the control device 30 controls the robot 40 to move the endoscope camera 52 near the inspection start position PS. In this embodiment, the control device 30 detects the opening OP<b>1 by image recognition using a robot camera 424 provided at the arm end 422 . The control device 30 further controls the arm 42 of the robot 40 to adjust the orientation of the endoscope camera 52 so that the movement direction of the endoscope camera 52 by the roller device 70 matches the traveling direction of the inspection route IR. You may For example, the control device 30 detects the center of the opening OP1 using the image data of the opening OP1, and moves the endoscope camera 52 to the detected center of the opening OP1. Fine adjustment of the placement of the camera 52 at the inspection start position PS may be performed.

After arranging the endoscope camera 52 at the inspection start position PS, the control device 30 controls the endoscope camera device 50 to start imaging by the imaging unit 522 . In this embodiment, the control device 30 causes the imaging unit 522 to start shooting a moving image at a predetermined frame rate. The frame rate of the moving image may be arbitrarily set based on the movement distance of the endoscope camera 52 and the movement speed of the endoscope camera 52 . The imaging by the imaging unit 522 is not limited to moving images, and may be, for example, still images, and the still images may be acquired for each inspection position.

When the imaging unit 522 starts capturing a moving image, the control device 30 controls the roller device 70 to advance the endoscope camera 52 from the inspection start position PS to the inspection position P1. While the endoscope camera 52 is moving, the abnormality detection unit 343 detects a foreign object using the image data acquired from the imaging unit 522 , and the position acquisition unit 342 detects the image acquired from the imaging unit 522 . The data is used to acquire the position of the imaging unit 522 on the inspection path IR.

After moving the endoscope camera 52 to the inspection position P1, the control device 30 controls the direction switching unit 524 to switch the direction of the endoscope camera 52 in the direction toward the next inspection position P2. The control device 30 controls the roller device 70 to advance the endoscope camera 52 from the inspection position P1 to the inspection position P2. After completing the inspection up to the inspection position P2, the control device 30 controls the roller device 70 to move the endoscope camera 52 backward and take it out of the internal space SP1, and controls the robot 40 to move the endoscope camera 52 to the inspection position. Move to P3. Similar to the inspection in the internal space SP1, the control device 30 inspects the internal space SP2 from the inspection position P3 to the inspection end position PE via the inspection position P4.

FIG. 6 is an explanatory diagram showing a state in which the abnormality detection unit 343 executes abnormality detection. FIG. 6 shows an example of image data for one frame out of the moving images captured by the imaging unit 522 in the internal spaces SP1 and SP2 of the work WK1. As shown in FIG. 6, the abnormality detection unit 343 detects abnormality FM1. Abnormalities detected by the abnormality detection unit 343 include, for example, adherence of foreign matter to the inspection target, defects in the inspection target, unevenness on the wall surface, and cavities formed in the casting product, which are also called blowholes. In the present embodiment, the abnormality detection unit 343 uses image recognition by deep learning (also called deep learning) using a database of images showing abnormalities acquired in the past, and analyzes the image data acquired by the imaging unit 522. Detect anomalies by According to the inspection apparatus 100 of this form, the detection accuracy of abnormality can be improved.

A method of acquiring the position of the imaging unit 522 by the position acquisition unit 342 will be described with reference to FIGS. 7 and 8. FIG. FIG. 7 is an explanatory diagram showing a state in which the position acquisition unit 342 acquires feature points of image data. FIG. 8 is an explanatory diagram schematically showing a state in which the position acquisition unit 342 acquires the moving distance of the imaging unit 522. As shown in FIG. FIG. 7 shows an example of image data for one frame out of the moving images captured by the imaging unit 522 in the internal spaces SP1 and SP2 of the work WK1. FIG. 8 shows an example of image data for one frame captured by the imaging unit 522 after the imaging unit 522 acquires the image data shown in FIG. 7 and moves on the inspection route IR by a predetermined distance. there is

7 and 8 show an object OB1 within the internal space SP1. Object OB1 is an example of a subject image detected from image data by position acquisition unit 342 . As the object OB1, various objects such as irregularities on the walls of the internal spaces SP1 and SP2, foreign substances existing in the internal spaces SP1 and SP2, and structures provided in the internal spaces SP1 and SP2 can be used.

7 and 8 show a plurality of feature points FP extracted by the position acquisition section 342. FIG. The position acquisition unit 342 detects the coordinates of unique points that can be distinguished from others, such as corners, intersections of lines, and edges, from information such as brightness of image data, and extracts feature points FP. The position acquisition unit 342 calculates the uniqueness of the detected feature point FP as a feature amount expressed by a vector or binary code, and performs matching by comparing the feature amounts of the image data to be associated. The position acquisition unit 342 performs matching using the feature points FP between the image data shown in FIG. 7 and the image data shown in FIG. 8, thereby obtaining the object OB1 shown in FIG. are the same object. For example, methods such as SURF and AKAZE may be used in addition to SIFT (scale-invariant feature transformation) for matching feature points. The position acquisition unit 342 can further obtain the distance to the feature point FP, that is, the distance to the object OB1, using triangulation, SLAM (Simultaneous Localization and Mapping), or the like, for example.

In order to facilitate understanding of the technique, FIG. 8 conceptually shows the position of the object OB1 before moving along the inspection path IR, that is, the position of the object OB1 in FIG. 7 as an object OB2. As indicated by distance DT in FIG. to get as The position acquisition unit 342 acquires the movement distance for each predetermined frame of the moving image acquired by the imaging unit 522 . The position acquiring unit 342 acquires the current position of the imaging unit 522 on the inspection route IR by integrating the acquired moving distances and calculating the cumulative moving distance from the inspection start position PS.

The abnormality detection unit 343 associates the detection position of the abnormality with the position information of the imaging unit 522 acquired by the position acquisition unit 342, and stores the inspection result data HD in the memory 34. FIG. In addition to acquiring the movement distance using the image data, the position acquisition unit 342 acquires, for example, the feed amount of the endoscope camera 52 acquired from the encoders of the first roller 71 and the second roller 72 of the roller device 70 . It is good also as a moving distance.

FIG. 9 is an explanatory diagram showing inspection result data HD by the inspection apparatus 100. As shown in FIG. FIG. 9 shows a state in which the inspection result data HD is displayed on the display section 38. As shown in FIG. In FIG. 9, illustration of the three-dimensional model of the work WK1 is omitted. As shown in FIG. 9, the abnormality position information DF01 to DF05 detected by the abnormality detection unit 343 and the position acquisition unit 342 are mapped on the inspection route IR. For example, the operator can visually confirm the position information DF01 to DF05 of the abnormality on the inspection path IR from the display unit 38 and remove the abnormality from the work WK1.

As described above, according to the inspection apparatus 100 of the present embodiment, the endoscopic camera moving section 80 including the robot 40, the roller device 70, and the direction switching section 524 is controlled to move the endoscopic camera 52. It moves along the inspection path IR of the internal spaces SP1 and SP2 of the work WK1, controls the imaging unit 522, and acquires an internal image of the article. Therefore, the inspection apparatus 100 of the present embodiment can acquire image data of the internal spaces SP1 and SP2 of the work WK1 on the inspection path IR without a person operating a remote controller. Therefore, the inside of the object to be inspected can be efficiently inspected.

According to the inspection apparatus 100 of this embodiment, the control device 30 includes an abnormality detection section that detects an abnormality inside the workpiece WK1 using an internal image. Abnormalities on the inspection path IR of the internal spaces SP1 and SP2 of the work WK1 can be detected without a person operating a remote controller. Therefore, the inside of the object to be inspected can be inspected more efficiently. In addition, it is possible to reduce or prevent human errors in detection of abnormalities.

According to the inspection apparatus 100 of the present embodiment, the position acquisition unit 342 calculates the movement distance of the imaging unit 522 by matching feature points using the object OB1 included in the plurality of image data acquired by the imaging unit 522. and acquires the position of the imaging unit 522 on the inspection path IR. Since the image data used for abnormality detection can be used for position detection, for example, without separately providing a device for position detection such as a distance measuring device such as LiDAR or a GNSS (Global Navigation Satellite System), the imaging unit 522 position can be detected. For example, even if there is an error between the feed amount of the endoscope camera 52 by the roller device 70 and the actual movement amount of the endoscope camera 52, the proper position of the imaging unit 522 can be detected.

According to the inspection apparatus 100 of the present embodiment, the abnormality detection unit 343 associates the position of the imaging unit 522 acquired by the position acquisition unit 342 with the position where the abnormality FM1 is detected and acquires the inspection result data. Store as HD. Therefore, the operator can easily recognize the position of the abnormality FM1 on the inspection path IR.

According to the inspection apparatus 100 of the present embodiment, the route generator 341 uses the three-dimensional model data of the article to generate the inspection route IR. Therefore, the three-dimensional model data of the work WK1 designed by the three-dimensional CAD software can be used for inspection by the inspection apparatus 100 as it is. According to the inspection apparatus 100 of the present embodiment, even if the inspection target having a different internal structure is switched during the inspection by the inspection apparatus 100, the inspection corresponding to the different internal structure can be performed without stopping the inspection. Paths can be generated and inspection can continue without stopping.

According to the inspection device 100 of this embodiment, the roller device 70 includes a pair of rollers 71 and 72 for gripping the endoscope camera 52 . The roller device 70 moves the endoscope camera 52 forward or backward by switching the rotation direction of the roller. By gripping the endoscope camera 52 with the rollers, the endoscope camera 52 can be stably moved. For example, by using the amount of rotation of a roller such as an encoder, the amount of movement of the endoscope camera 52 on the inspection route IR can be detected, and the accuracy of detecting the position of the imaging unit 522 can be improved.

According to the inspection device 100 of the present embodiment, the article is a part mounted on a vehicle, such as a cylinder head and a cylinder block. Therefore, the inspection apparatus 100 can be used in the manufacturing process of vehicle parts.

B. Other embodiments:
(B1) In the above embodiment, an example was shown in which the article to be inspected by the inspection apparatus 100 is a cast part mounted on a vehicle, such as a cylinder head and a cylinder block. On the other hand, articles to be inspected may be articles other than cast parts mounted on vehicles, for example, parts mounted on moving bodies such as aircraft, ships, and trains. Various structures such as objects and building materials may be used. The item to be inspected may be, for example, a nuclear reactor. According to the inspection apparatus 100 of this embodiment, the inside of the nuclear reactor can be automatically inspected by the endoscope camera 52, so that human exposure to radiation can be suppressed.

(B2) In the above embodiment, the inspection apparatus 100 is provided with one control device 30 that controls both the robot 40 and the endoscope camera device 50 . On the other hand, the inspection apparatus 100 may include, for example, two controllers, a controller that controls the robot 40 and a controller that controls the endoscope camera device 50, and three or more controllers. may be provided.

(B3) In the above embodiment, the endoscope camera moving section 80 includes the robot 40 , the roller device 70 , and the direction switching section 524 . On the other hand, the robot 40 and the direction switching section 524 may be omitted from the endoscopic camera moving section 80 if, for example, the direction in which the endoscopic camera 52 is moved is linear only. The endoscopic camera moving unit 80 includes at least one of the robot 40, the roller device 70, and the direction switching unit 524, which are necessary for realizing the movement direction of the endoscopic camera 52 corresponding to the inspection route. It can be.

The present disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from the scope of the present disclosure. For example, the technical features of the embodiments corresponding to the technical features in each form described in the outline of the invention are used to solve some or all of the above problems, or Alternatively, replacements and combinations can be made as appropriate to achieve all. Moreover, if the technical feature is not described as essential in this specification, it can be deleted as appropriate.

DESCRIPTION OF SYMBOLS 20... Robot control part, 30... Control apparatus, 32... Microprocessor, 34... Memory, 36... Interface circuit, 38... Display part, 40... Robot, 42... Arm, 44... Base, 50... Endoscopic camera device, 52... endoscope camera 54... endoscope camera control section 60... mount 62... holder 64... mark 70... roller device 71... first roller 72... second roller 80... endoscope camera moving section , 100... inspection device, 341... path generation unit, 342... position acquisition unit, 343... abnormality detection unit, 344... CAD program, 345... CAM program, 422... arm end, 424... robot camera, 522... imaging unit, 524 ...Direction switching part 526...Cable CP...Endoscopic camera operation program FM1...Abnormality FP...Feature point HD...Inspection result data IR...Inspection path OB1, OB2...Object OP1, OP2...Opening RP ... robot operation program, SP, SP1, SP2 ... internal space, WK, WK1 ... work

Claims (7)

An inspection device used to inspect the inside of an article,
an endoscope camera including an imaging unit that acquires an image;
an endoscopic camera moving unit that moves the endoscopic camera;
controlling the endoscopic camera movement unit to move the endoscopic camera along inspection path data inside the article set in advance using data representing the internal structure of the article; a control device for controlling to obtain an internal image of the article;
inspection equipment. 2. The inspection apparatus according to claim 1, wherein said control device includes an abnormality detection section that detects an abnormality inside said article using said internal image. The inspection device according to claim 2,
The control device acquires the position of the imaging unit in the inspection path data using a plurality of images acquired by the imaging unit at predetermined intervals and subject images included in the plurality of images. a position acquisition unit for
inspection equipment. The inspection device according to claim 3,
The control device associates and stores the position of the imaging unit acquired by the position acquisition unit and the position where the abnormality is detected.
inspection equipment. The inspection device according to any one of claims 1 to 4,
Furthermore, a path generation unit that generates the inspection path data using the three-dimensional model data of the article,
inspection equipment. The endoscopic camera moving unit includes a plurality of rollers capable of gripping at least a part of the endoscopic camera, and a plurality of rollers for moving the endoscopic camera forward or backward by switching the rotation direction of the rollers. 6. An inspection device according to any one of claims 1 to 5, comprising rollers. The inspection device according to any one of claims 1 to 5, wherein the article is a part mounted on a vehicle.

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