JP4454240B2 - Defect marking device for vehicle coating surface inspection - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle coating surface inspection including an imaging device that images and scans a vehicle coating surface on the outer surface of the vehicle, and an image processing device that automatically detects minute defects generated on the vehicle coating surface from changes in the image signal. The present invention relates to a vehicle marking inspection defect marking device attached to the device.
[0002]
[Prior art]
Various devices that detect minute defects by processing image signals by scanning the coated surface of a vehicle being conveyed by an imaging device are also well known. On the other hand, a vehicle coating surface inspection device that performs image scanning of a vehicle coating surface while controlling a three-dimensional position and posture is also well known. On the other hand, as a device for marking the position when a defect is detected, according to Patent Document 1, a tape that can be peeled to a defect position according to the result of image processing on the coating surface using a robot equipped with a tape gripper is disclosed. It is well known to stick.
[0003]
According to this device, it is possible to perform marking without stopping the vehicle carried in the coating surface inspection process. However, in order to construct a dedicated marking device separately, the structure becomes complicated, and the occupied space for that purpose And the equipment cost becomes expensive. Therefore, according to Patent Document 2, the present applicant attaches a non-contact type print head for printing by ink jetting to the image processing area of the coating surface at the tip of the arm, and when a minute defect is detected, A marking method for coating surface inspection devices was proposed, in which marks with a shape indicating the position of a minute defect are selected and printed in the printing area.
[0004]
[Patent Document 1]
JP 7-12750 A [Patent Document 2]
Japanese Patent Laid-Open No. 2002-257738
[Problems to be solved by the invention]
However, all of these marking methods are based on the premise that the marking material is attached to the coating surface, and it is necessary to remove the marking material such as cleaning and peeling when repairing a minute defect.
[0006]
In view of the above, an object of the present invention is to provide a vehicle marking inspection defect marking device capable of marking a minute defect position by image projection.
[0007]
[Means for Solving the Problems]
In order to achieve this object, according to the present invention, an image pickup apparatus for imaging and scanning an upper surface, a side surface, and a rear surface, which are vehicle coating surfaces on the outer surface of a vehicle , Supplied with a vehicle coating surface inspection device equipped with an image processing means that automatically detects a minute defect and creates two-dimensional defect position data by projecting the minute defect position onto a horizontal or vertical two-dimensional projection surface In the vehicle coating surface inspection defect marking apparatus, the upper surface projector facing the upper surface , the side projectors on both sides facing the both side surfaces of the vehicle, and the rear projector facing the rear surface extend along the vehicle conveyance line. while being mounted on the projector mount carriage movable in synchronism with the vehicle transporting Te, a top surface of the image to be projected on a vehicle painted surface that faces, for projection of the side surface and the rear surface for a projector Projection image data creation means for creating projection image data including a mark indicating a minute defect position, using the two-dimensional defect position data from the image processing means as an input so as to be scanned and displayed on the display surface, Projecting an image onto the vehicle coating surface in the facing range for the upper surface, side surface, and rear surface projectors, with the coated surface inspected into the projector-equipped carriage along the vehicle conveyance line. In addition, a base end portion of a support arm that supports the rear projector at the tip is pivotally attached to the projector-mounted carriage so that the support arm can be rotated between a horizontal position and a vertical position , and the projector for the upper surface and the side surface. However, the projector-equipped carriage is guided by the operator so that the projection range can be moved in the vehicle conveyance direction. That.
[0008]
Coating surface inspected vehicle is in a state that has entered the projector mounting carriage by the rotation of the horizontal position of the rear projector, a top surface, surface projector after turning to the side surface and the vertical position, while moving with a vehicle By projecting each facing image onto the associated vehicle paint surface, a mark image is displayed at a position corresponding to the minute defect position imaged by the imaging device. At that time, the upper surface projector and the side surface projector can move in the vehicle transport direction on the projector-equipped carriage by the operator's switch operation in accordance with the projection range to be worked.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
A vehicle marking inspection defect marking device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4. As shown in FIG. 2, the vehicle coating surface inspection device includes robots 9 and 9 a arranged on both sides of the conveyance path of the vehicle 1, and includes a surface light emitter 5 and a CCD camera 6 at the tip of each robot arm. An imaging device is attached.
[0010]
The robots 9 and 9a are premised on that the scanning speed is much higher than the transport speed for the scanning areas of the side surfaces on both sides, the upper surface, and the rear surface, which are the vehicle coating surfaces of the outer surface of the vehicle 1 to which each robot is assigned. The scanning area that is further divided into half so as not to interfere with each other is shifted continuously in the scanning cross direction in the scanning direction and moved continuously repeatedly while turning back, and in the middle, the image processing area is successively spaced and given posture Teaching is performed so that the three-dimensional position and the angle in the three-axis direction are controlled so as to face each other.
[0011]
The imaging devices 5 and 6 include image processing means 8a, form data creation means 8b, and projection image data creation means for detecting that the image signal level is lowered from a normal high signal level due to minute defects such as bumps. The personal computer 8 which comprises 8c etc. is attached. That is, the personal computer is provided with a printer 7, a display unit 7a, and a keyboard 7b, and is supplied with an operation signal from a remote controller 34, which will be described later. In response to the operation signal and an input signal from the keyboard 7b, the imaging device 5 is provided. , 6 is subjected to image processing according to a program to create defect position data for forms and projections.
[0012]
The image processing means 8a includes a defect candidate detection unit 2a that captures an image signal of an image processing area and detects a minute defect candidate, and whether or not the defect is a minute defect from a rectangular shape that is circumscribed by an area formed by the minute defect candidate. In addition, defect determination means 2b for determining the degree of size by discriminating the size of the minute defect, that is, the longer dimension in the vertical and horizontal directions into three stages, and defect degree data for instructing the degree of magnitude as defect position data And a defect data storage unit 2c for storing. The defect data storage unit associates the address of the micro defect candidate area actually determined as a micro defect with the scanning position data, and the side surface and the rear surface are projected on a vertical virtual two-dimensional projection plane. The defect position data is stored as defect position data on the upper surface as defect position data on a horizontal two-dimensional projection plane together with defect degree data indicating the degree of magnitude.
[0013]
For example, as shown in FIG. 3, for three minute defects on the upper surface of the vehicle 1, the two-dimensional conveyance direction (Y axis) projected on the horizontal two-dimensional projection plane 1 a and the orthogonal direction (X axis) thereof. The defect position data D1 to D3 are stored in the memory together with the defect degree data. Similarly, as for the one side and the other side of the vehicle 1, the conveying direction projected on the vertical two-dimensional projection plane and its orthogonal direction, and the rear surface in the horizontal direction of the vertical two-dimensional projection plane and its orthogonal direction. Two-dimensional defect position data is stored together with defect degree data.
[0014]
Based on the defect position data and defect degree data supplied from the defect data storage unit 2c, the form data creation means 8b superimposes the shape display data on the graphic display of the top, side and rear surfaces of the vehicle 1 in order. Print data for displaying one of the marks ●, ▲, and X at the defect position, instructing the degree of size to be reduced in three stages. The display unit 7a also performs image display by creating similar coating surface shape and mark image data based on the defect position data and defect degree data supplied from the defect data storage unit 2c.
[0015]
As described above, the defect marking apparatus, which is a subsequent process of such a coating surface inspection apparatus, uses the personal computer 8 and attaches the remote controller 34 operated by the operator to the personal computer, as shown in FIG. The projector-equipped carriage 10 that reciprocates along the rail 11 along the vehicle conveyance line is provided. Between the front and rear frames 13 supported by the support frame 12, a guide rail 14 that guides the top projector 20 so as to be slidable in the conveying direction, and support arms 21a and 22a that support the side projectors 21 and 22 on both sides. The guide rails 15 and 16 on both sides for slidably guiding in the transport direction are bridged. A base end portion of a support arm 26 that supports the rear projector 23 at the tip end portion is pivotally attached to the protrusion 13 a of the rear frame 13. The projector-equipped carriage 10 is attached with a carriage driving device that moves forward along the rail 11 in synchronism with vehicle conveyance when the vehicle 1 completely enters, and moves back to the original position when the vehicle 1 moves forward by a predetermined distance. ing. The projectors 20 to 22 are each provided with a motor type driving device that reciprocates along the guide rails 14 to 16. The support arm 26 is attached with a motor-type rotational drive device that reciprocally rotates the projector 23 between a horizontal position and a vertical position so as to allow the vehicle 1 to enter .
[0016]
As shown in FIG. 2, the projector selection switches 34a to 34c of the remote controller 34 select the projectors 20 to 22, respectively, to put them in an operating state. The region selection switches 34e to 34g operate the drive control units 26, 26a, and 26b that operate the driving devices attached to the projectors 20 to 22 so as to move to the belonging region divided into three corresponding to the hood, the roof, and the luggage door. Is activated selectively. The projector selection switch 34d activates the drive control unit 26c that activates the rotary drive device attached to the support arm 26 while bringing the projector 23 into an activated state.
[0017]
The projection image data creation means 8c conforms to the format of the scanning lines, the number of pixels, the signal format, etc. of the projectors 20 to 23 based on the defect position data and the defect degree data supplied from the defect data storage unit 2c. An image data creation unit 31 that creates color projection image data for displaying any of the marks ●, ▲, and X at the defect position, and instructing the degree of size that decreases in order, and an operator remote In response to the operation signal from the controller 34, the upper surface is divided into three parts at the same division position with respect to the projection image data of any one of the three divided areas of the hood, roof and luggage door of the vehicle 1. The image for selectively outputting the projected image data of any one of the regions or the projected image data as it is to the rear surface to the projectors 20 to 23 belonging thereto And an over data output unit 32. The image data creation unit 31 can create marks of different colors according to the color of the paint surface in response to the operation of the keyboard 7b. In addition, as the projection image data, the print data created by the form data creation means 8b may be used in some cases, or the print data may be corrected by the projection image data creation unit so as to suit the projectors 20-23. Can also be created.
[0018]
The projectors 20 to 23 display images to be projected on the associated vehicle coating surfaces facing each other by raster scanning on the projection display surface based on the supplied projection image data, and a predetermined surface is displayed on the coating surface of the vehicle 1. Facing each other at a separation distance, the image is enlarged and projected at an enlargement ratio set so that the projection range matches the shape of each paint surface to which it belongs. Such image projectors are well known, for example, in Japanese Patent Laid-Open Nos. 6-318056 and 9-229651.
[0019]
The operation of the defect marking apparatus for vehicle coating surface inspection thus configured is as follows. When the vehicle 1 whose coating surface has been inspected in the coating surface inspection process enters a predetermined entry position of the projector-equipped carriage 10 in the subsequent repairing process, the vehicle 1 starts moving forward in a synchronized state. When the operator switches, for example, the projector selection switch 34a and the area selection switch 34e of the remote controller 34, the upper surface projector 20 is set above the hood and, as shown in FIG. 4, the defect position is indicated on the hood surface. An image including a mark to be projected is projected, and the entire surface is brightened by the projected image, and a micro defect is displayed with marks ● and ▲ according to the size of the micro defect.
[0020]
The operator confirms the state of the minute defect based on the mark and performs repair work. Subsequently, when the area selection switch 34f is operated, the projector 20 moves above the roof, and ● and x are displayed at the defect positions. Subsequently, the luggage door is projected in response to the switch operation of the search switch 34g, and only the entire surface is brightened by the projected image because no defect is detected.
[0021]
Further, the projector 21 or 22 is selected by the operation of the projector selection switch 34b or 34c, and the defect position of one of the divided regions on the side surface is marked by the operation of the region selection switches 34e to 34g. When the projector selection switch 34d is operated, the projector 23 is activated, the support arm 26 is rotated to the vertical position, and the defect position on the rear surface is displayed as a mark. When the repair work is completed within the assigned tact, the projector-equipped carriage 10 moves back from the predetermined forward position to the original position, and repair of scratches that are difficult to repair is handled offline.
[0022]
Such vehicle coating surface inspection results are printed out as well-known form data from the printer 7 with marks on the upper surface, both side surfaces, and the rear surface as shown in FIG. Displayed in display format.
[0023]
In addition, although the defect marking apparatus with respect to the vehicle coating surface inspection apparatus with which the imaging device was attached to the front-end | tip part of a robot arm was demonstrated, this invention is a vehicle coating surface by the imaging device attached to the gate provided in the conveyance path of the vehicle. It can also be implemented as a defect marking device attached to a vehicle coating surface inspection device that enables creation of defect position data on a two-dimensional projection surface that faces the vehicle.
[0024]
【The invention's effect】
According to the first aspect of the present invention, since the marking is performed in the repair process, it is not necessary to separately provide the marking process, and the repair work of the upper surface, the side surface, and the rear surface of the vehicle coating surface is synchronized with the movement of the projector-equipped carriage. Along with this, it is efficiently performed in a space-saving state. Further, since the marking is performed by projection display, it is not necessary to remove the marking after the restoration, and no consumables such as ink are required. No marking is required even if dust is detected incorrectly. At that time, one slide-type projector on the projector-equipped carriage displays and repairs a wide range of defects in the vehicle transport direction , and the rear projector is capable of avoiding the interference of the approaching vehicle , and the rear surface is repaired. Similarly, it is performed in a space-saving manner along with the synchronous movement of the projector-equipped carriage. According to the invention of claim 2, when the size of the defect is instructed, it is possible to check the state of the minute defect and perform a highly reliable repair work.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining a configuration of a carriage part of a defect marking device for vehicle coating surface inspection according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining a configuration of a vehicle coating surface inspection device and a circuit portion of the attached marking device. FIG. 3 is a diagram for explaining an operation principle of the marking device.
FIG. 4 is a schematic perspective view illustrating an operating state of the marking device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Vehicle 6 CCD camera 9, 9a Robot 10 Projector mounting trolley 14, 15, 16 Guide rail 20 Upper surface projector 21, 22 Side projector 23 Rear projector 26 Support arm

Claims (2)

An imaging device that scans and scans the upper surface, side surface, and rear surface of the vehicle outer surface, which is the vehicle coating surface, and automatically detects a minute defect occurring on the vehicle coating surface from the change in the image signal, and horizontally detects the position of the minute defect. Alternatively, in a vehicle marking inspection defect marking device attached to a vehicle coating surface inspection device comprising image processing means for creating two-dimensional defect position data projected on a vertical two-dimensional projection surface,
A projector capable of moving in synchronization with vehicle conveyance along a vehicle conveyance line, a projector for an upper surface facing the upper surface , side projectors for both sides facing both sides of the vehicle, and a rear projector facing the rear surface Two images from the image processing means are arranged so as to scan and display the images to be projected on the vehicle coating surface facing the vehicle mounting surface, respectively, on the projection display surfaces of the upper surface, the side surface and the rear surface projector. A projection image data creation means for creating projection image data including a mark indicating a minute defect position, with the three-dimensional defect position data as an input,
The vehicle in the range of facing the image to the projector for the upper surface, the side surface, and the rear surface in a state where a vehicle whose coating surface has been inspected enters the interior of the carriage equipped with the projector along the vehicle conveyance line. A base end portion of a support arm that supports the rear projector at a tip portion is pivotally attached to the projector-equipped carriage so that the support arm can be rotated between a horizontal position and a vertical position so that the projection surface is projected onto the paint surface. In addition, the upper surface projector and the side surface projector are guided by the projector-equipped carriage so that the projection range can be moved in the vehicle transport direction by an operator's switch operation. Defect marking equipment.   2. The defect marking apparatus for vehicle coating surface inspection according to claim 1, wherein the projection image data indicates a plurality of types of marks step by step corresponding to the degree of defect.

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