JP4274862B2 - Coating surface inspection device for vehicles - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention makes a regular illuminating light incident on a light-illuminated paint surface incident on a surface illuminator that illuminates the paint surface of the vehicle in a plane and a paint surface of the vehicle carried in along the transport path. The present invention relates to a coating surface inspection device for a vehicle, which includes an image sensor to be processed, and inspects a coating surface by processing an image signal of the image sensor.
[0002]
[Prior art]
According to Patent Document 1, as shown in FIG. 6, a surface illuminator 7 that irradiates a surface with parallel light and an image sensor 6 that is disposed laterally with an interval between the surface illuminator are provided, and are regularly reflected. The imaging device 9 that is oriented so that the central optical axes of each other intersect at the front position so that light is incident is attached to the arm tip of the robot 5, and the three-dimensional of the imaging device 9 with respect to the coating surface of the vehicle 1. By scanning the coating surface while controlling the position and orientation, it is detected that the image signal level output from the image sensor 6 decreases from the high signal level corresponding to the normal coating surface, and is applied to the coating surface of the vehicle 1. A vehicular coating surface inspection apparatus that automatically detects a minute defect that has occurred is disclosed.
[0003]
Further, according to Patent Document 2, a surface illuminator that irradiates a surface so as to project a light and dark pattern on a paint surface of a vehicle or the like, and a light reception image of a light and dark pattern obtained by imaging the paint surface are converted into image data. An image sensor oriented so that the center optical axes of each other intersect, extract a boundary area between a bright part and a dark part of a light / dark pattern from image data, and image the light / dark boundary area with a predetermined threshold value A coating film smoothness inspection apparatus that binarizes and determines the smoothness of the coating surface in accordance with the degree of variation in the width of the light / dark boundary region of the binarized image is well known.
[0004]
[Patent Document 1]
JP 2001-133409 A [Patent Document 2]
Japanese Patent Laid-Open No. 9-126744
[Problems to be solved by the invention]
However, an imaging device arranged on both sides of such a surface illuminator and the image sensor is attached to the tip of the robot arm, and in addition to the upper surface of the vehicle to be carried, the side surface is also scanned. Then, not only the structure of the robot itself becomes large, but also it is necessary to prepare these operation spaces in the side region, and there is a problem that the occupied space becomes wide.
[0006]
Therefore, according to Japanese Patent Application No. 2003-131444, the present applicant attaches the surface illuminator and the image sensor to the end portions on both sides of the arm horizontally disposed on the side of the conveyance path, and attaches the arm in the vertical direction. A rotation drive unit that rotates about the horizontal rotation axis of the rotation axis, and a rotation drive unit that rotates the arm in the horizontal plane about the vertical rotation axis at the intermediate position, according to the three-dimensional shape data of a predetermined inspection area, We proposed a vehicular coating surface inspection device that controls the rotation angle and turning angle of an arm so that specularly reflected light is incident on an image sensor.
[0007]
As a result, the coating surface inspection of the vehicle can be performed without using a structurally large robot and the area occupied by the side of the conveyance path is reduced. This vehicle coating surface inspection device is also disclosed in Patent Document 1 and Patent. As in the apparatus of Document 2, the surface illuminator and the image sensor are arranged apart from each other along the conveyance path, and the respective central optical axes are crossed by the front coating surface, and the coating surface irradiated with light is used. It is assumed that the regular reflected light is incident on the image sensor. Therefore, the separation distance to the coating surface of the image sensor needs to be set corresponding to the shortest objective distance required for image formation.
[0008]
In view of the above, an object of the present invention is to provide a coating surface inspection device for a vehicle that can further save a space necessary for particularly inspecting a coating surface on a vehicle side surface.
[0009]
[Means for Solving the Problems]
In order to achieve this object, the present invention, according to claim 1, is arranged on the side of the conveyance path of the vehicle so as to capture the specularly reflected light with respect to the light irradiation of the painted surface of the vehicle that has been carried in. In the coating surface inspection apparatus for a vehicle that inspects the coating surface by processing the image signal, a surface illuminator that irradiates the coating surface on the side surface of the vehicle horizontally from an oblique direction, and this surface irradiation A plurality of image sensors which are positioned so as to be separated from each other along the conveyance path and are arranged in the vertical direction to share the inspection area of the coating surface, and to the surface irradiation body rather than this image sensor A light reflector that is positioned so as to be further separated along the conveyance path and is rotatably supported around a vertical rotation axis, and reflects the specularly reflected light of the coating surface to enter the image sensor, and the light reflector Rotation drive unit that controls the rotation position The provided, the rotary drive unit, so that is incident specularly reflected light of the inspection area for each shared by a plurality of image sensors, synchronized to each imaging scan for imaging of the image sensor, and the examination region to share The rotational position of the light reflector is controlled in accordance with the position or the curved surface shape.
[0010]
The regular reflection light on the coating surface irradiated with light from the surface illuminator is reflected by the mirror, prism, etc. on the image sensor placed closer to the original minimum required distance in the direction perpendicular to the transport path. By entering through the body, the required shortest objective distance is substantially ensured.
[0011]
In order to more reliably cause the reflected light to enter the image sensor corresponding to the deviation from the flat reference coating surface at the reference position , according to claim 2, the light reflector is supported rotatably about the vertical rotation axis. The slider is guided by the guide rail so as to be slidable in the contact / separation direction with respect to the conveyance path, and includes a slide drive unit that controls the slide position according to the position of the coating surface or the curved surface shape. As a configuration of the light reflector corresponding to the plurality of image sensors, according to claim 3, there is one light reflector, and the rotation driving unit is synchronized with an imaging scan for imaging in order of the plurality of image sensors. In addition, the rotational position of the light reflector is sequentially controlled according to the position of the inspection region to be shared or the shape of the curved surface, or a plurality of light reflectors are arranged vertically according to claim 4, The rotational position of each light reflector is controlled according to the position of the inspection area to be shared or the curved surface shape. In order to make the reflected light incident on the image sensor reliably and with high sensitivity corresponding to the deviation from the flat reference coating surface at the reference position, the front end of the image sensor is centered on the vertical rotation axis. A rotation drive unit that is rotatably supported and that controls the rotation position of the image sensor in conjunction with the movement of the light reflector is provided.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
A vehicle coating surface inspection device according to an example of an embodiment of the present invention will be described with reference to FIGS. 1 to 3. An imaging device for a coating surface 1a on the side of a vehicle is attached to a support column 11 with a bracket 21, and a surface emitting body that irradiates a predetermined range with parallel rays using, for example, a straight tube fluorescent lamp as a light source. 20 and a three-stage image sensor in the vertical direction that supports the inspection region and has a tip portion supported by a vertical shaft 17 of a rotary drive unit 15 using a motor supported by a support arm 12 attached to a support column 11. And a single mirror 30 with a rotation drive unit 34 as a light reflector rotatably supported by a pin 33 on a hinge bracket 32 supported by a support column 31 spaced along the conveyance path. It consists of The rotation drive unit 34 uses a motor-driven linear actuator 35 that drives the rod 36 back and forth. A link arm 37 is pivotally attached to the tip of the rod 36 by a pin 37a, and the other end is pivotally attached to the back surface of the mirror 30 by a pin 37b. The mirror 30 is rotationally driven by the advance and retreat of the rod 36.
[0013]
If the shortest objective distance with respect to the coating surface 1a that can form a clear image corresponding to the focal length of the CCD camera 10 is about 1 m at the shortest, the surface light emitter 20 and the CCD camera 10 conventionally have their respective center optical axes. Is 60 to 70 cm away from the coating surface 1a so that they intersect at a predetermined front coating surface 1a at the same inclination angle. The separation distance in the direction is set to, for example, about 35 cm, and the CCD camera 10 is separated from the surface light emitter 20 on the side opposite to the conveyance path, which is opposite to the conveyance path, and along the conveyance path. slightly spaced than is directed toward the mirror 30 next to each other, 1m about incident path is the lowest to reach the CCD camera 10 via the mirror 30 from the coating surface 1a is being set so as to ensure .
[0014]
A three-dimensional shape measuring instrument 40 that measures the three-dimensional shape of the coating surface 1a on the side surface of the vehicle in a non-contact manner on the upstream side of the conveyance path with respect to the imaging device measures each of the sharing ranges of the three-stage imaging devices. As shown in the figure, it is attached to the support column 41 at intervals in three steps in the vertical direction. This three-dimensional shape measuring instrument has a separation distance of about 35 cm with respect to the conveying path, emits a laser beam, scans the surface of the coating surface 1a, and the incident position of reflected laser light on the coating surface based on the principle of triangulation The three-dimensional shape is measured by analyzing the three-dimensional position based on the scanning angle. In addition, various types of apparatuses are widely used as apparatuses for measuring a three-dimensional shape based on three-dimensional position data in an optical non-contact state.
[0015]
Such a coated surface inspection device for a side surface is also disposed in a side surface region on the opposite side of the conveyance path, and scans the coated surface by attaching an imaging device to the tip of the arm so as to inspect the coated surface on the upper surface. A robot is also installed.
[0016]
As shown in FIG. 2, both rotation drive units 15 and 34 control the mirror 30 and the rotation angle of the CCD camera 10 so that the specularly reflected light in a predetermined inspection area of the coating surface 1 a is transmitted to the CCD camera 10. Control means 44, 44a, and 44b for the upper, middle, and lower stages that sequentially output the mirror and CCD camera rotation angle control signals in synchronization with the vehicle transport so as to be incident parallel to the central optical axis are attached. . The three three-dimensional shape measuring devices 40 sequentially measure the surface shape of a predetermined inspection region of the coating surface 1a in synchronization with the vehicle transport, and are normal to the three-dimensional position of the central portion. And normal analysis means 43, 43a, and 43b for the upper, middle, and lower stages are output.
[0017]
That is, this normal analysis means is synchronized with the carry-in position of the vehicle so that surface measurement is performed for each inspection area of about 20 square cm, for example, and one mirror 30 is controlled in three stages. In response to the measurement command signal supplied from the sequential control panel with a slight delay, the sequential analysis results are output. The control means 44, 44 a, 44 b analyze the reflection direction of the specularly reflected light with respect to the normal data at the three-dimensional position of the input belonging central part, and convert the specularly reflected light at the central part of each inspection region to the CCD camera 10. The rotation angle of the CCD camera 10 and the mirror 30 incident in parallel to the central optical axis of the navel is analyzed, and an imaging command signal delayed from a measurement command signal belonging to a predetermined time corresponding to the transport speed is sequentially supplied from the control panel. In response to this, the analyzed rotation angle control signal is output, and immediately after that, imaging is performed at a timing at which the imaging region matches the measurement region to which it belongs.
[0018]
As described in Patent Document 1, the image processing device 45 determines whether or not the image signal level captured by the CCD camera 10 is reduced by a predetermined amount from the high signal level corresponding to the normal coating surface. Is detected. The display data creation means 46 creates graphic data for the vehicle 1 and performs graphic processing on the supplied image processing data on both sides and the upper surface, thereby superimposing the graphic on the vehicle image to indicate the position of the minute defect. Data is created and displayed on an image display device or printed out by a printer.
[0019]
The operation of the coating surface inspection apparatus for a vehicle configured as described above will be described with reference to FIG. When the vehicle 1 is brought into the facing position of the three-dimensional shape measuring instrument 40, the predetermined inspection area of the coating surface 1a of about 20 square cm is successively 20 cm in the conveyance direction with a slight delay time in three stages. It is measured every time the shift is performed, and the normal line at the center of the inspection area measured each time is analyzed based on the surface shape of the three-dimensional position. The mirror 30 and the upper CCD camera 10 are analyzed so that the reflected light of the mirror 30 is incident on the CCD camera 10 in a plane corresponding to the normal data of a predetermined inspection region of the upper three-dimensional shape measuring instrument 40. By controlling the rotation position according to the rotation angle, the reflected light of the regular reflection light with respect to the irradiation light with a constant irradiation angle is shallower than the irradiation angle of the surface light emitter 20 as indicated by the solid line. It enters the CCD camera 10 at an incident angle.
[0020]
Next, the mirror 30 and the rotational positions of the middle and lower CCD cameras 10 are sequentially controlled at a sufficiently higher speed than the conveyance speed in accordance with the measurement results of the middle and lower three-dimensional shape measuring instruments 40, and imaging is performed. Such vertical imaging scanning is repeated in the transport direction, the image signal of each inspection area is processed, and the inspection result of the vehicle 1 is graphically displayed together with the image processing data of the opposite side surface and upper surface. It is displayed and can be output to a monitor or printer.
[0021]
If the coating surface 1a becomes a curved surface in the longitudinal direction of the vehicle as shown by the dotted line in FIG. A, or if it is away from a predetermined separation distance as shown by the dotted line in FIG. Correspondingly, the rotational positions of the mirror 30 and the CCD camera 10 are controlled accordingly. Even if the surface shape slightly changes around the three-dimensional position of the central portion serving as a reference for the normal line, the inspection can be performed by slight diffusion of parallel rays emitted from the surface light emitter 20. The rotation control is performed on a horizontal plane, but the inspection can be performed in the same manner even when slightly bent in the vertical direction.
[0022]
The rotational positions of the mirror 30 and the CCD camera 10 can be controlled in accordance with the shape of the vehicle. However, as described above, the three-dimensional shape measuring instrument 40 is prepared and measured. By controlling the rotation position with the data, it is possible to avoid the occurrence of an error in the inspection result due to the mounting position of the vehicle on the conveyance path deviating from the normal position. Furthermore, instead of the single mirror 30 as the light reflector, the inspection region can be shared by arranging three mirrors in the vertical direction so as to face the three image sensors. In this case, the mirrors are not controlled in sequence, and the associated drive unit is operated in response to the associated rotation angle control signal, so that the three-stage CCD camera 10 can simultaneously perform imaging processing.
[0023]
FIG. 4 shows a slide drive device according to another embodiment. In order to save the width of the mirror, a rack 51 is attached to the mirror support portion 50 that supports the support column 31 and is conveyed by the guide rail 52. A pinion 53 that is slidably guided in a direction away from the surface perpendicular to the road and that meshes with the rack 51 is rotationally driven by the drive unit 55. In the control means, the slide position of the mirror 30 is analyzed together with the analysis of the rotational positions of the mirror 30 and the CCD camera 10 in accordance with the deviation of the surface shape or the separation distance of the predetermined inspection area of the coating surface 1a. Therefore, as shown by the solid line in FIG. 5A or 5B, the coating surface 1a is a vehicle with respect to the attitude of the mirror 30 and the CCD camera 10 with respect to the flat inspection region that is exactly parallel to the conveyance path of the coating surface 1a. When a curved surface is formed in the front-rear direction or the separation distance is deviated, the slide position of the mirror 30 is controlled together with the rotation posture of the mirror 30 and the CCD camera 10 as shown by the dotted lines in FIG. 5A or 5B.
[0024]
As still another embodiment, particularly when the curved surface of the coating surface 1a is slight, only the mirror 30 in FIG. 1 can be rotationally controlled to fix the CCD camera 10 in position. In this case, even if the incident light is incident slightly obliquely with respect to the central optical axis of the CCD camera 10 due to a slight change in the coating surface 1a, it is possible to take an image with a corresponding decrease in sensitivity . As described above , the present invention includes a surface illuminator that irradiates a striped pattern, and performs image processing on imaging data of an image sensor by specular reflection light on a light-irradiated paint surface, thereby smoothing the paint surface. The present invention can be applied to various types of inspection apparatuses that include a surface illuminator and an image sensor, such as an inspection apparatus that inspects the image of the specular reflection light on the coating surface.
[0025]
【The invention's effect】
According to the first aspect of the present invention, the image sensor is provided with the required objective distance of the image sensor by causing the plurality of image sensors up and down to image the specularly reflected light of the coating surface via the light reflector. A wide range of inspections in the vertical direction can be performed by approaching the conveyance path. At that time, the invention of claim 2, the movement by the disjunction sliding of the light reflector, imaging becomes reliably possible relative distance or particular vehicle longitudinal direction of a curved change in the coated surface, according to claim 3 or According to the invention of claim 4, the light reflector can be one or more by the rotation control method. According to the fifth aspect of the present invention , the image sensor is rotationally controlled so as to be incident in a plane according to the incident angle of the reflected light, thereby suppressing a decrease in sensitivity.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a coating surface inspection apparatus for a vehicle according to an embodiment of the present invention.
FIG. 2 is a diagram showing a configuration of a circuit device portion attached to the coating surface inspection apparatus for a vehicle.
FIG. 3 is a diagram for explaining the operation of the vehicular coating surface inspection apparatus.
FIG. 4 is a schematic plan view for explaining a main part of a coating surface inspection apparatus for a vehicle according to another embodiment.
FIG. 5 is a diagram for explaining the operation of the coating surface inspection apparatus for a vehicle according to FIG. 4;
FIG. 6 is a front view showing a configuration of a conventional vehicular coating surface inspection apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1a Coated surface 10 of vehicle side CCD camera 15, 34 Rotation drive part 20 Surface light emitter 30 Mirror 52 Guide rail

Claims (5)

By being arranged on the side of the conveyance path of the vehicle, the coating surface is inspected by imaging the specular reflection light with respect to the light irradiation of the coating surface of the vehicle that has been carried in and processing the image signal. In the painted surface inspection device for vehicles,
A surface illuminator that horizontally irradiates the coating surface on the vehicle side surface from an oblique direction, and is positioned so as to be separated along the conveyance path with respect to this surface irradiation, and is arranged in the vertical direction to A plurality of image sensors that divide and image the inspection area, and are positioned so as to be further separated from the surface irradiation body along the conveyance path than the image sensor, and are rotatable about a vertical rotation axis. A light reflector that is supported and reflects the specularly reflected light of the coating surface and enters the image sensor; and a rotation drive unit that controls the rotational position of the light reflector,
The inspection that is synchronized with and shared with each imaging scan imaged by the image sensor so that the rotation drive unit causes the specularly reflected light of the inspection area shared by each of the plurality of image sensors to enter. A coating surface inspection apparatus for a vehicle, wherein the rotational position of the light reflector is controlled in accordance with a position of a region or a curved surface shape.   A slider that supports the light reflector so as to be rotatable about a vertical rotation axis is guided by a guide rail so as to be slidable in a direction away from the conveyance path, and is also slid according to the position of the coating surface or the curved surface shape. The vehicular coating surface inspection device according to claim 1, further comprising a slide drive unit that controls the vehicle.   There is one light reflector, and the rotation driving unit is synchronized with the imaging scan in which the plurality of image sensors are sequentially picked up, and the rotation position of the light reflector according to the position of the inspection region or the curved surface shape to be shared The vehicle coating surface inspection device according to claim 1, which is controlled in order.   A plurality of light reflectors are arranged in the vertical direction, and the rotation driving unit controls the rotation position of each of the light reflectors according to the position of the inspection region to be shared or the curved surface shape. Item 1. The coating surface inspection apparatus for vehicles according to Item 1.   The front end of the image sensor is supported rotatably about a vertical rotation axis, and further includes a rotation drive unit that controls the rotation position of the image sensor in conjunction with the movement of the light reflector. The coating surface inspection apparatus for vehicles in any one of Claims 1 thru | or 4.

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