JP4842063B2 - Tape winding monitoring device - Google Patents

Description

  The present invention relates to a tape winding apparatus that winds an insulating tape around a coil for a generator or an electric motor, for example, and more specifically, monitors whether a foreign object is caught when a tape is wound around an object with the tape winding apparatus. The present invention relates to a tape winding monitoring device.

  Conventionally, for example, in a taping operation in which a shielding copper tape is wound around a spiral surface of a coated copper wire, or in a taping operation in which a protective tape is wound around the spiral from above, a winding defect that creates a gap between the tapes. A tape winding defect detection device for detecting the above is disclosed (for example, see Patent Document 1). The tape winding defect detection device includes an imaging device that monitors a change in color or brightness of a peripheral surface of a coated copper wire after tape winding, and a coated copper based on image data output from the imaging device. And an arithmetic unit that outputs a failure detection signal when the color or brightness of the peripheral surface of the line changes. When the failure detection signal is output, an alarm is sounded by the alarm generation device, and the emergency stop device is It is designed to operate.

  By the way, in taping work, there is a possibility that foreign matter is caught up for some reason. For example, in taping work in which insulating tape is wound around a coil for a generator or a motor, the inclusion of a foreign substance may cause a serious product trouble due to the nature of the coil that is a component of the generator or the motor. Therefore, the operator visually monitored whether foreign matter was caught.

JP-A-8-255519

  However, there are the following problems in the above-described prior art.

  That is, conventionally, an operator visually monitors whether foreign matter is caught in the taping operation. However, for example, when a foreign object is wound inside the insulating tape, it is not easy to discriminate the foreign object, and for example, an operator may operate a plurality of tape winding devices. There was a delay. Thus, when the discovery of the foreign matter is delayed, the insulating tape has to be disassembled retroactively to the part where the foreign matter is involved, and then it is necessary to remove the foreign matter and start the taping operation again. Therefore, not only the working time is increased, but materials such as insulating tape are wasted, which has been a factor in increasing manufacturing costs.

  An object of the present invention is to provide a tape winding monitoring device capable of preventing foreign matter from being wound and reducing the manufacturing cost.

  (1) In order to achieve the above object, the present invention is a tape winding monitoring device for monitoring whether or not a foreign object is caught when a tape is wound around an object by the tape winding device. And imaging means for imaging the tape in at least one of immediately after winding, a first storage means for storing color information of the foreign matter, and the imaging based on the color information of the foreign matter stored in the first storage means The foreign matter image is extracted from the captured image of the means, and when it is determined that the foreign matter is detected by the foreign matter detection determination means and the foreign matter detection determination means, the tape winding device is stopped. Stop control means.

  In the present invention, the imaging tape picks up an image of the insulating tape at least one of winding immediately before and immediately after winding. Then, the foreign object detection determination stage performs a foreign object image extraction process from the captured image of the imaging unit based on the color information of the foreign object stored in the first storage unit, and for example, the number of pixels of the foreign object image is greater than or equal to a predetermined threshold value. By determining whether there is a foreign object, it is determined whether a foreign object has been detected. Thereby, it is possible to confirm whether or not foreign matter has adhered to the tape immediately before winding, or whether or not foreign matter has been wound on the tape immediately after winding. And when it determines with the foreign material detection determination means having detected the foreign material, a stop control means outputs a stop signal to a tape winding apparatus, and stops a tape winding apparatus rapidly. As a result, it is possible to minimize the foreign matter removal work and the taping work. In addition, waste of the tape can be suppressed. Accordingly, in the present invention, foreign matter can be prevented from being involved, and the manufacturing cost can be reduced.

  (2) In the above (1), preferably, the first storage means stores a plurality of pieces of color information of foreign matters that differ depending on illuminance conditions, and the foreign matter detection determination means is a foreign matter stored in the first storage means. Based on each of the plurality of color information, a foreign object image extraction process is performed from the captured image of the imaging means to determine whether a foreign object has been detected.

  As a result, it is not necessary to provide dedicated illumination or a black curtain for ensuring a predetermined illuminance condition, and the number of parts can be reduced. As a result, the entire apparatus can be downsized and installed easily.

  (3) In the above (2), preferably, a second storage unit that stores a combination of the imaging position of the imaging unit and the color information of the foreign matter is provided, and the foreign matter detection determination unit is provided in the second storage unit. According to the stored combination, the color information of the foreign matter stored in the first storage means is selected in accordance with the imaging position of the object, and the image of the foreign matter image is selected from the captured image of the imaging means based on the color information of the selected foreign matter. An extraction process is performed to determine whether a foreign object has been detected.

  As a result, it is not necessary to simultaneously perform the foreign object image extraction process based on the plurality of pieces of color information of the foreign substance on the captured image of the imaging unit, and the processing speed can be improved. Further, by storing in advance the combination of the imaging position of the imaging means (in other words, the illuminance condition at the imaging position) and the color information of the foreign matter, it is not necessary to provide an illuminance sensor or the like for measuring the illuminance, and the number of parts is reduced. Can be achieved. As a result, the entire apparatus can be downsized and installed easily.

  (4) In the above (1), it is preferable that a notification control unit that drives a notification device when the foreign object detection determination unit determines that a foreign object is detected is provided.

  (5) In the above (1), preferably, when the foreign object detection determination unit determines that a foreign object has been detected, a recording unit that records the foreign object image and date and time information of the foreign object detection is provided.

  According to the present invention, foreign matter can be prevented from being involved, and the manufacturing cost can be reduced.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a cross-sectional view illustrating, as an example, a schematic structure of a main part of a tape winding apparatus to which the present invention is applied.

  In FIG. 1, a tape winding device is for winding an insulating tape 2 around a stator coil 1 for a large generator, for example, along the length direction of the stator coil 1 (left and right direction in FIG. 1). A support base (not shown) having a plurality of clamp devices (not shown) arranged, and supporting the stator coil 1, and a substantially annular taping head 3 through which the stator coil 1 is inserted at the center thereof A support arm (not shown) that supports the taping head 3, a travel device (not shown) that travels the support arm and the taping head 3 along the length direction of the stator coil 1, a support arm, and a travel And a taping control device 4 (see FIG. 2 to be described later) for controlling the drive of the device.

  The taping head 3 is provided on a frame 5 connected to a support arm, an annular rotary plate 6 that is rotatable with respect to the frame 5 and rotated by a motor (not shown), and the rotary plate 6. The peeling tape (not shown) is peeled off from the insulating tape bobbin 7 around which the insulating tape 2 is wound and the adhesive surface (in this embodiment, the inner peripheral surface) of the insulating tape 2 drawn out from the insulating tape bobbin 7. A peeling tape winding bobbin (not shown) for winding is provided. The insulating tape 2 is colorless and translucent, and the release tape is colored (however, a color different from the stator coil 1).

  The taping control device 4 drives the traveling device to drive the taping head 3 while controlling the support arm so that the stator coil 1 is arranged at the center of the rotating plate 6 of the taping head 3, and in synchronization with this, The rotating plate 6 of the taping head 3 is rotated. As a result, the insulating tape 2 drawn out from the insulating tape bobbin 7 is wound around the stator coil 1 at a predetermined pitch with the peeling tape peeled off. When the insulating tape 2 is wound around the stator coil 1, for example, the taping head 3 is run on one side in the coil longitudinal direction (left side in FIG. 1) to wind the insulating tape 2, and then the taping head 3. Is moved to the other side in the coil longitudinal direction (right side in FIG. 1) to wind the insulating tape 2 (the winding position of the insulating tape 2 at this time is indicated by a two-dot chain line in FIG. 1).

  When the insulating tape 2 is wound around the stator coil 1 with this tape winding device, there is a possibility that foreign matter such as a peeling tape is caught for some reason. The tape winding monitoring device of the present embodiment monitors whether or not the peeling tape is wound as a foreign object.

  FIG. 2 is a block diagram showing the configuration of the tape winding monitoring device of this embodiment. FIG. 3 is a diagram illustrating a captured image of the camera together with an image processing range.

  In FIG. 2, FIG. 3 (a), FIG. 3 (b), and FIG. 1 described above, the tape winding monitoring device includes, for example, a camera 8 for imaging the insulating tape 2 immediately before winding and immediately after winding. A display device 10 that displays a captured image 9 of the camera 8, an image processing device 11 that determines whether a peeling tape is detected from the captured image 9 of the camera 8, and a determination that the image processing device 11 has detected the peeling tape In this case, a central processing unit 12 to which the detection signal is input and a wireless input device 13 that can be input by an operator are provided.

  The camera 8 is, for example, a color CCD camera, and is attached to the upper side (the upper side in FIG. 1) of the frame 5 of the taping head 3. Then, the image 9 including the inner peripheral surface of the insulating tape 2 just before winding (see FIG. 3A) depending on the rotational position of the rotating plate 6 of the taping head 3 (in other words, the circumferential position of the insulating tape 2 in the winding direction). ) Or an image 9 (see FIG. 3B) including the outer peripheral surface of the insulating tape 2 immediately before winding. The captured image 9 of the camera 8 has a range including the winding position of the insulating tape 2 because the winding position of the insulating tape 2 is different when the taping head 3 is reciprocated. An image processing range 14 is set for the captured image 9 of such a camera 8. For example, as shown in FIGS. 3A and 3B, the image processing range 14 includes the insulating tape 2 immediately before winding and immediately after winding, the portion of the stator coil 1 where the insulating tape 2 is not wound, It is set to include the wound part.

  The image processing apparatus 11 includes a color information storage unit 15 that stores color information A, B, and C (see FIG. 4) of the peeling tape that varies depending on the illumination conditions. For the color information A, B, and C of the peeling tape, the peeling tape placed on the stator coil 1 under the illuminance condition 1 (350 lux), the illuminance condition 2 (220 lux), and the illuminance condition 3 (150 lux), for example, Each is imaged, and color information (specifically, composed of hue, saturation, and brightness) of the peeling tape is extracted and acquired from the sampled image. The color information storage unit 15 of the image processing apparatus 11 may store corresponding sample images together with the color information A, B, and C of the peeling tape. Further, the color information of the stator coil 1, the insulating tape 2, and the background may be extracted and acquired from the sample image and stored in the color information storage unit 15.

  Then, the image processing apparatus 11 extracts the peeling tape image 16 from the image processing range 14 based on the color information A, B, and C of the peeling tape stored in the color information storage unit 15 ( FIG. 5 (a) and FIG. 5 (b)). In addition, as a pre-stage of the extraction process of the peeling tape image 16, a process of removing the stator coil 1, the insulating tape 2, and the background from the image processing range 14 may be performed. Then, it is determined whether or not the number of pixels of the peeling tape image 16 is equal to or greater than a predetermined threshold (a value set in advance from the number of effective pixels of the camera 8 and the lens, working distance, etc., for example, the number of 10 pixels). When the number of pixels of 16 is equal to or greater than a predetermined threshold, it is determined that the peeling tape has been detected.

  FIG. 6 is a diagram illustrating, as an example, the number of pixels of the release tape image 16 extracted based on the color information A, B, and C of the release tape. Note that the measurement conditions in FIG. 6 (specifically, a 16 mm lens is attached to the camera 8 having 240,000 effective pixels, the working distance is 520 mm, the size of the peeling tape is 1.3 mm × 2.0 mm, image processing is performed) Therefore, the theoretical maximum detection value of the peeling tape image 16 is 46 pixels.

  When the peeling tape image 16 is extracted based on the color information A of the peeling tape under the illumination condition 1 (350 lux), the number of pixels of the peeling tape image 16 is 20 or less and a relatively small value under the condition of 250 lux or less. Under the conditions of 260 to 380 lux, the number of pixels of the peeling tape image 16 is 30 or more, which is a relatively large value. Further, when the peeling tape image 16 is extracted based on the color information B of the peeling tape under illuminance condition 2 (220 lux), the number of pixels of the peeling tape image 16 is 30 or more and relatively large under the condition of 180 to 260 lux. Under the condition of 160 lux or less, the number of pixels of the peeling tape image 16 is 20 or less, which is a relatively small value. Further, when the peeling tape image 16 is extracted based on the color information C of the peeling tape under illumination condition 3 (150 lux), the number of pixels of the peeling tape image 16 is 30 or more and relatively large under the conditions of 150 to 180 lux. Under the condition of 130 lux or less or 190 lux or more, the number of pixels of the peeling tape image 16 is 20 or less, which is a relatively small value.

  Here, according to the occupational safety and health regulations, “ordinary work” is defined as 150 lux or more, and “precision work” is defined as 300 lux or more. Moreover, it was 165-295 lux when measured in the actual working environment. As described above, the number of pixels of the release tape image 16 extracted based on the color information C of the release tape under the conditions of 150 to 180 lux, and the color information B of the release tape under the conditions of 180 to 260 lux. In the condition of 260 to 300 lux, the number of pixels of the peeling tape image 16 that has been subjected to the extraction process is relatively large under the condition of 260 to 300 lux. That is, by extracting the release tape image 16 based on the color information A, B, and C of the release tape, it is possible to supplement the detection accuracy of the release tape under conditions of 150 to 300 lux.

  Returning to FIG. 2 described above, when the image processing apparatus 11 determines that the peeling tape is detected, the image recording apparatus 17 (specifically, for example, portable) can display the peeling tape image 16 and the original image (image processing range) 14. Recording on a device or a recording medium such as a memory). At this time, for example, the detection date and time of the release tape is recorded by including the detection date and time in the file name of the release tape image 16 or the like. Then, the image processing apparatus 11 displays the peeling tape image 16 or the like recorded on the image recording apparatus 17 on the display apparatus 10 in response to an input operation of the input apparatus 13. As a result, the operator can analyze the detection status of the release tape.

  When the image processing apparatus 11 determines that the peeling tape has been detected, the image processing apparatus 11 outputs the detection signal to the central processing apparatus 12. In response to this, the central processing unit 12 outputs a stop signal to the taping control unit 4 to stop the tape winding device, and outputs a drive signal to the notification unit 18 to drive the notification unit 18 to blow. ing. Further, the central processing unit 12 records information such as the file name of the peeling tape image 16 and the like recorded in the image recording device 17, the number of the tape winding device that has been stopped, and the stop date and time as a history recording device 19 (specifically, For example, a portable device or a recording medium such as a memory).

  In addition, the central processing unit 12 switches the foreign matter entrainment monitoring function described above to valid or invalid in accordance with an input operation of the input device 13. In other words, when there is a possibility that foreign matter may move into the captured image 9 of the camera 8, such as during teaching work or setup work, the tape winding device is erroneously stopped by switching the foreign matter winding monitoring function to invalid. Is to prevent.

  In addition, in the above, the camera 8 comprises the imaging means which images the tape in at least one of just before winding and immediately after winding described in the claims. In addition, the color information storage unit 15 of the image processing apparatus 11 constitutes a first storage unit that stores a plurality of pieces of color information of foreign matters according to different illuminance conditions. The image processing apparatus 11 performs foreign object image extraction processing from the captured image of the imaging unit based on each of the plurality of color information of the foreign object stored in the first storage unit, and determines whether or not the foreign object has been detected. Configure the means. When the central processing unit 12 determines that a foreign object has been detected by the foreign object detection determination unit, the central processing unit 12 constitutes a stop control unit for stopping the tape winding device, and determines that the foreign object detection determination unit has detected a foreign object The alarm control means for driving the alarm is also configured. Further, the image recording device 17 constitutes a recording unit that records a foreign object image and date / time information of the foreign object detection when it is determined that the foreign object is detected by the foreign object detection determination unit.

  In the present embodiment configured as described above, the camera 8 images the insulating tape 2 immediately before winding and immediately after winding. Then, the image processing apparatus 11 performs the extraction process of the release tape image 16 from the captured image 9 of the camera 8 based on the color information A, B, and C of the release tape stored in the color information storage unit 15, and the release tape It is determined whether the peeling tape is detected by determining whether the number of pixels of the image 16 is equal to or greater than a predetermined threshold. Thereby, it can be confirmed whether the peeling tape has adhered to the insulating tape 2 just before winding, and whether the peeling tape was wound in the insulating tape 2 just after winding. For example, when it is determined that the image processing device 11 has detected the peeling tape, the detection signal is output to the central processing device 12. In response to this, the central processing unit 12 outputs a stop signal to the taping control unit 4 to stop the tape winding device, and also outputs a drive signal to the notification unit 18 to drive the notification unit 18 to blow. Inform. Thereby, it is possible to minimize the rework of the peeling tape removing operation and the taping operation of the insulating tape 2. Moreover, waste of the insulating tape 2 can be suppressed. Therefore, in this embodiment, it is possible to prevent the release tape from being wound and to reduce the manufacturing cost.

  In the present embodiment, since the separation tape image 16 is extracted based on the color information A, B, and C of the separation tape, it is necessary to provide a dedicated illumination, a dark curtain, etc. for ensuring a predetermined illuminance condition. The number of parts can be reduced. As a result, the entire apparatus can be downsized and installed easily.

  In the present embodiment, the camera 8 is attached to the frame 5 of the taping head 3 to stabilize the focus and angle without adjusting the position of the camera 8 according to the shape (curved portion) of the stator coil 1. be able to. Further, unlike the case where the camera 8 is provided on the rotating plate 6 that rotates at high speed, for example, the possibility of failure can be reduced.

  In the above-described embodiment, the color information storage unit 15 of the image processing apparatus 11 has been described by taking as an example the case where the color information A, B, and C of the peeling tape that differs depending on the illuminance condition is described. Absent. That is, for example, when the color information of the peeling tape attached to the front surface side and the back surface side of the insulating tape 2 is different, the color information of those peeling tapes may be stored respectively, and the color information of the peeling tape may have a range. You may make it have. In these cases, the same effect as described above can be obtained.

  In the above embodiment, the case where the color camera 8 is provided has been described as an example, but the present invention is not limited to this. That is, a gray-type camera is provided, and the image processing apparatus 11 may perform the separation tape extraction process from the image processing range in the black and white captured image captured by the camera (in this case, the color information storage unit 15 stores the separation tape). The color information of the peeled tape is composed only of lightness). In this case, the same effect as described above can be obtained.

  In the above embodiment, the case where one camera 8 is provided on the upper side of the frame 5 of the taping head 3 and the upper surface side of the stator coil 1 is imaged by the camera 8 is described as an example. I can't. That is, for example, a plurality of cameras may be provided for the purpose of imaging the left side, the right side, and the lower side of the stator coil 1. In this case, the same effect as described above can be obtained.

  In the above embodiment, when it is determined that the image processing device 11 has detected the peeling tape (in other words, when the tape winding device is stopped), the central processing device 12 drives the alarm 18 to blow. However, the present invention is not limited to this. That is, the central processing unit 12 may report to a remote manager via a communication means such as the Internet. In this case, the same effect as described above can be obtained.

  In the above-described embodiment, the case in which the foreign matter entrainment monitoring function is switched between valid and invalid according to the input operation of the input device 13 has been described as an example. However, the present invention is not limited to this. That is, for example, in the control program for the tape winding device executed by the taping control device 4, automatic switching is performed by embedding a code that outputs a switching signal for enabling or disabling the foreign matter entrainment function to the central processing unit 12. It is good. In this case, the same effect as described above can be obtained.

  Another embodiment of the present invention will be described with reference to FIGS. This embodiment is an embodiment in which color information of the peeling tape is selected according to the imaging position of the camera.

  FIG. 7 is a block diagram showing the configuration of the tape winding monitoring device of this embodiment. In FIG. 7, parts that are the same as in the above embodiment are given the same reference numerals, and descriptions thereof are omitted as appropriate.

  In the present embodiment, the central processing unit 12A includes a pattern storage unit 20 that stores a combination of the imaging position of the camera 8 and the color information of the peeling tape (see FIG. 8). Then, the central processing unit 12 </ b> A receives the position information signal of the taping head 3 from the taping control device 4 and calculates the imaging position of the camera 8. And the selection signal of the color information (any one of A, B, C) of the peeling tape corresponding to the imaging position of the camera 8 is output to the image processing device 11 by the combination stored in the pattern storage unit 20. The image processing apparatus 11 selects the color information of the release tape stored in the color information storage unit 15 according to the selection signal, and the image of the release tape image 16 from the image processing range 14 based on the color information of the selected release tape. An extraction process is performed to determine whether a release tape has been detected.

  In the present embodiment configured as described above, similarly to the above-described embodiment, it is possible to prevent the peeling tape from being caught and to reduce the working time and cost. Further, unlike the above-described embodiment, it is not necessary to simultaneously perform the extraction process of the release tape image 16 based on the color information A, B, and C of the release tape with respect to the image processing range 14, thereby improving the processing speed. be able to. Further, by storing in advance the combination of the imaging position of the camera 8 (in other words, the illuminance condition at that imaging position) and the color information of the peeling tape, it is not necessary to provide an illuminance sensor or the like for measuring the illuminance, and the number of parts can be reduced. Reduction can be achieved. As a result, the entire apparatus can be downsized and installed easily.

  In the other embodiments, the case where the pattern storage unit 20 is provided in the central processing unit 12A has been described as an example. However, the present invention is not limited to this, and may be provided in, for example, an image processing device. Moreover, although the case where the position information signal of the taping head 3 from the taping control device 4 is input has been described as an example, the present invention is not limited to this. That is, for example, a position sensor that detects whether or not the taping head 3 has reached a specific position may be provided, and a detection signal from the position sensor may be input. In these cases, the same effect as described above can be obtained.

  In the above-described other embodiments, the central processing unit 12A has been described taking as an example the case where the position information signal of the taping head 3 is input from the taping control device 4, but in addition to this, rotation of the taping head 3 is performed. A rotational position information signal of the plate 6 may be input. Then, the central processing unit 12A picks up the image of the camera 8 according to the rotation position of the rotating plate 6 (in other words, the position where the insulating tape is wound as shown in FIG. 3A or 3B). A command signal for changing the image processing range 14 in the image 9 and a selection command signal for color information of the peeling tape may be output to the image processing device 11. In these cases, the same effect as described above can be obtained.

  In addition, when constructing the tape winding monitoring device of the above-described embodiment, of course, it may be newly constructed together with the tape winding device, but may be constructed by appropriately modifying the existing tape winding device. In such a case, if the existing tape winding device is equipped with devices such as the central processing unit 12 (or 12A), the input device 13, the alarm device 18, and the history recording device 19 in advance and can be used, There is no need to install new equipment.

  Moreover, in the said embodiment, although the color information of a peeling tape was memorize | stored as a foreign material and it demonstrated as an example the case where it monitors whether a peeling tape is wound based on this, it is not restricted to this. That is, if it is a foreign material which has color information different from the stator coil 1 and the insulating tape 2, the color information can be memorize | stored and it can be monitored whether a foreign material is not caught based on this. Further, since it is possible to prevent entrapment of small foreign matters, it is possible to reduce the cleanliness of the work environment, and it is possible to reduce the construction cost and maintenance cost of the dustproof chamber. Also, for example, color information related to the operator (specifically, color information such as fingers, arms, gloves, shoes, hats, helmets, and work clothes) is stored, and monitoring is performed so that the operator is not involved based on this information. Can improve safety.

It is sectional drawing showing the schematic structure of the principal part of the tape winding apparatus which is the application object of this invention as an example. It is a block diagram showing the structure of one Embodiment of the tape winding monitoring apparatus of this invention. It is a figure showing the picked-up image of the camera in one Embodiment of the tape winding monitoring apparatus of this invention with an image processing range. It is a figure showing the color information of the peeling tape memorize | stored in the color information storage part of the image processing apparatus which comprises one Embodiment of the tape winding monitoring apparatus of this invention. It is a figure showing the image processing range in one Embodiment of the tape winding monitoring apparatus of this invention, and a figure showing the peeling tape image extracted from the image processing range. It is a figure showing the pixel count of the peeling tape image extracted based on the color information of the peeling tape in one Embodiment of the tape winding monitoring apparatus of this invention as an example. It is a block diagram showing the structure of other embodiment of the tape winding monitoring apparatus of this invention. It is a figure showing the combination of the imaging position of the camera memorize | stored in the pattern memory | storage part of the central processing unit which comprises other embodiment of the tape winding monitoring apparatus of this invention, and the color information of a peeling tape.

Explanation of symbols

1 Stator coil 2 Insulating tape 8 Camera (imaging means)
9 Captured image 11 Image processing apparatus (foreign matter detection determination means)
12 Central processing unit (stop control means, notification control means)
12A Central processing unit (stop control means, notification control means)
15 color information storage unit (first storage unit)
16 Release tape image 17 Image recording device (recording means)
18 Alarm 20 Pattern storage unit

Claims (5)

A tape winding monitoring device for monitoring whether or not a foreign object is caught when a tape is wound around an object with a tape winding device,
Imaging means for imaging the tape in at least one of immediately before winding and immediately after winding;
First storage means for storing color information of the foreign matter;
A foreign object detection determination unit that determines whether a foreign object has been detected by performing a foreign object image extraction process from a captured image of the imaging unit based on the color information of the foreign object stored in the first storage unit;
A tape winding monitoring device comprising: a stop control unit that stops the tape winding device when it is determined that the foreign material is detected by the foreign material detection determination unit.   2. The tape winding monitoring device according to claim 1, wherein the first storage unit stores a plurality of pieces of color information of different foreign matters depending on illuminance conditions, and the foreign matter detection determination unit is configured to store the foreign matter stored in the first storage unit. A tape winding monitoring device, wherein, based on each of the plurality of color information, a foreign object image is extracted from a captured image of the imaging means to determine whether a foreign object has been detected.   3. The tape winding monitoring device according to claim 2, further comprising second storage means for storing a combination of an imaging position of the imaging means and color information of the foreign matter, wherein the foreign matter detection determination means is stored in the second storage means. According to the stored combination, the color information of the foreign matter stored in the first storage means is selected in accordance with the imaging position of the object, and the image of the foreign matter image is selected from the captured image of the imaging means based on the color information of the selected foreign matter. A tape winding monitoring device characterized by performing extraction processing to determine whether foreign matter has been detected.   2. The tape winding monitoring device according to claim 1, further comprising notification control means for driving an alarm when it is determined that a foreign object has been detected by the foreign object detection determination means.   2. The tape winding monitoring apparatus according to claim 1, further comprising a recording means for recording the foreign object image and date and time information of the foreign object detection when it is determined that the foreign object is detected by the foreign object detection determining means. Winding monitoring device.

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