JP4619880B2 - Cylindrical object appearance inspection device - Google Patents

Cylindrical object appearance inspection device Download PDF

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JP4619880B2
JP4619880B2 JP2005196504A JP2005196504A JP4619880B2 JP 4619880 B2 JP4619880 B2 JP 4619880B2 JP 2005196504 A JP2005196504 A JP 2005196504A JP 2005196504 A JP2005196504 A JP 2005196504A JP 4619880 B2 JP4619880 B2 JP 4619880B2
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cylindrical object
side
side surface
end
annular illumination
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JP2007017194A (en
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修治 内藤
広光 宮崎
憲幸 鎌田
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株式会社日鉄エレックス
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The present invention relates to an appearance inspection apparatus for a cylindrical object that detects dents, scratches, and dirt present on a side surface and an end surface of the cylindrical object.

When detecting dents, scratches, and dirt on the side of a cylindrical object such as a battery, for example, linear light parallel to the axis of the cylindrical object while rotating the cylindrical object on a rotating table. Is irradiated from a linear light source, and its regular reflection light is detected by a linear imaging machine (line camera), and the presence or absence of a dent is determined from the obtained side image. In addition, a linear light source is used to irradiate linear light from an oblique direction with respect to the axis of the cylindrical object, and irregularly reflected light is detected by a linear imaging device. I was judging. However, in this inspection method, since the side image is formed by detecting the reflected light reflected from the side surface while rotating the cylindrical object with the linear imaging device, there is a problem that the time required for the inspection becomes long. .

On the other hand, as an apparatus for inspecting the side surface state of the cylindrical object, a first illumination unit that illuminates the side surface of the cylindrical object from the upper side and a second illumination unit that illuminates the side surface of the cylindrical object from the lower side are provided. An apparatus has been proposed in which a side image obtained by reflected light from a side surface illuminated by a means is captured by a CCD camera, and the side surface state of a cylindrical object is determined from the captured side image (see, for example, Patent Document 1).
In this apparatus, since the side image can be captured by one photographing with the CCD camera, the inspection time can be shortened, and the lower half of the concave portion is formed by the first illumination means even if the concave portion exists on the side surface. Since it can illuminate and the upper half of the recess can be illuminated by the second illuminating means, the bottom surface state of the recess can be easily determined even if the recess is formed on the side surface.

JP-A-9-26311

However, when the side surface of a cylindrical object is inspected using the apparatus described in Patent Document 1, a concave portion having a shallow depth and a smooth bottom surface, for example, a dent, is dented by the first and second illumination means. The bottom surface is reliably illuminated, and the reflected light is radiated uniformly from the bottom surface of the dent. For this reason, in the side image, there is a problem that the difference between the brightness around the dent edge and the brightness of the bottom surface of the dent becomes small, and it is difficult to detect the presence of the dent from the brightness of the image. Further, in the apparatus described in Patent Document 1, since dents, scratches, and dirt existing on the side surface of the cylindrical object are simultaneously captured in the side image, in order to distinguish dents, scratches, and dirt. However, there is a problem that side image processing must be performed by creating a criterion for image processing.

The present invention has been made in view of such circumstances, and detects dents, scratches, and dirt existing on the side surface and end surface of a cylindrical object in a short time, and displays the dents, scratches, and dirt separately. An object of the present invention is to provide a visual inspection apparatus for a cylindrical object.

A cylindrical object appearance inspection apparatus according to the present invention that meets the above-mentioned object is provided with a moving means for holding one end of a cylindrical object at a standby position and moving the cylindrical object to the inspection position;
The cylindrical shape is arranged so that the central axis coincides with the axial center of the cylindrical object at the inspection position, and gradually increases in diameter from one end side to the other end side of the cylindrical object at the inspection position. A frustoconical mirror having an internal angle of substantially 90 degrees, comprising a reflective surface surrounding the side of the object;
A perforated plane mirror that is formed in the center with an insertion hole through which the cylindrical object held by the moving means passes and is inclined with respect to the axis of the cylindrical object at the inspection position;
An opening is provided at the center and a light shielding member is provided on the back side, disposed outside the other end of the frustoconical mirror, and inclined with respect to the perforated plane mirror, on the side surface of the cylindrical object First annular illumination means for irradiating substantially vertical light through the truncated cone mirror and the perforated plane mirror;
A side-view camera that is disposed at a distance on the back side of the first annular illumination means and that captures a side image of the cylindrical object via the opening, the perforated plane mirror, and the truncated cone mirror; .

With this configuration, when the first annular illumination unit emits light, the light emitted from the first annular illumination unit can be incident on the truncated cone mirror through the perforated plane mirror. Since the center axis of the mirror coincides with the axial center of the cylindrical object at the inspection position, light that illuminates the side surface of the cylindrical object from the vertical direction is formed in the light incident on and reflected by the truncated cone mirror. be able to. The reflected light reflected from the side surface after illuminating the side surface of the cylindrical object from the vertical direction is reflected by the truncated cone mirror and incident on the perforated plane mirror. If the light is received at, a side image can be captured using reflected light of light that illuminates the side surface of the cylindrical object from the vertical direction.
When the reflected light reflected from the side surface of the cylindrical object is reflected by the frustum mirror and the perforated plane mirror, the incident angle and the reflection angle are kept equal. The light that forms is reflected in a specific direction determined by the relationship with the position of the side surface photographing camera for each point on the side surface of the cylindrical object.

Now, when the light reflected in a specific direction at the point Z on the side of the cylindrical object is received by the side-view camera, the positions of the frustum mirror, perforated plane mirror, and side-view camera are fixed. When the inclination of the reflection surface at point Z changes, the incident angle of light incident on point Z on the side surface of the cylindrical object changes, and the reflection angle of reflected light also changes. As a result, the reflected light received by the side photographing camera cannot be received.
Here, when the dent is present on the side surface of the cylindrical object, the dent is considered to be an aggregate of fine reflecting surfaces having various inclinations. Therefore, when the point Z exists in the dent, it is reflected at the point Z. The reflected light is not received by the side-view camera. Therefore, if a side-view camera is installed at a position where it can receive the reflected light from all sides of the cylindrical object and a side image can be captured, if there is a dent on the side of the cylindrical object, the shot side image is shot. The brightness of the area corresponding to the mark decreases.

In the appearance inspection apparatus for a cylindrical object according to the present invention, the perforated plane mirror is inclined by 45 degrees with respect to the axis of the truncated cone mirror, and the first annular illumination means is disposed relative to the perforated plane mirror. Is preferably 45 degrees.
Accordingly, light can be incident on the truncated cone mirror in parallel with the central axis of the truncated cone mirror, and substantially vertical light incident on the side surface of the cylindrical object is easily formed by the light from the first annular illumination means. be able to.

In the appearance inspection apparatus for a cylindrical object according to the present invention, an end face for imaging an end face image of the other end face of the cylindrical object irradiated by the first annular illumination means via the opening and the perforated flat mirror. A photographing camera can be further included.
When the reflected light reflected by the other end face of the cylindrical object illuminated by the first annular illumination means is reflected by the perforated plane mirror, the incident angle and the reflection angle are kept equal, and thus the light is received by the end face photographing camera. The light that forms the end face image is reflected light that is reflected in a specific direction determined by the relationship with the position of the end face photographing camera for each point on the other end face of the cylindrical object. Therefore, when the end face photographing camera is installed at a position where the reflected light from the other end side surface of the cylindrical object can be received and an end face image can be captured, if there is a dent on the end face of the cylindrical object, the captured end face image The brightness of the area corresponding to the dent is lowered.

In the appearance inspection apparatus for a cylindrical object according to the present invention, the frustoconical mirror is a half mirror, and is provided outside the both side ends of the cylindrical object with the cylindrical object at the inspection position inside. And further comprising second and third annular illumination means for illuminating the cylindrical object from an oblique direction, and the side and other end surfaces of the cylindrical object can be imaged by the side surface photographing camera and the end surface photographing camera. .

By using a half mirror, it is possible to illuminate the cylindrical object obliquely by disposing the second and third annular illumination means further outside the both ends of the cylindrical object. When the cylindrical object is illuminated obliquely, the light reflected by the side surface of the cylindrical object diffuses to the surroundings and is reflected by the truncated cone mirror and enters the perforated plane mirror. When the reflected light is received by the side view camera, a side image can be taken, and the reflected light reflected by the other end face of the cylindrical object is directly incident on the perforated plane mirror, so the light reflected by the perforated plane mirror Is received by the end face photographing camera, an end face image can be taken.

The side-view camera and the end-view camera are configured to emit side images and end images by emitting light from the first annular illumination unit, and to emit side images and end images from the second and third annular illumination units. Since the camera is also used for imaging, the first annular illumination means is arranged when the side-view camera and the end-view camera are arranged at positions where the first annular illumination means can emit light and the side images and the end-face images can be taken respectively. The incident angle of light when illuminating the side surface and the other end surface of the cylindrical object and the light when illuminating the side surface and the other end surface of the cylindrical object by illuminating the second and third annular illumination means, respectively. Unlike the incident angle, the reflected light that reflects in a specific direction from a point on the side surface (the other end surface) of the cylindrical object is small when the second and third annular illumination means emit light. For this reason, the light quantity of the reflected light received by the side photographing camera (similar to the end photographing camera) by causing the second and third annular illumination means to emit light becomes weak.

Here, when scratches and dirt are present on the side surface (the other end face) of the cylindrical object, the light incident on the scratches and dirt is reflected in various directions, that is, irregularly reflected or absorbed, so that the light is reflected. In some cases, the reflected light always includes light that reflects in a specific direction, so light that is reflected in a specific direction due to scratches or dirt is always received by the side-view camera (end-face camera), and the light is absorbed. The amount of light received by the side camera (end face camera) decreases.
Therefore, when the reflected light from all the side surfaces (all other end surfaces) of the cylindrical object is received and a side image (end surface image) is taken, if the side surface (other end surface) of the cylindrical object has scratches or dirt, The brightness of the area corresponding to scratches and dirt on the captured side image (end face image) increases or decreases.

In the appearance inspection apparatus for a cylindrical object according to the present invention, the side surface and the other end surface of the cylindrical object are irradiated with the first annular illumination unit, and the side surface of the cylindrical object is detected with the side surface camera and the end surface camera. And when imaging the other end surface, the irradiation of the second and third annular illumination means is stopped, and the side surface and the other end surface of the cylindrical object are irradiated with the second and third annular illumination means, When imaging the side surface and the other end surface of the cylindrical object with the side surface photographing camera and the end surface photographing camera, it is preferable to stop the irradiation of the first annular illumination means.
Thereby, the imaging of the side surface and the other end surface of the cylindrical object by the irradiation of the first annular illumination unit and the imaging of the side surface and the other end surface of the cylindrical object by the irradiation of the second and third annular illumination units are separately performed. be able to.

In the appearance inspection apparatus for a cylindrical object according to the present invention, the cylindrical object is a battery before painting, the standby position is on a conveyor that conveys the cylindrical object, and the moving means is the inspection The cylindrical object after the inspection can be transported from the position to the standby position.
This confirms that the cylindrical object has been transported to the standby position by the conveyor, stops the conveyor, confirms that the cylindrical object after inspection has been transported from the inspection position to the standby position, and moves the conveyor By doing so, the appearance inspection can be sequentially performed while conveying the cylindrical object.

In the appearance inspection apparatus for a cylindrical object according to any one of claims 1 to 6, an appearance inspection is performed to determine whether or not a dent is present on the side surface of the cylindrical object by detecting the presence or absence of a low-luminance region in the side image. This can be done in a short time. Since the side image is obtained with the cylindrical object stationary, the configuration of the inspection apparatus can be simplified and the appearance inspection of the cylindrical object can be performed at low cost.

In particular, in the appearance inspection apparatus for a cylindrical object according to claim 2, substantially vertical light incident on the side surface of the cylindrical object can be easily formed from the light from the first annular illumination means, and the specularly reflected light The side image can be easily captured by the side surface camera.

In the cylindrical object appearance inspection apparatus according to claim 3, the end face image can be taken together with the side face image, and the end face of the cylindrical object is detected by detecting the presence or absence of the low-luminance region in the end face image. It is possible to perform an appearance inspection for whether or not there is a dent in a short time.

In the appearance inspection apparatus for a cylindrical object according to claim 4, a side image and an end surface image can be taken simultaneously by causing the second and third annular illumination means to emit light. It is possible to perform a visual inspection in a short time to determine whether or not there are scratches or dirt. Since the side image is obtained with the cylindrical object stationary, the configuration of the inspection apparatus can be simplified and the appearance inspection of the cylindrical object can be performed at low cost.

The cylindrical object appearance inspection apparatus according to claim 5, wherein the cylindrical object is imaged by irradiation of the first and second annular illumination means, and the second and third annular illumination means are irradiated. The imaging of the side surface and the other end surface of the object can be performed separately, and one side-view camera can detect dents, scratches and dirt on the side surface of the cylindrical object, and one end-view camera can detect the cylindrical object. It becomes possible to detect the dents, scratches and dirt on the other end surface.

In the appearance inspection apparatus for the cylindrical object according to claim 6, since the appearance inspection can be sequentially performed while the cylindrical object is conveyed, the appearance inspection of the cylindrical object can be easily performed automatically, and the efficiency can be improved. It is possible to perform an appearance inspection of a cylindrical object at a reasonable and low cost.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
FIG. 1 is an explanatory diagram of a cylindrical object appearance inspection apparatus according to an embodiment of the present invention, and FIG. 2 detects a dent on the side surface of the cylindrical object in the cylindrical object appearance inspection apparatus. FIG. 3 is an explanatory view showing a method for detecting a dent on the other end face of the cylindrical object in the cylindrical object appearance inspection apparatus, and FIG. 4 is an appearance inspection apparatus for the cylindrical object. FIG. 5 is an explanatory view showing a method for detecting scratches and dirt on the side surface of the cylindrical object, and FIG. 5 shows a method for detecting scratches and dirt on the other end surface of the cylindrical object in the cylindrical object appearance inspection apparatus. FIG. 6 is an explanatory diagram of a side analysis image of a cylindrical object, and FIG. 7 is an explanatory diagram of a side binarized image of the cylindrical object.

As shown in FIG. 1, a cylindrical object appearance inspection apparatus (hereinafter simply referred to as an appearance inspection apparatus) 10 according to an embodiment of the present invention includes an iron battery 11 before painting, which is an example of a cylindrical object. After holding the belt conveyor 12 which is an example of a conveyor that conveys to the standby position P and one end of the battery 11 at the standby position P, moving the battery 11 in the axial direction to the inspection position Q and stopping for a certain period of time, And moving means 13 for returning from the inspection position Q to the standby position P again.

Further, the appearance inspection apparatus 10 includes a truncated cone mirror 16 that surrounds the side surface 14 of the battery 11 at the inspection position Q with a reflection surface 15 provided inside, and an insertion hole 19 through which the battery 11 held by the moving means 13 passes. Is formed at the center, and is provided with a perforated flat mirror 20 that is inclined with respect to the axis of the battery 11 at the inspection position Q, an opening 21 at the center, and a light shielding member 22 on the back side. , Arranged outside the other end side of the truncated cone mirror 16, inclined with respect to the perforated plane mirror 20, and irradiated with substantially vertical light on the side surface of the battery 11 via the truncated cone mirror 16 and the perforated plane mirror 20. And first annular illumination means 23.

Further, the appearance inspection apparatus 10 is provided in the vicinity of the outside of both ends of the truncated cone mirror 16, and is provided outside the both ends of the battery 11 with the battery 11 at the inspection position Q inside. A second annular illumination means 24 for illuminating the side surface 14 of the battery 11 from one end side of the battery 11, a third annular illumination means 25 for illuminating the side surface 14 and the other end face 17 of the battery 11 from the other end side of the battery 11, A side photographing camera 26 that is provided at a distance from the back side of one annular illumination means 23 and receives reflected light from the side surface 14 of the battery 11 reflected by the perforated flat mirror 20 through the opening 21 and a perforated hole An end face photographing camera 27 that receives the reflected light from the other end surface 17 of the battery 11 reflected by the flat mirror 20 through the opening 21 is provided. Hereinafter, these will be described in detail.

The belt conveyor 12 has a moving belt 28 that passes through the standby position P in the horizontal direction, and is provided on the moving belt 28 at an interval. The other end of the battery 11 is inserted and the one end side is directed upward. And a moving mechanism control unit (not shown) for controlling the operation of the moving mechanism.
Further, the moving means 13 includes an adsorption unit 30 having an electromagnet that adsorbs one end of the battery 11, and the battery 11 that is adsorbed by the adsorption unit 30 with the adsorption unit 30 fixed to the front part. The moving rod 31 is moved up and down with the axial center of the battery 11 and the central axis thereof substantially coincided with the inspection position Q, and the moving rod 31 is moved up and down (not shown) connected to the base side of the moving rod 31. And a lift control unit (not shown) for controlling the operation of the lift mechanism. Note that the central axis of the adsorption unit 30 and the central axis of the moving rod 31 substantially coincide with each other, and when the battery 11 is adsorbed to the adsorption unit 30, the axis of the battery 11 is aligned with the adsorption unit 30 and the moving rod. 31 substantially coincides with the central axis.

With this configuration, the battery 11 is moved to the standby position P while holding the battery 11 on the moving belt 28 in the vertical state with the conveying jig 29 on one side, and the battery 11 is on standby. The movement of the moving belt 28 can be stopped after the movement mechanism control unit confirms that the position P has been reached. Then, when the battery 11 is stopped at the standby position P, the lift control unit is operated, the moving rod 31 is lowered, the adsorption unit 30 is brought into contact with one end of the battery 11, the electromagnet is magnetized, and the battery 11 is operated. One end of the battery 11 can be adsorbed by the adsorbing unit 30, and the battery 11 adsorbed by the adsorbing unit 30 can be lifted in the vertical direction and moved to the inspection position Q by raising the moving rod 31.

Further, it is possible to confirm that the battery 11 has reached the inspection position Q by the lift control unit and stop the moving rod 31 to stop the battery 11 at the inspection position Q. Further, after confirming that the battery 11 has stopped at the inspection position Q for a certain period of time by the lifting control unit, the moving rod 31 is lowered and the other end portion of the battery 11 is inserted into the transport jig 29 to suck the suction unit 30. By demagnetizing the magnetization of the battery 11, the battery 11 can be held in the vertical position with its one end side up at the standby position P, and the suction portion 30 can be raised to the inspection position Q. Then, the movement mechanism control unit confirms that the battery 11 has been returned to the standby position P, and moves the moving belt 28 to carry out the battery 11 returned to the standby position P from the standby position P. Another battery 11a can be transported to P.

The frustoconical mirror 16 is arranged with its central axis aligned with the axis of the battery 11 at the inspection position Q, and one end side of the battery 11 at which the reflection surface 15 whose inner angle is substantially 90 degrees is at the inspection position Q. The side surface 14 of the battery 11 is surrounded while gradually increasing the diameter toward the other end side. The truncated cone mirror 16 is a half mirror that reflects half of the incident light and allows the remaining light to pass. A second annular illumination means 24 is provided on the radially outer side of one end of the truncated cone mirror 16 so that the center axis of the truncated cone mirror 16 is substantially aligned with the center thereof, and the other end of the truncated cone mirror 16 is provided. A third annular illumination means 25 is provided outside the section so that the center axis of the truncated cone mirror 16 is substantially aligned with the center thereof.

With such a configuration, the moving rod 31 can be inserted from one end side of the truncated cone mirror 16 and protruded from the other end side, and the battery 11 at the standby position P is adsorbed by the adsorbing portion 30. , And can be moved to the inspection position Q surrounded by the reflecting surface 15. Then, by causing the second annular illumination means 24 to emit light, the side surface 14 of the battery 11 at the inspection position Q can be illuminated from the one end side of the battery 11 via the frustoconical mirror 16, and the third annular illumination. By making the means 25 emit light, the side surface 14 and the other end surface 17 of the battery 11 at the inspection position Q can be directly illuminated from the other end side of the battery 11. For this reason, the whole side surface 14 of the battery 11 can be illuminated uniformly in the axial direction. Light incident on the side surface 14 and the other end surface 17 of the battery 11 is reflected by the side surface 14 and the other end surface 17 of the battery 11 and spreads around the battery 11.

In addition, the perforated flat mirror 20 has the reflecting surface 18 between the standby position P and the third annular illumination means 35 and the axis of the battery 11 at the inspection position Q (that is, the axis of the truncated cone mirror 16). It is inclined by 45 degrees with respect to the angle. The center of the insertion hole 19 formed at the center of the perforated flat mirror 20 exists on the axis of the battery 11 at the inspection position Q.
With this configuration, the moving rod 31 can be lowered through the insertion hole 19 so that the battery 11 at the standby position P can be adsorbed by the adsorbing unit 30, and the battery 11 adsorbed by the adsorbing unit 30 can be removed. It can be moved to the inspection position Q through the insertion hole 19.

The reflecting surface 15 of the truncated cone mirror 16 is reflected by the light reflected by the side surface 14 of the battery 11 when the second and third annular illumination means 24, 25 illuminate the side surface 14 and the other end surface 17 of the battery 11. Is reflected by the reflecting surface 15 of the truncated cone mirror 16, and part of the reflected light is incident on the reflecting surface 18 of the perforated flat mirror 20. A part of the light reflected by the other end surface 17 of the battery 11 is incident on the reflecting surface 18 of the perforated flat mirror 20.

The first annular illumination means 23 is inclined by 45 degrees with respect to the perforated flat mirror 20 and is on a horizontal line where the center of the opening 21 formed at the center thereof passes through the center of the insertion hole 19 of the perforated flat mirror 20. Are arranged to exist.
As the side surface photographing camera 26 and the end surface photographing camera 27, for example, an area camera in which a CCD is arranged on the surface and a light receiving portion is formed can be used. An image processor (not shown) is connected to each output terminal of the side surface camera 26 and the end surface camera 27.

With this configuration, when the first annular illumination means 23 emits light, the light incident on the perforated flat mirror 20 at an angle of 45 degrees among the light emitted from the first annular illumination means 23 is Then, the light is reflected by the reflecting surface 18 of the perforated flat mirror 20, changes the traveling direction by 90 degrees, enters the reflecting surface 15 of the truncated cone mirror 16 at an incident angle of 45 degrees, and enters the reflecting surface 15 of the truncated cone mirror 16. A part of the emitted light can be perpendicularly incident on the side surface 14 of the battery 11 at the inspection position Q by changing the traveling direction by 90 degrees.
As shown in FIG. 2, the light incident perpendicularly to the side surface 14 of the battery 11 is reflected by the side surface 14 and incident on the truncated cone mirror 16, and part of the light is reflected by the reflecting surface 15 of the truncated cone mirror 16. Then, it enters the perforated flat mirror 20. Further, in the light emitted from the first annular illumination means 23, a part of the light that is obliquely incident on and reflected by the reflecting surface 18 of the perforated flat mirror 20 is directly incident on the other end surface 17, and the other end surface 17 can be illuminated. As shown in FIG. 3, a part of the light reflected by the other end surface 17 of the battery 11 is directly incident on the perforated flat mirror 20.

Accordingly, the first annular illumination means 23 emits light, and the reflected light that is reflected by the side surface 14 of the battery 11 and incident on the perforated flat mirror 20 is reflected by the side-view camera 26 on the other end surface 17 of the battery 11. The reflected light incident on the perforated flat mirror 20 can be received by the end face photographing camera 27.
Here, when the reflected light reflected by the side surface 14 of the battery 11 is reflected by the reflecting surface 15 of the truncated cone mirror 16 and the reflecting surface 18 of the perforated flat mirror 20, respectively, the incident angle and the reflection angle are kept equal. The light that is received by the side photographing camera 26 and forms a side image becomes reflected light that is reflected in a specific direction determined by the relationship with the position of the side photographing camera 26 for each point on the side surface 14 of the battery 11. Similarly, when the reflected light reflected by the other end surface 17 of the battery 11 is reflected by the reflecting surface 18 of the perforated flat mirror 20, the incident angle and the reflecting angle are kept equal. The light that forms the end face image is reflected light that is reflected in another specific direction determined by the relationship with the position of the end face photographing camera 27 for each point on the other end face 17 of the battery 11.

Here, when a dent is present on the side surface 14 (the same applies to the other end surface 17) of the battery 11, the dent is considered to be an aggregate of fine reflecting surfaces having various inclinations, and therefore the reflection point exists in the dent. In this case, the reflection angle changes, and the side photographing camera 26 (end face photographing camera 27) does not receive light. For this reason, in the side image (end surface image) obtained when there is a dent on the side surface 14 (other end surface 17) of the battery 11, the brightness of the region corresponding to the dent decreases. Accordingly, a side image (end surface image) captured by the side image camera 26 (end surface camera 27) is input to the image processor to form a side analysis image (end surface analysis image), and in the side analysis image (end surface analysis image). By detecting the presence or absence of the low-luminance region, the presence of a dent can be determined.

Also, as shown in FIGS. 4 and 5, when the battery 11 is caused to emit light at the inspection position Q, the second and third annular illumination means 24 and 25 emit light, and the side surface 14 and the other end surface 17 of the battery 11 are inclined from each other. Can be illuminated. The reflected light reflected by the side surface 14 of the battery 11 is reflected by the truncated cone mirror 16 and enters the perforated plane mirror 20, and the light reflected by the other end surface 17 is directly incident on the perforated plane mirror 20. When light reflected by the side surface 14 of the battery 11 and reflected by the perforated flat mirror 20 is received by the side surface photographing camera 26, the light received by the side surface photographing camera 26 is subjected to side surface photographing for each point on the side surface 14. When the end face photographing camera 27 receives the light reflected in the specific direction determined by the relationship with the position of the camera 26 and reflected by the other end face 17 of the battery 11 and reflected by the perforated flat mirror 20, the end face photographing camera. The light received at 27 becomes reflected light reflected in another specific direction determined by the relationship with the position of the end face photographing camera 27 for each point on the other end face 17.

Here, when there is a scratch or dirt on the side surface 14 of the battery 11 (the same applies to the other end surface 17), light incident on the scratch or dirt is reflected or absorbed in various directions, so that the light is reflected. In this case, since the reflected light includes light reflected in a specific direction, the amount of reflected light received by the side photographing camera 26 (end face photographing camera 27) increases or the side photographing when the light is absorbed. The amount of reflected light received by the camera 26 (end face camera 27) decreases. Therefore, in the side image (end surface image) obtained when the side surface 14 (the other end surface 17) of the battery 11 has scratches or dirt, the brightness of the area corresponding to the scratch or dirt increases or decreases. Accordingly, a side image (end surface image) captured by the side surface camera 26 (end surface camera 27) is input to the image processor to form a side analysis image (end surface analysis image), and the side analysis image (end surface analysis image) in the side analysis image (end surface analysis image). By detecting the presence / absence of the brightness change region, it is possible to determine the presence of scratches and dirt.

For the first, second, and third annular illumination means 23 to 25, for example, a xenon lamp or a light emitting diode having a strobe function may be used. Thus, the first, second, and third annular illumination means 23 to 25 can emit light and stop with good responsiveness. Then, the first annular illumination means 23, the second and third annular illumination means 24, and the second and third annular illumination means 24 in synchronization with the imaging frame signals that cause the side-view camera 26 and the end-view camera 27 to capture the side image and the end-face image, respectively. When 25 is caused to emit light alternately, imaging of the side surface 14 and the other end surface 17 of the battery 11 by the irradiation of the first annular illumination means 23, and the battery 11 by the irradiation of the second and third annular illumination means 24, 25. The side surface 14 and the other end surface 17 can be alternately imaged.

Next, the operation of the cylindrical object appearance inspection apparatus 10 according to an embodiment of the present invention will be described.
As shown in FIG. 1, the battery 11 is placed upright on a transfer jig 29 provided on the moving belt 28 of the belt conveyor 12 with one end of the battery 11 facing up, and the transfer of the battery 11 is started. Then, when the battery 11 reaches the standby position P, the movement of the moving belt 28 stops, the suction part 30 of the moving means 13 at the inspection position Q starts to move down together with the moving rod 31, and the suction part 30 is in the third annular shape. Passing through the illumination means 25 and the insertion hole 19 of the perforated flat mirror 20, it comes into contact with one end of the battery 11 at the standby position P and is magnetized to attract the one end of the battery 11. Next, the moving rod 31 moves up, and the adsorbing part 30 adsorbing the battery 11 moves to the inspection position Q through the insertion hole 19 of the perforated flat mirror 20 and the third annular illumination means 25. As a result, the battery 11 is arranged at the inspection position Q.

Next, when the first annular illumination unit 23 emits light in synchronization with the imaging frame signal that causes the side surface photographing camera 26 and the end surface photographing camera 27 to start imaging, a part of the light emitted from the first annular illumination unit 23 is emitted. Is reflected by the reflecting surface 18 of the perforated flat mirror 20 to change the traveling direction of the light, a part of the light is directly incident on the other end surface 17 of the battery 11 at the inspection position Q, and the other end surface 17 is illuminated, The remaining light is incident on the reflecting surface 15 of the truncated cone mirror 16, and a part of the light is reflected by the reflecting surface 15 to enter the side surface 14 of the battery 11 at the inspection position Q to illuminate the side surface 14. Thereby, reflection occurs on the side surface 14 and the other end surface 17 of the battery 11, the reflected light from the side surface 14 enters the perforated plane mirror 20 via the truncated cone mirror 16, and the reflected light from the other end surface 17 directly passes through the hole. The light enters the open plane mirror 20. The side photographing camera 26 receives the reflected light reflected in a specific direction determined by the relationship with the position of the side photographing camera 26 for each point on the side surface 14 of the battery 11 to form a side image, similarly. The end face photographing camera 27 receives reflected light reflected in another specific direction determined by the relationship with the position of the end face photographing camera 27 for each point on the other end face 17 of the battery 11 to form an end face image.

Here, since the reflection angle changes when the incident point exists in the dent, the light reflected by the reflection point in the dent is not received by the side-view camera 26 (the same applies to the end-face camera 27). For this reason, in the side image (end surface image) obtained when there is a dent on the side surface 14 (other end surface 17) of the battery 11, the brightness of the region corresponding to the dent decreases.

Subsequently, when the second and third annular illumination units 24 and 25 emit light in synchronization with an imaging frame signal that causes the side-view camera 26 and the end-view camera 27 to start the next imaging, the second annular illumination unit 24. Part of the light emitted from the circular mirror 16 passes through the reflecting surface 15 of the truncated cone mirror 16 to illuminate the side surface 14 of the battery 11 from one end side, and the light emitted from the third annular illumination means 25 is emitted from the battery 11. The side surface 14 and the other end surface 17 are directly illuminated from the other end side. As a result, light is reflected from the side surface 14 and the other end surface 17. Here, the reflected light reflected by the side surface 14 enters the reflecting surface 15 of the truncated cone mirror 16, and a part of the reflected light is reflected by the reflecting surface 15 and enters the perforated flat mirror 20. On the other hand, a part of the reflected light reflected by the other end surface 17 enters the reflecting surface 18 of the perforated flat mirror 20.

The side photographing camera 26 receives the reflected light reflected in a specific direction determined by the relationship with the position of the side photographing camera 26 for each point on the side surface 14 of the battery 11 to form a side image. The end face photographing camera 27 receives the reflected light reflected in another specific direction determined by the relationship with the position of the end face photographing camera 27 for each point on the other end face 17 of the battery 11 to form an end face image. Here, when the incident point is in a scratch or dirt, the incident light is reflected or absorbed in various directions. Therefore, when the light is reflected, the reflected light always reflects in a specific direction. And the amount of reflected light received by the side-view camera 26 (end-face camera 27) increases, and the amount of reflected light received by the side-view camera 26 (end-face camera 27) increases. Decrease.

As described above, the first annular illumination means 23 and the second and third annular illumination means 24 and 25 are synchronized with the imaging frame signals that cause the side photography camera 26 and the end photography camera 27 to start imaging. When a side image and an end surface image of the battery 11 are sequentially captured by the side surface camera 26 and the end surface camera 27 while alternately emitting light, the battery 11 is irradiated by the first annular illumination means 23 from the side surface camera 26. The side images of the battery 11 and the side images of the battery 11 by the irradiation of the second and third annular illumination means 24 and 25 are alternately output. The end face image and the end face image of the battery 11 by the irradiation of the second and third annular illumination means 24 and 25 are alternately output.

Therefore, the side images captured by the side camera 26 are sequentially input to the image processor, and the side analysis image obtained from the side images by the irradiation of the first annular illumination means 23 is subjected to a binarization process related to luminance. A side binarized image is formed, and a low luminance region in the side binarized image is detected. Then, when the low luminance area is not detected in the side surface binarized image, it is determined that there is no dent on the side surface 14. FIG. 6 shows an example of the side analysis image, and FIG. 7 shows the side binarized image of FIG.
Further, with respect to the side analysis image obtained from the side images obtained by the irradiation of the second and third annular illumination units 24 and 25, a binarization process is performed on the luminance of the side analysis image to form a side binarized image. A low luminance region and a high luminance region are detected with respect to the average luminance of the binarized image. In the side face binarized image, when the low brightness area and the high brightness area are not detected with respect to the average brightness, it is determined that the side face 14 has no scratches or dirt.

Similarly, the end face images captured by the end face photographing camera 27 are sequentially input to the image processor, and the end face analysis image obtained from the end face image by the irradiation of the first annular illumination means 23 is subjected to binarization processing relating to luminance. When the end face binarized image is formed and no low brightness area is detected in the end face binarized image, it is determined that there is no dent on the other end face 17.
Also, with respect to the end face analysis image obtained from the end face images by irradiation of the second and third annular illumination means 24 and 25, binarization processing related to the brightness of the end face analysis image is performed, and the average brightness of the end face binarized image is obtained. Thus, a low luminance region and a high luminance region are detected. In the end face binarized image, when the low brightness area and the high brightness area are not detected with respect to the average brightness, it is determined that the other end face 17 has no scratch or dirt.

As mentioned above, although embodiment of this invention was described, this invention is not limited to this embodiment, The change in the range which does not change the summary of invention is possible, Each above-mentioned embodiment is possible. The case where the cylindrical object appearance inspection apparatus according to the present invention is configured by combining some or all of the forms and modifications is also included in the scope of the present invention.
For example, although an electromagnet is provided in the adsorption unit, a battery may be adsorbed by a pressure difference by providing a suction port connected to the decompression device on the front end surface of the adsorption unit. Accordingly, even when the battery is formed of a nonmagnetic material such as aluminum, it can be adsorbed.

It is explanatory drawing of the external appearance inspection apparatus of the cylindrical object which concerns on one embodiment of this invention. It is explanatory drawing which shows the method of detecting the dent on the side surface of a cylindrical object in the cylindrical external appearance inspection apparatus. It is explanatory drawing which shows the method of detecting the dent on the other end surface of a cylindrical object in the external appearance inspection apparatus of the cylindrical object. It is explanatory drawing which shows the method to detect the damage | wound and dirt on the side surface of a cylindrical object in the cylindrical object external appearance inspection apparatus. It is explanatory drawing which shows the method to detect the damage | wound and dirt on the other end surface of a cylindrical object in the cylindrical external appearance inspection apparatus. It is explanatory drawing of the side surface analysis image of a cylindrical object. It is explanatory drawing of the side surface binarized image of a cylindrical object.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10: Cylindrical object external appearance inspection apparatus 11, 11a: Battery, 12: Belt conveyor, 13: Moving means, 14: Side surface, 15: Reflecting surface, 16: Frustum mirror, 17: Other end surface, 18: Reflecting surface , 19: insertion hole, 20: perforated plane mirror, 21: opening, 22: light shielding member, 23: first annular illumination means, 24: second annular illumination means, 25: third annular illumination means, 26 : Side view camera, 27: End face camera, 28: Moving belt, 29: Conveying jig, 30: Suction part, 31: Moving rod

Claims (6)

  1. A moving means for holding one end of the cylindrical object at the standby position and moving the cylindrical object to the inspection position;
    The cylindrical shape is arranged so that the central axis coincides with the axial center of the cylindrical object at the inspection position, and gradually increases in diameter from one end side to the other end side of the cylindrical object at the inspection position. A frustoconical mirror having an internal angle of substantially 90 degrees, comprising a reflective surface surrounding the side of the object;
    A perforated plane mirror that is formed in the center with an insertion hole through which the cylindrical object held by the moving means passes and is inclined with respect to the axis of the cylindrical object at the inspection position;
    An opening is provided at the center and a light shielding member is provided on the back side, disposed outside the other end of the frustoconical mirror, and inclined with respect to the perforated plane mirror, on the side surface of the cylindrical object First annular illumination means for irradiating substantially vertical light through the truncated cone mirror and the perforated plane mirror;
    A side-view camera that is disposed at a distance on the back side of the first annular illumination means and that captures a side image of the cylindrical object via the opening, the perforated plane mirror, and the truncated cone mirror; A device for inspecting the appearance of a cylindrical object.
  2. 2. The cylindrical object visual inspection apparatus according to claim 1, wherein the perforated plane mirror is inclined by 45 degrees with respect to the axis of the truncated cone mirror, and the first annular illumination means is formed on the perforated plane mirror. An appearance inspection apparatus for a cylindrical object, which is inclined by 45 degrees with respect to the cylindrical object.
  3. 3. The cylindrical object appearance inspection apparatus according to claim 1, wherein an end surface image of the other end surface of the cylindrical object irradiated by the first annular illumination unit is represented by the opening and the hole. An appearance inspection apparatus for a cylindrical object, further comprising an end face photographing camera that captures an image through an open plane mirror.
  4. 4. The cylindrical object visual inspection apparatus according to claim 3, wherein the truncated cone mirror is a half mirror, and the cylindrical object at the inspection position is inside and the outer side of each side of the cylindrical object is outside. Provided with second and third annular illumination means for illuminating the cylindrical object obliquely, and imaging the side surface and the other end surface of the cylindrical object with the side surface photographing camera and the end surface photographing camera. A device for inspecting the appearance of a cylindrical object, characterized by comprising:
  5. 5. The cylindrical object appearance inspection apparatus according to claim 4, wherein the first annular illumination means irradiates the side surface and the other end surface of the cylindrical object, and the side surface camera and the end surface camera detect the cylindrical object. When imaging the side surface and the other end surface, the irradiation of the second and third annular illumination means is stopped, and the side surface and the other end surface of the cylindrical object are irradiated with the second and third annular illumination means. The cylindrical object characterized in that the irradiation of the first annular illumination means is stopped when imaging the side surface and the other end surface of the cylindrical object with the side surface photographing camera and the end surface photographing camera. Visual inspection equipment.
  6. The cylindrical object appearance inspection apparatus according to any one of claims 1 to 5, wherein the cylindrical object is a battery before coating, and the standby position is on a conveyor that conveys the cylindrical object. The moving means conveys the cylindrical object after the inspection is completed from the inspection position to the standby position.
JP2005196504A 2005-07-05 2005-07-05 Cylindrical object appearance inspection device Expired - Fee Related JP4619880B2 (en)

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JP5802442B2 (en) * 2011-06-10 2015-10-28 ファナック株式会社 A robot system that determines the movement of a robot using an external projection device
JP5724070B2 (en) * 2011-11-10 2015-05-27 キリンテクノシステム株式会社 Liquid surface floating foreign substance inspection method and apparatus
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