JP5172876B2 - Terminal crimp failure detection device - Google Patents

Description

  The present invention relates to a terminal crimping failure detection device for inspecting the attachment state of a terminal of a terminal-attached electric wire with a terminal attached to an end of an insulated wire.

  FIG. 12 is a diagram illustrating a terminal mounting portion of a terminal-attached electric wire. In FIG. 12, 10 is an insulated wire, 11 is its core wire, 12 is an insulation coating, 20 is a terminal, 21 is an insulation barrel, 22 is a wire barrel, and 23 is a terminal tip.

  Such an electric wire with a terminal is manufactured by a terminal crimping apparatus. At that time, the insulated wire 10 is cut to a predetermined length, and the insulating coating 12 at the end is peeled off by a certain length, and then sent to the terminal crimping device together with the terminal 20 having a predetermined shape, and the terminal 20 is connected to the end of the insulated wire 10. Are mounted and pressed from above, and the portions of the insulating barrel 21 and the wire barrel 22 of the terminal 20 are compressed into a predetermined shape and attached. Such an operation is continuously repeated to automatically manufacture a large amount of electric wires with terminals.

  In such a terminal crimping apparatus, when the terminal is crimped, the position of the terminal 20 with respect to the insulated wire 10 is shifted, and the insulation barrel 21 to be crimped onto the insulating coating 12 is crimped including a part of the core wire 11. Or crimping of the wire barrel 22 to be crimped to the core wire 11 including part of the insulation coating 12 or crimping in a state where part of the core wire 11 protrudes from the wire barrel 22. May occur. If such a crimp failure occurs, it must be detected and eliminated. In view of this, a technique has been developed in which a terminal crimping state is identified by processing an image obtained by photographing the terminal crimping state with a camera to detect a crimping failure.

  For example, in the terminal crimping failure detection device disclosed in Patent Document 1, an insulated wire to which a terminal is attached is positioned at a shooting position, and is captured by a camera to obtain a still image. With respect to the image, an inspection process is executed for each inspection window for pass / fail judgment, and pass / fail judgment of terminal crimping is performed.

  In this way, if a crimping failure occurs, it can be detected and eliminated.

JP-A-6-213817

   Such a terminal crimping defect detection device is usually performed in the middle of conveying a wire after terminal crimping from the terminal crimping device, but in the conventional terminal crimping defect detection device, when acquiring a still image with a camera, Since it is necessary to stop the conveyance and position the electric wire with the terminal one by one, it takes time for the detection operation, and there is a problem that the work efficiency including the terminal crimping and the conveyance becomes very poor.

  As for this point, if the image is taken without positioning while moving the electric wire, and the position is adjusted by performing image processing on the acquired still image, it is not necessary to stop the conveyance of the electric wire, and positioning can improve efficiency. . However, in the conventional position adjustment by image processing, the image must be shifted in two vertical and horizontal directions with respect to the reference image to find the most matching position. There is also a problem that it takes.

  In addition, while the electric wire with terminal being transported may be twisted or tilted as well as the position change, it is more difficult to compare the image taken with the twisted or tilted image with the reference image. become.

   In view of such a problem, the present invention simplifies the process of adjusting the position of an image, and further enables detection without problems even if there is a slight twist or inclination of the electric wire with terminal, and The purpose of this is to improve the working efficiency by acquiring a still image without moving the terminal-attached electric wire and positioning it.

     In order to solve the above-described problem, the invention according to claim 1 of the present application is directed to an imaging unit that acquires image data of an end portion of a terminal-attached electric wire, and image data acquired by the imaging unit within a predetermined search frame. A barycentric point that scans in parallel across the wire multiple times to obtain the brightness of each pixel, weights according to the brightness for each pixel of the scanned line, and finds the barycentric point of brightness for each line The search means, the means for obtaining the first coordinate axis based on each center point obtained by the center of gravity point search means, and the entire image data obtained by the imaging means are scanned in parallel in the direction across the electric wire a plurality of times. Pattern forming means for acquiring the luminance for each pixel, integrating the luminance difference between adjacent pixels for each scanned line, and holding the change pattern formed by the integrated value of each line; and the pattern formation means Means for comparing the held change pattern with a reference pattern, and obtaining a second coordinate axis orthogonal to the first coordinate axis based on a position where the two patterns are the best match; and using the first and second coordinate axes as a reference The image processing apparatus includes: a quality determination unit that sets an inspection frame on the image data and determines quality of the terminal crimping state.

     Further, the invention according to claim 2 of the present application is directed to an imaging unit that acquires image data of an end portion of a terminal-attached electric wire, and image data acquired by the imaging unit in a direction across the electric wire within a predetermined search frame. Centroid point searching means for obtaining the luminance for each pixel by scanning in parallel a plurality of times, performing weighting according to the luminance for each pixel of the scanned line, and obtaining the centroid point of luminance for each line; A means for obtaining a first coordinate axis based on each centroid point obtained by the centroid point searching means, and a luminance for each pixel by scanning the entire image data obtained by the imaging means in parallel across the electric wire a plurality of times. For each scanned line, the difference in luminance between adjacent pixels is integrated, and a pattern forming means for holding a change pattern formed by the integrated value of each line, and a change held by the pattern forming means Patter Means for determining a second coordinate axis orthogonal to the first coordinate axis based on a position where the two patterns most closely match, and using the first coordinate axis and the second coordinate axis as a reference, Set a search frame that encloses a straight line portion parallel to the wire axis of the terminal portion of the terminal portion of the electric wire with terminal, and in the search frame, scan in parallel in the direction of the second coordinate axis to search for an edge, A means for obtaining a third coordinate axis based on each obtained edge, and a search frame surrounding a straight line portion perpendicular to the wire axis of the terminal portion of the terminal-attached electric wire based on the first and second coordinate axes are set. And within the search frame, a means for scanning in the direction of the first coordinate axis to search for a single edge and obtaining a fourth coordinate axis orthogonal to the third coordinate axis based on the edge position. And based on the third and fourth coordinate axes Set the test frame on the serial image data, characterized by comprising a quality determining means for performing a quality determination of the terminal crimping state.

   The invention according to claim 3 of the present application is characterized in that, in the invention according to claim 1 or 2, the imaging means acquires image data while moving the electric wire with terminal.

   Further, in the invention according to claim 4 of the present application, in the invention according to claim 1, 2 or 3, a detection frame is provided at a position where the core wire of the electric wire with terminal should be in the image data and a position where the core wire should not be. The presence / absence of the core wire of the terminal-attached electric wire based on the number of peak portions and valley portions of brightness detected by scanning in the detection frame in the direction of the second coordinate axis or the fourth coordinate axis It is characterized by determining.

   The invention according to claim 5 of the present application is the invention according to claim 1, 2, 3 or 4, wherein a detection frame is set at a position where the insulation barrel of the electric wire with terminal is vertically cut in the image data. The frame is scanned from the front and the back in the direction of the second coordinate axis or the fourth coordinate axis, and the position where the brightness has increased beyond the predetermined width from the scanning start point, and the predetermined width from the peak portion of the brightness is exceeded. Finding the position where the luminance has decreased, and based on the ratio of the interval between the two positions where the luminance has increased and the interval between the two positions where the luminance has decreased, the insulation barrel of the electric wire with terminal It is characterized by determining the quality of the.

   The invention according to claim 6 of the present application is the imaging according to claim 1, 2, 3, 4 or 5, wherein when the insulated wire from which the insulating coating at the end has been peeled is sent to the terminal crimping device, the imaging The image of the peeling part is acquired by means, and the quality of the insulating coating peeling is determined based on the number of peaks and valleys of brightness detected by scanning the entire acquired image in the direction across the electric wire. And

The present invention has the following effects.
That is, in the invention according to claim 1, the image data of the end portion of the terminal-attached electric wire is acquired, and the acquired image data is scanned in parallel in the direction across the electric wire a plurality of times within a predetermined search frame. The brightness for each pixel is acquired, the center of gravity of the brightness is obtained for each pixel of the scanned line, the first coordinate axis is obtained based on each center of gravity, and the entire acquired image data is crossed across the wire. , Scanning in parallel multiple times to obtain the luminance of each pixel, integrating the difference in luminance between adjacent pixels for each scanned line, and using the change pattern formed by the integrated value of each line as the reference pattern The second coordinate axis that is orthogonal to the first coordinate axis is obtained based on the position where the two patterns are the best match, and an inspection frame is set on the image data with the first and second coordinate axes as a reference. , Terminal crimping It was to make a good or bad decision of the state. As a result, the image position adjustment process is simplified, and the position adjustment can be performed without any problem even if the electric wire with terminal has a slight inclination.

  Moreover, in the invention concerning Claim 2, the image data of the edge part of the electric wire with a terminal is acquired, and the acquired image data is scanned in parallel in the direction across the electric wire a plurality of times within a predetermined search frame. The brightness for each pixel is acquired, the center of gravity of the brightness is obtained for each pixel of the scanned line, the first coordinate axis is obtained based on each center of gravity, and the entire acquired image data is crossed across the wire. , Scanning in parallel multiple times to obtain the luminance of each pixel, integrating the difference in luminance between adjacent pixels for each scanned line, and using the change pattern formed by the integrated value of each line as the reference pattern A search frame that compares and obtains a second coordinate axis that is orthogonal to the first coordinate axis based on the position where the two patterns most closely match, and further surrounds a straight line portion parallel to the wire axis of the terminal portion of the terminal-attached wire. Set the search In the frame, means for scanning the plurality of times in parallel in the direction of the second coordinate axis to search for an edge, and obtaining a third coordinate axis based on each obtained edge; and the first and second coordinate axes Is set as a reference, and a search frame surrounding a straight portion perpendicular to the wire axis of the terminal portion of the terminal-attached electric wire is set, and a single edge is scanned in the search frame in the direction of the first coordinate axis. Means for searching and obtaining a fourth coordinate axis orthogonal to the third coordinate axis based on the edge position; and setting an inspection frame on the image data based on the third and fourth coordinate axes; The quality of the crimped state was judged. As a result, the image position adjustment process is simplified, and the position adjustment can be performed without any problems even when the electric wire with terminal is slightly inclined, and the accuracy of the position adjustment is increased.

  In the invention according to claim 3, in the terminal crimping defect detecting device according to claim 1 or 2, the imaging unit acquires image data while moving the terminal-attached electric wire. It is possible to improve work efficiency by acquiring a still image without positioning while moving the electric wire.

  According to a fourth aspect of the present invention, in the terminal crimping defect detecting device according to the first, second, or third aspect, the position where the core wire of the terminal-attached electric wire should be in the image data and the position where the core wire should not be present. A detection frame is set, and based on the number of luminance peaks and valleys detected by scanning the detection frame in the direction of the second coordinate axis or the fourth coordinate axis, Since the presence / absence of the core wire is determined, even if there is a slight twist in the electric wire with terminal and the interval between the peaks and valleys of the luminance change fluctuates, it is possible to detect shallow and deep strikes without problems.

  According to a fifth aspect of the present invention, in the terminal crimping defect detecting device according to the first, second, third or fourth aspect, a detection frame is set at a position where the insulation barrel of the terminal-attached electric wire is vertically cut in the image data. The detection frame is scanned from the front and back in the direction of the second coordinate axis or the fourth coordinate axis, and the position where the luminance has increased beyond a predetermined width from the scanning starting point, and the luminance peak portion is predetermined. Finding the position where the luminance has decreased over the width, and based on the ratio of the interval between the two positions where the luminance has increased and the interval between the two positions where the luminance has decreased. Therefore, even if there is a slight twist in the electric wire with terminal and the interval between the peaks of the luminance change fluctuates, it is possible to detect the inner and outer breaks of the insulation barrel without any problem.

  Moreover, in the invention concerning Claim 6, when sending the insulated wire which peeled the insulation coating of the edge part to the terminal crimping apparatus in the terminal crimping defect detection apparatus concerning Claim 1, 2, 3, 4 or 5 The image pickup means acquires an image of the peeled portion, and performs a pass / fail judgment on insulation coating peeling based on the number of peaks and valleys of brightness detected by scanning the entire acquired image in a direction across the electric wire. As a result, stripping errors in insulated wires can be easily detected.

It is a schematic block diagram of the terminal crimping defect detection apparatus which concerns on one Example of this invention. It is a figure explaining the determination method of the X coordinate axis of a 1st stage. It is a figure explaining the pattern creation method at the time of determining the Y coordinate axis of a 1st stage. It is a figure explaining pattern comparison. It is a figure explaining the determination method of the coordinate axis of a 2nd stage. It is a figure which shows an example of the detection frame arrangement | positioning for a crimping | compression-bonding defect detection. It is a figure explaining the brightness | luminance change determination method at the time of determining the quality of a terminal position. It is a figure explaining the press-fit state determination method of an insulation barrel. It is a figure which shows the shallow strike state and the deep strike state of a terminal. It is a figure which shows the inner fold and outer fold state of an insulation barrel. It is a figure which shows a core wire spilling state. It is a figure which shows the terminal attachment part of an electric wire with a terminal.

   Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a terminal crimping defect detecting device according to an embodiment of the present invention. In FIG. 1, 1 is a main body of the detection apparatus, 2 is a camera for acquiring a still image of a terminal section, 3 is a personal computer, 4 is an electric wire with a terminal, 5 is a conveying device for the electric wire 4 with a terminal, and 6 is an electric wire with a terminal. 4 is a passage sensor for detecting passage of 4.

  The terminal-attached electric wire 4 being conveyed by the conveyance device 5 is photographed by the camera 2 while being illuminated by an illumination device (not shown), and the image data is taken into the detection device main body 1. The detection device main body 1 includes a CPU (Central Processing Unit), and executes processing of image data captured from the camera 2. In addition, the detection apparatus main body 1 includes a display for displaying inspection results and operation buttons for various operations, and a personal computer 3 is connected so that various settings can be made by the personal computer 3. Yes.

  A terminal crimping device is arranged at the tip of the conveying device 5 and the insulated wire with the insulation coating at the end peeled off by a certain length is sent to the terminal crimping device through the camera 2 and the terminal is attached to the end of the wire by the terminal crimping device. After the pressure bonding, the sheet is fed back in the opposite direction by the transport device 5 and again passes under the camera 2. At that time, the passage sensor 6 detects the passage of the electric wire 4 with a terminal, gives a predetermined delay time, and releases the shutter of the camera 2 at a timing when the electric wire 4 with a terminal passes under the camera 2. At that time, the camera 2 can shoot with a high-speed shutter (for example, 1/8000 second), or stroboscopically, so that even if the electric wire 4 with terminal is moving at high speed, it can shoot finely without blurring. To do.

  In the terminal crimping defect detecting device of the present invention, since the photographing is performed with the terminal-attached electric wire 4 moving at a high speed as described above, the position of the terminal-attached electric wire 4 in the image is not necessarily constant. In view of this, the coordinate axes used as the reference in the vertical and horizontal directions are set by a method with less burden on the image processing apparatus, and the image is determined by positioning them based on the reference.

FIG. 2 is a diagram illustrating a method for determining the X coordinate axis of the first stage. A search frame F-1 is set at a predetermined position of the image P photographed by the camera 2. The search frame F-1 is set by the user using the personal computer 3. The search frame F-1 is scanned a plurality of times in the vertical direction (in the direction crossing the terminal-attached electric wire 4), and for each pixel, the luminance of each pixel is weighted according to the luminance for each pixel. the center of gravity _{C 1,} C 2 of the luminance, ..., determine the _{C n.} That is, the position coordinates of the scanning direction of the pixels corresponding _{Y 1, Y 2, ···,} Y m, B 1 thereof luminance of each _pixel, B 2, · · ·, When _{B m,} the center of gravity Position C is
C = (Y ₁ · B ₁ + Y ₂ · B ₂ +... + Y _m · B _m ) / (B ₁ + B ₂ +... + B _m )
It becomes.

A straight line obtained by approximating the center-of-gravity points C ₁ , C ₂ ,..., C _n thus obtained by the method of least squares is defined as the X coordinate axis X ₁ of the first stage. Thus, in each of the photographed image, or there are variations in the position of the wire with terminals 4, even if there is some slope, the coordinate axes X ₁ is always a straight line passing through the central axis of the wire with terminals 4 It becomes.

Next, a method for determining the Y coordinate axis Y ₁ of the first stage orthogonal to the coordinate axis X ₁ will be described. As shown in FIG. 3 (A), the entire image P taken by the camera 2 is scanned in the vertical direction, and the luminance difference between adjacent pixels in each scanning line is integrated, as shown in FIG. 3 (B). A good change pattern. Since the integrated value of the luminance difference indicates the degree of shape change in the scanning line direction, the change pattern of the integrated value is a pattern corresponding to the shape change in the longitudinal direction of the electric wire 4 with terminal.

On the other hand, a reference pattern created by a similar method using a terminal-attached electric wire as a reference is held in advance only in a range in which the feature appears remarkably. Then, as shown in FIG. 4, taking normalized correlation between the reference pattern P _S pattern and range F-2 of the inspection wire with terminals, located with respect to the both patterns best matches, the coordinate axis X determining the Y coordinate axis _{Y 1} that is orthogonal _1. For example, the Y coordinate Y ₁ of the axis orthogonal to the coordinate axis X ₁ through the position on the image P corresponding to the left end of the range F-2 of the first stage when the two patterns best match.

When sufficient accuracy is obtained with the coordinate axes X ₁ and Y ₁ of the first stage determined in this way, a terminal crimping defect as described later is detected based on the coordinate axes X ₁ and Y _1. Can do. However, if sufficient accuracy cannot be obtained with the coordinate axes X ₁ and Y _{1 of} the first stage, the coordinate axes of the second stage with higher accuracy are set as follows.

FIG. 5 is a diagram for explaining a method of determining the coordinate axes of the second stage. Wherein with respect to the coordinate axes X ₁ and axes Y _1, the terminal portion of the wire with terminals 4, the wire axis and parallel to the straight line portion, and sets a search frame F-3, in the said frame, the direction of the coordinate axis Y ₁ by scanning in parallel several times, searching the edge E ₁ to E ₄ in which the brightness changes rapidly, a straight line is approximated each edge E ₁ to E ₄ obtained by the least square method axes of the second stage and X _2. The coordinate axes X ₂ are be left a slight inclination between the axes X ₁ of the first stage, it is modified in accordance with the linear portion of the terminal.

Further, coordinate axes X ₁ and axes Y ₁ of the first stage as a reference, the wire axis perpendicular straight portion of the terminal portion of the wire with terminals 4, for example, the leading edge of the rectangular opening 24, the search frame F-4 In the frame, scanning is performed in the direction of the coordinate axis X ₂ to search for a single edge E ₅ , and a straight line orthogonal to the coordinate axis X ₂ is set as the coordinate axis Y ₂ based on the edge position.

Next, a method for detecting terminal crimping failure will be described. First, based on the coordinate axes X ₂ and Y ₂ (or the coordinate axes X ₁ and Y _{1 of} the first stage) obtained as described above, a detection frame for detecting a crimp failure is set. FIG. 6 is a diagram illustrating an example of a detection frame arrangement for detecting a crimp failure. The detection frames a, b, c, and d are for detecting an abnormal position of the terminal. Within these detection frame scans in the direction of the coordinate axis Y _2, to detect the degree of brightness change, to detect the shallow beating and deep strike pin state based thereon.

The detection frame e is for detecting an abnormality in the insulation barrel 21, the inside of the detection frame, and scanned in a direction of the coordinate axis Y _2, detects the folded inner fold and an outer insulating barrel 21. The detection frames f, g, and h are for detecting core line spillage from the wire barrel 22, and the core line spills depending on whether or not there is even one pixel having a certain luminance or higher in the detection frame. The presence or absence of is detected.

Next, a method for detecting an abnormality in each part will be described.
(1) Shallow hammering As shown in FIG. 9A, shallow hammering refers to a state where the insulating barrel 21 is too shallow to hold the insulating coating 12 of the insulated wire 10 and is detected by the detection frames a and c. As shown in FIG. 6, in the normal state, since the insulation coating 12 is present in the detection frame a, the number of luminance changes in the detection frame a is reduced in the direction across the electric wire. In addition, since there is a core wire 11 in which a plurality of fine wires are twisted in the detection frame c, the luminance changes every time the thin wires are crossed, and the number of luminance changes increases.

  On the other hand, the insulation coating 12 is not exposed to the other end of the insulating barrel 21 and the tip end portion of the core wire 11 is not exposed to the other end of the wire barrel 22 in the shallow hit state. Therefore, since the core wire 11 exists in the detection frame a, the luminance change increases in the direction across the electric wire. In addition, since the core wire 11 is not present in the detection frame d, the luminance change is reduced in the direction across the electric wire.

Therefore, the detection frames a and c are scanned in the direction of the coordinate axis Y ₂ to obtain the luminance at each position as shown in FIG. 7, and the rise of the luminance exceeding the predetermined width ΔB from the valley of the luminance and the luminance The number of times that there has been a decrease exceeding the predetermined width ΔB from the peak is counted, and whether or not the count has exceeded the predetermined number is determined. When the count number exceeds a predetermined number in the detection frame a, it is determined that the core wire 11 is present there, and “defect” is determined. Further, in the detection frame c, when the count number is less than the predetermined number, it is determined that the core wire 11 does not come out there, and “defect” is determined. As described above, since the determination is made based on the number of changes in luminance, even if the terminal-attached electric wire 4 is somewhat twisted and the interval between the peaks and valleys of the luminance change fluctuates, it can be detected without any problem.

(2) Deep hammering Deep hammering refers to a state where the insulation barrel 21 is too deep to grip the insulation coating 12 of the insulated wire 10 as shown in FIG. 9B, and this is detected by the detection frames b and d. To do. As shown in FIG. 6, in the normal state, the detection wire b has the core wire 11 in which a large number of thin wires are bundled, so that the number of luminance changes increases in the direction across the electric wire. Moreover, since the flat part of the terminal 20 is located in the detection frame d, the luminance change is reduced in the direction across the electric wire.

  On the other hand, in the deep hit state, the insulating coating 12 is exposed to the other end of the insulating barrel 21 and the tip of the core wire 11 is also exposed to the other end of the wire barrel 22. Therefore, in the detection frame b, the change in luminance is reduced in the direction crossing the electric wire because of the insulating coating 12. Further, since the core wire 11 is in the detection frame d, the luminance change increases in the direction crossing the electric wire.

Therefore, similarly to the above, the detection frame b, by scanning the inside d in the direction of the coordinate axis Y _2, determine the intensity of each position, rise above predetermined width ΔB from the valleys of the luminance, and the mountains in the brightness The number of times of reduction exceeding the predetermined width ΔB is counted, and when the count number is less than the predetermined number in the detection frame b, it is determined that the insulation coating 12 is present, and “defect” is determined. Further, in the detection frame d, when the count number exceeds a predetermined number, it is determined that the core wire 11 is present there, and “defect” is determined. Also in this case, since the determination is made based on the number of changes in luminance, even if there is a slight twist in the terminal-attached electric wire 4 and the intervals between the peaks and valleys of the luminance change fluctuate, it can be detected without any problem.

(3) Inner and outer folds of the insulation barrel The inner fold and the outer fold of the insulation barrel are originally insulated as shown in Fig. 10 (A) and Fig. 10 (B). 12 is a state in which the insulating barrel 21 that should be on the top 12 is bent inward or outward, and is detected by the detection frame e. As shown in FIG. 6, in a normal state, there are two peaks of the insulating barrel 21 in the detection frame e so as to press down the insulating coating 12 from both sides, and the brightness of the top part thereof becomes high. The interval between the portions falls within a predetermined range.

On the other hand, when the insulating barrel is folded inside or outside, the peak position of the insulating barrel 21 is shifted from the normal state. Therefore, in the same manner as described above, the detection frame e is scanned in the direction of the coordinate axis Y ₂ to obtain the luminance at each position as shown in FIG. A position where there is an increase exceeding the predetermined width ΔB and a position where there is a decrease exceeding the predetermined width ΔB from the peak of the luminance are obtained. When the ratio between the distance D ₁ between the positions S ₂ -S ₃ located inside the two peaks and the distance D ₂ between the positions S ₁ -S ₄ located outside is deviated from a predetermined range, “bad”. Judgment is made. Thus, instead of performing determination based on the magnitude of the distance D ₁ and spacing D ₂ itself, since the ratio of the two to make a determination on the basis of somewhat wire with terminals 4 twist Therefore, even if the interval between the peaks of the luminance change fluctuates, it can be detected without any problem.

  Note that scanning within the detection frames a to e is performed a plurality of times while changing the line, and if the average is taken for each position, detection with higher accuracy can be performed.

(4) Core wire spillage As shown in FIG. 11, core wire spillage refers to a state in which a part 13 of the core wire 11 protrudes from an originally empty portion, and this is detected by the detection frames f, g, and h. The detection frames f, g, and h are supposed to have nothing but black, but when a part of the core 11 protrudes, an image appears there. Therefore, if any one of the detection frames f, g, and h has a pixel with a certain luminance or higher, “defect” is determined.

(5) Strip Miss A strip miss is a state where the stripped length is outside the standard when stripping the insulation coating on the end of the insulated wire before crimping the terminal. When the insulated wire from which the end insulation coating has been peeled is sent to the terminal crimping device through the bottom of the camera 2, the peeled portion is photographed by the camera 2, and the entire acquired image is scanned in the direction across the wire, The number of luminance changes is obtained for each scanning line by the same method as that used for detection of shallow and deep strikes. In the portion where the core wire is exposed, the number of changes in luminance is increased. Therefore, in the electric wire having the insulation coating normally peeled off, the ratio of the line that has been more than a predetermined number of times should be within a predetermined range. Therefore, the pass / fail judgment is performed based on the number of lines that are more than the predetermined number.

DESCRIPTION OF SYMBOLS 1 ... Detection apparatus main body 2 ... Camera 3 ... Personal computer 4 ... Electric wire with a terminal 5 ... Conveyance device 6 ... Passing sensor 10 ... Insulated electric wire 11 ... Core wire 12 ... Insulation coating 20 ... Terminal 21 ... Insulating barrel 22 ... Wire barrel 23 ... Terminal Tip

Claims (6)

Imaging means for acquiring image data of the end of the electric wire with terminal;
The image data acquired by the imaging means is scanned in parallel in the direction across the electric wire a plurality of times in a predetermined search frame to obtain the brightness of each pixel, and the brightness of each pixel of the scanned line is determined according to the brightness. Centroid point search means for obtaining a centroid point of luminance for each line,
Means for obtaining a first coordinate axis based on each centroid point obtained by the centroid point searching means;
The entire image data acquired by the imaging unit is scanned in parallel multiple times in the direction across the electric wire to obtain the luminance for each pixel, and the luminance difference between adjacent pixels is integrated for each scanned line. Pattern forming means for holding a change pattern formed by the integrated value of each line;
Means for comparing the change pattern held by the pattern forming means with a reference pattern, and obtaining a second coordinate axis orthogonal to the first coordinate axis based on a position where the two patterns are the best match;
A terminal crimping defect detecting device, comprising: a pass / fail determination unit that sets an inspection frame on the image data with reference to the first and second coordinate axes and performs pass / fail determination of a terminal crimping state. Imaging means for acquiring image data of the end of the electric wire with terminal;
The image data acquired by the imaging means is scanned in parallel in the direction across the electric wire a plurality of times in a predetermined search frame to obtain the brightness of each pixel, and the brightness of each pixel of the scanned line is determined according to the brightness. Centroid point search means for obtaining a centroid point of luminance for each line,
Means for obtaining a first coordinate axis based on each centroid point obtained by the centroid point searching means;
The entire image data acquired by the imaging unit is scanned in parallel multiple times in the direction across the electric wire to obtain the luminance for each pixel, and the luminance difference between adjacent pixels is integrated for each scanned line. Pattern forming means for holding a change pattern formed by the integrated value of each line;
Means for comparing the change pattern held by the pattern forming means with a reference pattern, and obtaining a second coordinate axis orthogonal to the first coordinate axis based on a position where the two patterns are the best match;
A search frame surrounding a straight line portion parallel to the wire axis of the terminal portion of the terminal-attached electric wire is set on the basis of the first coordinate axis and the second coordinate axis, and the direction of the second coordinate axis is set in the search frame. In addition, means for searching for an edge by scanning in parallel a plurality of times, and obtaining a third coordinate axis based on each obtained edge;
Based on the first and second coordinate axes, set a search frame that surrounds a straight line portion perpendicular to the wire axis of the terminal portion of the terminal-attached electric wire, and in the search frame, in the direction of the first coordinate axis, Means for scanning to search for a single edge and obtaining a fourth coordinate axis orthogonal to the third coordinate axis based on the edge position;
A terminal crimping defect detecting device, comprising: a pass / fail determination unit that sets an inspection frame on the image data with reference to the third and fourth coordinate axes and performs pass / fail determination of a terminal crimping state.   The terminal crimping defect detection device according to claim 1, wherein the imaging unit acquires image data while moving the terminal-attached electric wire.   In the image data, a detection frame is set at a position where the core wire of the terminal-attached electric wire should be and a position where the core wire should not exist, and the inside of the detection frame is scanned in the direction of the second coordinate axis or the fourth coordinate axis. 4. The terminal crimping failure detection device according to claim 1, wherein presence / absence of a core wire of the terminal-attached electric wire is determined based on the number of luminance peaks and valleys detected.   In the image data, a detection frame is set at a position where the insulation barrel of the electric wire with terminal is vertically cut, and the inside of the detection frame is scanned from the front and rear in the direction of the second coordinate axis or the fourth coordinate axis. The position where the luminance increased beyond the predetermined width from the position and the position where the luminance decreased beyond the predetermined width from the peak of the luminance was obtained, the interval between the two positions where the luminance increased, and the luminance 5. The terminal crimping failure detection according to claim 1, wherein the quality of the insulation barrel of the terminal-attached electric wire is determined based on a ratio with a distance between the two positions where the decrease is caused. apparatus.   When the insulated wire from which the insulation coating has been peeled off is sent to the terminal crimping device, an image of the peeled portion is acquired by the imaging means, and the entire acquired image is scanned in the direction across the wire to detect the brightness. 6. The terminal crimping failure detection device according to claim 1, wherein the quality of the insulation coating peeling is determined based on the number of peaks and valleys.

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