JP2948953B2 - Image processing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image processing apparatus,
The present invention relates to an image processing device used for an inspection device that inspects the quality by imaging an inner bottom surface of a cylindrical body.

[0002]

2. Description of the Related Art Conventionally, as a method for inspecting defects such as scratches and dust on the inner bottom surface of a cylindrical body such as a laminated tube, particularly an inner bottom surface having a concave portion, there is a method in which a human inspects by visual inspection. Lord.

[0003]

However, in this method, the efficiency of inspection is limited, and even if other manufacturing processes of the laminated tube are automated and accelerated, the overall speed is limited in this inspection process. There was a problem that complete automation could not be achieved.

An object of the present invention is to image the inner bottom surface of a cylindrical body,
It is an object of the present invention to provide an image processing apparatus having a cylindrical body fixing device for fixing and aligning a cylindrical body in an inspection apparatus.

[0005]

According to the present invention having the above object, there is provided a rotating body, a first holder which is disposed on the rotating body and holds one end of an object to be inspected, and an object which is held by the first holder. Guide the other end of the test object by the guide surface until it hits the step
Guide, and the cross-sectional shape of the other end of the test object becomes circular.
A second holder for holding the shape while correcting the shape, an imager inserted into the other end of the object held by the first holder and the second holder for imaging the inner surface of the object, and an imager And an image processing means for processing an image captured by the computer.

[0006]

According to the present invention, the first holder for holding one end of the cylindrical body holds the cylindrical body, and the pin is provided from below the hole formed in the first holder. To position the lower end of the tubular body. Thereafter, the other end of the cylindrical body is held from above the cylindrical body, and at the same time, the shape of the other end is corrected. In this shape correction, one end of the cylindrical body is guided by a guide surface provided on the second holder, and the cross section is corrected so as to be a perfect circle. Thereafter, the imaging means is inserted into the inside of the tubular body from above to provide images of the inner surface and the outer surface. The image is transmitted to the image processing means by the transmission device, and the result of the inspection of the inner surface of the inspection object is determined.

[0007]

Next, a preferred embodiment of the present invention will be described with reference to the drawings. The present embodiment discloses an example in which a cylindrical body to be imaged or inspected according to the present invention is a laminated tube.

Next, the structure of a rotary tube inspection machine which is an embodiment of the apparatus image processing apparatus provided with the inspection of the inside of a cylindrical body according to the present invention will be described with reference to FIGS. 1, 2, 3, 4 and 9.
This will be described with reference to FIG. The rotary tube inspection apparatus 2 includes a base 35, a motor 36, a rotary shaft 37, and the rotary inspection table 12, and the cam 46 _a, the cam follower 47, a holder lifting rotary shaft 48, a centering tool 38 , An in-tube inspection device 39, a camera selector 43, a mixer 44, an antenna unit 45, a rotating resolver 49, a fixed resolver 50, a light amount checker 51, a cam positioner 87, and a determination device 84. I have. Here, the motor 36, the rotation shaft 37 and the rotation inspection table 12 constitute a transfer unit. The in-tube inspection device 39 constitutes an imaging unit. Further, the above constitutes the cylindrical body bottom surface imaging device. Further, the antenna unit 45 constitutes a signal transfer unit. The discriminating device 84 constitutes discriminating means.

A fixed shaft (not shown) is provided on the base 35, and a tubular rotary shaft 37 is provided so as to share an axis with the fixed shaft and to cover the fixed shaft. The rotating shaft 37 is configured to be driven to rotate by a motor 36. In addition, a rotary resolver 49 and a fixed resolver 50 are provided to measure the angular position between the fixed shaft and the rotating shaft 37. The rotation inspection table 12 is connected to a rotation shaft 37,
It rotates with the rotation of 7. A holder H can be placed on the rotation inspection table 12. The holder H is moved up and down and rotated by a holder elevating rotary shaft 48. The elevating operation of the holder elevating rotary shaft 48 is performed by a cam 46 a and a cam follower 47 provided at the lower end of the holder elevating rotary shaft 48. The squeeze port side of the laminate tube T can be inserted into the holder H. A centering jig 38 for holding the tail side of the laminate tube T in a circular shape is supported above the holder H.

The holder 60 as the first holder and the centering jig 38 as the second holder constitute a tubular body fixing device. The holder 60 is provided with a hole 62 in the lower part, a centering bar 63 is provided in the lower part of the holder 60, and a cam follower 47 having a cam follower 64 attached to the lower end of the centering bar 63 is provided with a cam follower 47. The upper end of the centering bar 63 moves up and down in the hole 62 as it moves on the top 46a.

On the other hand, the holding portion 61 of the centering jig 38
Has a guide surface 65 inclined inside the cylindrical portion, a first cylindrical surface 66 continuous with the guide surface 65 is formed, and a horizontal plane is formed between the cylindrical surface 66 and the innermost diameter portion 67. Step 68 is formed. The holding portion 61 is supported by a support 80, and the support 80 is vertically moved up and down by a lifting means (not shown).

The in-tube inspection device 39 for inspecting the inside of the laminate tube T has an in-tube insertion section 40, a borescope 41, and a CCD camera 42. The borescope 41 includes a borescope main body 52 and a borescope insertion section 53. The tube insertion section 40 includes a borescope insertion section 53 and a light emitting diode section 5.
4 and a photo sensor unit 55. Of these, the borescope insertion section 53 mainly inspects the inner bottom side of the laminate tube T in the drawing, that is, the squeeze port side, and the light emitting diode section 54 and the photo sensor section 55 mainly inspect the inner side surface of the laminate tube T. The rotary tube inspection machine 2 is provided with twelve in-tube inspection devices 39, and is also provided with twelve cam followers 47 and twelve holder elevating rotary shafts. These numbers are not limited to 12, and may be other numbers. Each in-tube inspection device 39 is connected to a camera selector 43 by a lead wire, and the camera selector 43 is connected to a mixer 44. The mixer 44 is connected to the antenna unit 45. The antenna unit 45 is connected to the determination device 84.

Next, the operation of the rotary tube inspection machine 2 will be described with reference to FIGS. 1, 2, 3, 4 and 5. In FIG. 1, a laminated tube T is a holder H
The star wheel 11 is placed on the conveyor
Transported to The star wheel 11 takes the laminated tube T together with the holder H onto the rotary inspection table 12 of the rotary tube inspection machine 2. After being taken on the rotating inspection table 12, the holder lifting / lowering rotation shaft 48 is moved to the cam 46.
It goes up and down according to the cam curve of a. At this time, the cam 46a
According to the cam curve, the centering bar 63 rises from below and is inserted into the hole 62 below the laminate tube T via the hole 63 to perform centering. The centering jig 38 descends as the second holder. The end E of the laminate tube T hits the guide surface 65 of the holding portion 61 by these two relative movements. Fig. 5 shows the laminate tube T
In the case where the laminate tube T is curved as shown in FIG. 5A, the curved surface is guided by the guide surface 65 and guided until the end of the laminate tube T hits the step 68 in a perfect circle as shown in FIG. Then, an intermittent rotating motion is performed about the axis of the holder elevating rotary shaft 48. In other words, the rotation is performed while revolving in the rotation direction of the rotation inspection table 12, and at that time, P1 and P
At 2, P3 and P4, the rotation is temporarily stopped for a predetermined time. As shown in FIG. 2, by the rotation of the rotation inspection table 12,
Both the laminated tube T and the in-tube inspection device 39
Revolves, but in addition to the above-mentioned
Only the laminate tube T rotates on its own. Meanwhile, Chu
Since the in-built inspection device 39 does not rotate,
Laminate tube T rotates under the inspection device 39
If an appropriate rotation speed is given,
As described above, the inspection for each inspection region can be performed.

On the other hand, a cam follower 40a provided behind the in-tube inspection device 39 has a groove 40b inside the tube held in a circular shape by the lowering of the centering jig 38.
Slides, the in-tube inspection device 39 descends, and the in-tube insertion portion 40 of the in-tube inspection device 39
Is inserted. In this manner, with the tube insertion portion 40 inserted inside the tube, the laminate tube T
By performing the intermittent rotation between the points P _{1 and} P ₄ , the tube bottom surface and the tube inside surface can be inspected in this section by using the tube inspection device 39. This intermittent rotation corresponds to a relative planar movement between the cylindrical body and the imaging means. When the inspection of one tube is completed, the laminated tube T which is determined to be defective by the inspection is discharged. Before being inserted into the laminate tube T, the in-tube insertion unit 40 checks by a light amount checker 51 whether the light amount of the light emitting unit has reached a predetermined light amount, and the result is reflected at the time of data processing. . When the light amount is equal to or less than the reference value, the tube checked based on the light amount is set to NG, an alarm is issued, and parts can be replaced.

Next, the detailed structure of the tube insertion portion 53 will be described with reference to FIG. FIG. 7A shows a tube insertion portion 40 inserted in a laminate tube T.
2 shows a cross section in the II direction. FIG. 7 (C)
FIG. 7D is a cross-sectional view in the II-II direction, and FIG. 7D is a cross-sectional view in the III-III direction.

The insertion section 40 in the tube is a borescope 4
The light emitting diode part 54 is connected to the joint fitting 56 with the bolt 5
7, and the light emitting diode unit 54 and the photo sensors 55a, 55b, 55c, 55
d, 55e and 55f are attached.

FIG. 7 is a sectional view of the borescope insertion portion 53.
It is shown in (B). The borescope insertion section 53 includes a lens section 60 for capturing an image inside a stainless steel tube 58, and a light source fiber section 59 including a thin glass fiber provided around the lens section 60. In the figure, the end surface S of the borescope insertion portion 53 is perpendicular to the axis of the borescope insertion portion 53, but it may be cut obliquely so as to have a certain angle with respect to the axis. In this case, the field of view is expanded not only vertically downward but also obliquely. The borescope insertion portion 53 is eccentric from the axis of the laminate tube T, and the positional relationship is shown in FIGS. 6 (A) and 6 (C). That is, the inspection area F ₁ of the bore scope insertion portion 53 in this case is 4 minutes circular portion excluding the square of the camera field mask portion (hatched portion). Since the laminate tube T rotates intermittently as shown in FIG. 2 and temporarily stops at points P ₁ , P ₂ , P ₃ , and P ₄ , when the point P ₁ stops, FIG.
An inspection area F ₁ can be inspected at the point P
During ₂ stops it is possible to inspect the inspection area F _2. Hereinafter, the inspection region F at the time of stopping the point P ₃ in the same manner
₃ and the testable area F ₄ when the point P ₄ stops, respectively. In this manner, the inspection area is divided as shown in FIGS. 6A and 6C, and the image is taken and inspected while approaching the inner bottom surface, thereby obtaining the images shown in FIGS. 6B and 6D. The resolution can be further improved as compared with the case where the borescope insertion portion 53 is positioned at the axis of the laminate tube T as one inspection area, and a finer contaminant, a defect such as a scratch can be detected. Becomes possible. The division of the inspection area is not limited to four divisions, and may be another number.

On the other hand, the light emitting diode unit 54
Cover from the inner bottom surface of the toe tube T to the upper opening surface
It has a length and can illuminate the inner surface from top to bottom.
Can be. Each of the photo sensors 55a to 55f has a light emitting device.
Three parts are provided on both sides of the iodine part 54.
As shown in FIG. 7 (C), the inspection areas overlap.
It is provided in. With this configuration,
The photo sensors 55a to 55f are formed by a laminate tube T.
During the period of rotation, that is, the point P in FIG. ₁,
P_Two, P_Three, P_FourDuring the period except for the period suspended at,
The inner surface can be inspected. Here is the photo
The sensors 55a to 55f may be provided in one row,
Or, a photoelectric conversion element other than the photo sensor, for example, C
It may be a CD element or the like.

Next, the processing of the inspection information detected by the in-tube inspection device 39 will be described. The image information of the inner bottom surface of the laminate tube T detected by the CCD camera 42 is converted into a video signal, and the inspection information of the inner surface of the laminate tube T detected by the photo sensor unit 55 is converted into a voice signal, and both are mixed. Is transmitted to the outside to determine whether or not a defect is present. FIG. 10 is a block diagram showing the flow of image information processing of the inner bottom surface of the laminate tube T detected by the CCD camera 42. FIG.
0 is roughly divided into a rotating block 85 and a fixed block 86. The rotation block 85 includes 12 CCD cameras 42a.
VIDEO selector 43 that divides 12 CCD cameras into four groups every three cameras, selects one of the three cameras, and selects the image information.
a, 43b, 43c and 43d. The image information selected by the VIDEO selectors 43a, 43b, 43c, 43d is supplied to the RF converters 44a, 44b, 44c,
Converted at 44d, the information is amplified by an RF amplifier. The signal amplified by the RF amplifier is converted to Ban
The signal via the d pass filter (bandpass filter) is then transmitted to the four VIDEO selectors 43.
The signals selected from a, 43b, 43c and 43d are sent to a mixer 44 for mixing. The signal output from the mixer 44 passes through the BPF 95 and passes through the antenna unit 45
Sent to The antenna unit 45 includes a rotating unit that rotates together with the rotating unit 85, and a fixed unit having an image processing function including tuners 89a to 89d and video image checkers 90A and 90B.

The fixing unit will be described in detail below. A distributor 88 for distributing image information oscillated from the rotating unit of the antenna unit 45 and received by the fixing unit of the antenna unit 45 to the four tuners. Four RF converters 44a, 44b, 44c, 44d
Tuner 89a corresponding to the frequency converted by
89b, 89c, 89d and the above-mentioned four tuners 8
Memory units 20a, 20b, 20c, 20d, 21 for recording images reproduced by 9a, 89b, 89c, 89d
a, 21b, 21c, and 21d.

A video image checker 90A, 9 for processing image data stored in these memory units.
0B. Video image checker 90A,
The data processed in 90B is output as a determination output via an output amplifier.

On the other hand, video image checkers 90A and 90A
0B, the horizontal and vertical synchronizing signals are respectively output and amplified by the signal amplifiers 92a and 92b.
The signals from 2a and 92b are transmitted to and amplified by amplifiers 93a, 93b, 93c and 93d, respectively, for transmission to the rotating unit. Then, the amplifiers 93a, 93b, 9
3c and 93d are mixed by distributors 94a and 94b. P. The signal is sent from the fixed part of the antenna unit 45 to the rotating part via the rotating part via F94c and 94d. The signal received by the rotating unit of the antenna unit is distributed by the distributor 95 to two sets of AMPs on the receiving side. AMP96a, 96b, 96c, 96
The signal output from d is distributed to the CCD cameras 42a to 42l via the buffers 97a and 97h. This synchronization signal is transmitted together with the image from the CCD camera, and the image is identified by the synchronization signal.

Here, the processing of the inspection information detected by the in-tube inspection device 39 will be described. The image information of the inner bottom surface of the laminate tube T from each of the CCD cameras 42a to 42l is obtained from the angular position of the rotary inspection table 12 detected by the rotary resolver 49 and the height position of the cam follower 47 detected by the cam positioner 87. The VIDEO selector 43 specifies a camera to be taken in, selects and takes in only image information from the camera, and transmits it to the mixer 44. As apparent from FIG 2, when a laminate tube T has reached the point P ₄ is already the point P _3, the point P _2, since the subsequent laminated tubes T reaches to the point P _1, at the same time four cameras The image information from is acquired. The mixer 44 mixes these four pieces of image information and performs B.I. P. F. Output to the transmission antenna 74 via 94c, 94d, 95. The mixed image information received by the receiving antenna 75 is divided into frequency bands by the distributor 88 and sent to the tuners 89a to 89h to detect information signals. Information signals from the tuners 89a and 89b among the tuners 89a to 89d are sent to the video image checker 90A. In addition, tuners 89c and 89d
Is sent to the video image checker 90B.

As for the image of the tuner 89a, the image of the bottom surface is divided into a central portion including a concave portion of the cylindrical body and a peripheral portion, and the corresponding image, that is, the central portion S is stored in the memory portion 20a (FIG. 10).
Is stored in the memory section 20b. Similarly, store separately each area at a position _{P 1, P 2, P 3} , P 4 to the corresponding memory section 20a~20d and 21a to 21d. Thus, the images of the central portion S and the peripheral portion C stored in 20a and 20b are sent to the video image checker A90A, and the video image checker A90A
Then, the image of the central portion S and the image of the peripheral portion C are binarized based on different standards. That is, since the central portion S including the concave portion is normally bright, it is binarized based on the data, and the peripheral portion C
Is darker than the central portion S including the concave portion, so that the binarization is performed based on the brightness. Thus, the central part S
In order to binarize the and the peripheral portion C based on different standards,
The peripheral portion C is binarized by applying the standard of the peripheral portion C, and the accuracy of the determination of the binarized result of the central portion S is not reduced. Also, as a result of separately binarizing the central portion S and the peripheral portion C as described above, the concave portion E in the tube can be captured in an image over a wide range, and the image of this portion can be checked. it can. In the peripheral part C,
It is possible to detect flaws, dust and the like adhering around the joint between the side wall and the bottom of the cylindrical portion.

If, as a result of the binarization in the video image checker A90A, no flaw or dust is found, it is OK.
Output the NG signal if they are found.
1 and the amplified signal is output as a judgment output. The determination of good or bad is made, for example, by binarizing the image information signal based on brightness and determining the number of pixels in the dark area. The information signals from the tuners 89c and 89d are sent to the video image checker 90B and the same processing is performed. The detected angular position of the rotation inspection table 12 and the cam positioner 92
The cam positioner 92 specifies the camera number from the height position of the cam follower 47 detected by
While the cam positioner 92 is
0A or a select signal is sent to the controller 90B to select a signal to be sent to the defect determination circuit 91 from the information signals from the tuners. The defect determination circuit 91 determines whether the image is good or defective based on the image information signal from each camera, and outputs the result to the outside.

Next, a camera 43 as an image pickup means, RF
Regarding an example of the configuration of the antenna unit 45 as a transmission unit that transmits an image that has passed through the converter 44a and the distributor 44,
This will be described with reference to FIG. The antenna section 45 includes a transmitting antenna 74 and a receiving antenna 75, an electromagnetic shielding cover for electromagnetically shielding them, and a mounting bracket 7 for each antenna.
6 and 77 and lead wires 81 and 82 for supplying signals. The transmitting antenna 74 and the receiving antenna 75 are in a non-contact state, always facing each other even when the rotating block rotates, and can stably transmit and receive information signals, and are electromagnetically shielded by an electromagnetic shielding cover. It is not affected by noise.

FIG. 8 is an operation timing chart of the camera and the controller. With such an operation, the number of expensive controllers can be reduced, and a small number of controllers can be operated efficiently.

In the above-described embodiment, the laminated tube T which is a cylindrical body whose bottom end is tapered and whose opening is partially open has been described. It may be a bottomed cylindrical body such as a can.

[0029]

As described above in detail, according to the image processing apparatus of the present invention, the first holder for positioning the cylindrical body while holding one end of the cylindrical body, and the other end of the cylindrical body are connected to each other. Since it has the second holder for holding and correcting the shape, the other end is always held in a perfect circle state and the insertion portion in the tube is inserted for inspection, so that accurate inner surface inspection can be performed. . Further, when the outer surface is inspected, the cylindrical body is held in a perfect circle, and the distance from the outer surface detecting device is constant, so that an accurate detection value can be calculated.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a tube inspection system using an image processing apparatus of the present invention.

FIG. 2 is an explanatory diagram showing an operation of a rotary tube inspection machine using the image processing device of the present invention.

FIG. 3 is an explanatory diagram showing a configuration of a rotary tube inspection machine using the image processing device of the present invention.

FIG. 4 is a sectional view of the tubular body fixing device.

FIG. 5 is an operation explanatory view of the tubular body fixing device.

FIG. 6 is a cross-sectional view showing a tube insertion portion inserted into a laminate tube.

FIG. 7 is an explanatory diagram showing a configuration of a tube insertion portion.

FIG. 8 is a configuration diagram of an antenna unit.

FIG. 9 is an operation timing chart of a camera and a controller.

FIG. 10 is a block diagram of an image processing apparatus according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Tube insertion part 2 ... Rotary tube inspection machine 3 ... Tube take-out part 4 ... Conveying device 5 ... Emergency discharge conveyor 6 ... Collecting conveyor 7 ... Pusher 8 ... Tube insertion jig

Claims (1)

(57) [Claims] 1. A rotating body, a first holder arranged on the rotating body for holding one end of an object to be inspected, and the other end of the object to be inspected held by the first holder being guided by a guide surface. On the shoulder
And the other end of the test object has a circular cross section.
A second holding tool that holds the shape while correcting the shape so as to form a shape, and an imaging unit that is inserted into the other end of the test object held by the first holding tool and the second holding tool and captures an inner surface of the test object. And an image processing unit for processing an image captured by the imaging unit.