JP3415448B2 - Type identification device for flat plate - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an identification device for identifying the type of AT valve plate based on a type identification hole formed in an AT valve plate.

[0002]

An automobile of AT valve plate, a plurality of metal plates part formed valve hole in a predetermined pattern, the pattern of the valve hole, Ru different for <br/> depending on the type of product. Assembly of the AT valve plate is automated by a robot. In this case, in order to prevent the robot from mistakenly assembling AT valve plates of different types, a type identification device is provided to check the type of plate before assembling.

As shown in FIG. 8, the type identification device is provided with a check pin 2 having a protruding piece 2a corresponding to a regular type identification hole at its tip, which can be moved up and down by a check pin cylinder 4. On the other hand, AT valve plate 6
Has a type identification hole 6a at a predetermined corner.

To identify the type of the AT valve plate 6, the AT valve plate 6 is placed so that the type identification hole 6a is located where the check pin 2 comes down, and the check pin is lowered by the operation of the check cylinder 4. It is determined by whether or not the protruding piece 2a of No. 2 matches the type identification hole 6a of the AT valve plate 6. If they match, the AT valve plate 6 is determined to be of the correct type,
If they do not match, the AT valve plate 6 is determined to be of the wrong type.

[0005]

Since the type identification device using the check pin as described above has a large check pin cylinder, the operation of the robot must be set so as to avoid it. Further, since the robot motion is set so as to avoid the check pin cylinder, the motion locus of the robot becomes longer and the cycle time of the assembling work is extended accordingly. If the position where the AT valve plate is placed is misaligned, the check pin may not match the type identification hole, and the determination may be erroneous even if the plate type is correct.

Also, when the plate to be assembled is changed due to a model change or the like, the check pin must be changed each time, and when a new model mark is added, a new check pin corresponding to it must be created. It is also expensive in terms of cost.

In view of the above, the present invention provides a new type of type identifying device to which the image processing technology is applied, by eliminating the type identifying device using the check pin as described above in the device for identifying the type of the flat plate. The purpose is to

[0008]

A type identification device for a flat plate according to the present invention is a type identification device for identifying a type of a flat plate provided with a type identification hole for each of several types, facing the flat plate. An image capturing unit that is disposed and captures a planar image of the planar plate, an illumination unit that projects light onto the planar plate, and a planar image of the planar plate captured by the image capturing unit are input images, and the brightness of the surface is used. By providing a threshold value between the value and the luminance value of the type identification hole portion, a binarization processing unit for distinguishing the pixel showing the surface and the pixel showing the type identification hole portion in the plane image of the plane plate. In the binarized image obtained by the binarization processing means, a predetermined number of parallel inspection lines are set at predetermined positions in the area recognized as the type identification hole portion, and the type identification hole is set for each inspection line. Those having identifying means for identifying the type of plane plates based on the feature amount of the pixel that overlaps with partial regions.

For example, the number of pixels as the feature quantity of the pixel ,
Can identify the shape of the model identification hole based on the number of occurrences.

Further, the identifying means calculates a circumscribed rectangle of an area recognized as a type identification hole portion in the binarized image, and a predetermined number of parallel inspection lines are provided at positions determined based on the circumscribed rectangle. Is preferably set.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a flat plate type identifying apparatus according to the present invention will be described below with reference to the drawings.

As shown in FIG. 2, this flat plate type identification device has an AT having several types of valve hole patterns.
The camera plate 1 identifies the model of the valve plate 10.
2, an illumination 14, and an image processing device 16. In FIG. 2, the alternate long and short dash line indicates the illumination light from the illumination 14, the broken line indicates the specular reflection light, and the alternate long and two short dashes line indicates the irregular reflection light.

As shown in FIG. 3, the AT valve plate 1
Reference numeral 0 has a model identification hole 10b formed in a predetermined corner portion based on the type, and a valve hole 10c formed in a predetermined pattern based on the model, and an inspection surface at a predetermined position of the type identification device. Is arranged horizontally with the face down.

As shown in FIG. 4, in this embodiment, the AT
The valve plate has 6 types, and 6 types of type identification holes are formed. The model has a substantially T-shaped type identification hole 31, the model has a substantially N-shaped type identification hole 32, and the model has a substantially I-shaped type identification hole 33. . In the model numbers, and, the substantially four-character type type identification holes 34 are formed on the left side of the type identification hole forming region, and the same type identification holes as the type numbers and are formed on the right side thereof.

The camera 12 is disposed so as to face the AT valve plate 10 so that a plan view of the inspection surface of the AT valve plate 10 can be imaged. The illumination 14 obliquely projects light onto the inspection surface of the AT valve plate 10 and prevents the specular reflection light of the illumination light from directly entering the camera 12. The lights 14 are arranged symmetrically with the camera 12 in between.

The AT valve plate 10 has a surface 10a that is uniformly polished to prevent defective valve sealing.
Have. The illumination light (o) is almost specularly reflected (p) and does not directly enter the camera 12, but a part (q) of light that is diffusely reflected by a minute scratch due to polishing enters the camera 12. Therefore, in the image captured by the camera 12, the surface 10a of the AT valve plate is recognized with a substantially uniform brightness value.

On the other hand, in the type identification hole 10b and the valve hole 10c of the AT valve plate 10, the illumination light (o) passes through the type identification hole 10b and escapes to the back side of the AT valve plate 10 (s). The brightness value becomes low in the image captured in.

As described above, by illuminating the AT valve plate obliquely, the light mainly diffusedly reflected by a scratch or the like is taken into the camera, so that the light is delicately changed according to the holes formed in the plate or the unevenness of the plate surface. Images with different brightness values are obtained. For example, if the scratch on the plate surface becomes deep,
Since the amount of light that diffuses and is reflected by a scratch increases, the brightness value of that portion increases. According to such an image, the depth of the scratch on the flat plate can be known based on the change in the brightness value, and therefore the presence or absence of an unacceptable scratch that may cause a defective valve seal or the like is determined at the same time as the model identification. It becomes possible.

Next, this image is input to the image processing device 16.

The image processing device 16 first performs gray processing. The gray processing converts a chromatic image captured by a camera into a grayscale image (gray image) in black and white, whereby each pixel has only brightness value information.

Next, binarization processing is performed. The binarization process is
All pixels in the image are set by setting a certain brightness value as the threshold value, for example, by setting pixels with brightness higher than the threshold value as black and pixels with brightness lower than the threshold value as white. Are separated by white or black. As shown in FIG. 5, here, a threshold value is set between the brightness value of the AT valve plate surface 10a and the brightness value of the model identification hole 10b,
The above gray image is binarized. As a result, FIG.
As shown in FIG. 5, in the gray image, the pixel indicating the AT valve plate surface 10a having a brightness value higher than the threshold value is white (21), and the type identification hole 1 having a brightness value lower than the threshold value 1
A binary image in which the pixel indicating 0b or the bubble hole 10c is black (22) is obtained.

Next, the image processing device 16 operates as shown in FIG.
In the binarized image, the number of black areas (22) in the area A where the type identification hole surrounded by the broken line in the figure is formed is calculated,
When the number of black areas is 2, it is determined that the AT valve plate model is either, and when the number of black areas is 1, the AT valve plate model is
It is determined to be either.

Next, the image processing means 16 calculates the circumscribed rectangle c of the black area as shown in FIG.
Based on, the three inspection lines d, e, f parallel to the lateral direction are set in the black area.

The circumscribed rectangle is a rectangle in which each side circumscribes the black region extracted by the binarized image, and the axial direction of the two sides orthogonal to the rectangle is the long axis of the equivalent ellipse of the black region. A rectangle that is equal to the axial direction of the minor axis.

The three parallel inspection lines are a center line e passing through the center of a circumscribed rectangle c shown by a broken line in FIG. 1, an upper line d set a certain distance below the upper end of the circumscribed rectangle c, and a circumscribed rectangle c. And an underline f set a certain distance above the lower end of the.

By thus setting the inspection line based on the circumscribed rectangle of the black area, the AT valve plate 1
Even if 0 is displaced from the predetermined position of the type identification device, the inspection line is set at an appropriate position, so that erroneous determination can be prevented.

Next, the image processing apparatus uses the inspection lines (d,
For each of e and f), the number of pixels of the portion set overlapping with respect to the black area is calculated. In the model identification hole 31 of the model, the measurement values of the upper line d and the center line e are large, and only the measurement value of the underline f is small. In the type identification holes 32 of the type, all the measured values of the inspection line have the same size. In the model identification hole 33 of the model, the measured values of the upper line d and the lower line f are large, and the center line e
Only the measured value of becomes small. In this way, the model ,,
, The patterns of the measured values of the number of pixels on the upper line d, the center line e, and the lower line f are different, so that the model can be determined.

When determining the type,
Similarly, three parallel inspection lines are set for the black region located on the right side, and the number of pixels of the portion set overlapping with respect to the black region is calculated for each inspection line. At this time, the black area on the right side is, in model number ,,,
Similar to the above determination, the pattern of the measured value for each inspection line on the upper line, the center line, and the underline is different, so that the type determination can be performed.

The image processing apparatus is programmed to automatically perform the above-described identification work,
The model can be identified immediately after the image is input.

This type identification device can be applied by changing the program of the image processing device even when the type is changed or a new type is added, and therefore new equipment investment is not required. For example, in the above-described embodiment, when the AT valve plate having the substantially V-shaped type identification hole 35 shown in FIG. 7 is added as a new type, the type identification hole 35 has the number of pixels on the upper line d and the center line e. , And the measured value of the number of pixels underlined f becomes small, so that a measured value pattern similar to the model is obtained. In this case, identification is performed for each inspection line based on the number of pixels that overlap with the type identification hole. In the V-shaped type identification hole 35, the overlapping pixel is divided into two in the upper line d, and the number of pixels in the upper line that appears is two, so that it can be distinguished from the type.

Further, the number of inspection lines described above is not limited to three, and the number of lines necessary for identification can be set, and the setting direction of inspection lines is not limited to horizontal and may be set arbitrarily. Each inspection line is set so that in the determination-symmetric type marks that are determined simultaneously, a difference occurs in pixels that overlap the region of the type identification hole.

Further, in the above embodiment, the plane plate is illuminated with the oblique illumination in order to obtain an image suitable for various image processing such as inspection of scratches. However, when only the model is determined by the image processing, Since the light escapes to the back side in the type identification hole and the brightness value becomes low, the direction to which the light is applied can be arbitrarily determined.

[0033]

Since the type identification device of the present invention applies the image processing technology in the identification work of the type mark, a new cost is not required even when the type mark is added or changed and the cost is reduced. Can be achieved.

Further, by setting the camera or lighting outside the operating area of the robot, the operation setting of the robot is facilitated and also, since it sets the operating locus of the robot the shortest distances, possible to shorten the work cycle You can

Further, in the device using the check pin, it can only be judged whether the model is correct or not,
Model identification apparatus according to the present invention, the planar plate to be determined it is possible to determine which one of the type.

When the inspection line is set based on the circumscribed rectangle of the model mark, the inspection line should be set at an appropriate position even when the flat plate is placed in a state of being displaced from a predetermined position. Therefore, it is possible to prevent a model identification error.

[Brief description of drawings]

FIG. 1 is a diagram showing a circumscribed rectangle and an inspection line for each type identification hole according to an embodiment of the present invention.

FIG. 2 is a schematic view of a flat plate type identification device according to an embodiment of the present invention.

FIG. 3 is a plan view of an AT valve plate.

FIG. 4 is a view showing a model identification hole according to the embodiment of the present invention.

FIG. 5 is a diagram showing luminance values of a captured image according to the embodiment of the present invention.

FIG. 6 is a view showing a binarized image of the AT valve plate plate according to the embodiment of the present invention.

FIG. 7 is a view showing a circumscribed rectangle and an inspection line for a V-shaped type identification hole.

FIG. 8 is a view showing a model identification device using a check pin.

[Explanation of symbols]

31, 32, 33 Model identification hole c circumscribed rectangle d, e, f inspection line

─────────────────────────────────────────────────── --- Continuation of the front page (56) References JP-A 5-298430 (JP, A) JP-A 2-159506 (JP, A) JP-A 64-36387 (JP, A) JP-A 59- 790 (JP, A) JP 63-223883 (JP, A) JP 52-144246 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01B 11/24 G06K 9 / 20

Claims (2)

(57) [Claims] 1. A type identification device for identifying the type of a flat plate provided with a type identification hole for each of several types, the image pickup device being arranged so as to face the flat plate and capturing a flat image of the flat plate. Input means, a lighting means for projecting light onto the flat plate, and a flat image of the flat plate captured by the image capturing means as an input image, and the brightness value between the surface and the type identification hole By providing a threshold value for the binarization processing means for distinguishing between the pixel indicating the surface and the pixel indicating the type identification hole portion in the planar image of the planar plate, and the binary value obtained by the binarization processing means. in processing the image, in a predetermined position of the region recognized as a type identification hole portion, to set the parallel test line of a predetermined number, the number of pixels that overlap a region of the type identification hole portion for each test line, or Revealing
And a discriminating means for discriminating the type of the flat plate based on the number . 2. The identifying means calculates a circumscribing rectangle of an area recognized as a type identifying hole portion in the binarized image, and positions the circumscribed rectangle on the basis of the circumscribing rectangle.
The plane plate type identification device according to claim 1, wherein the predetermined number of parallel inspection lines are set.