JP6152353B2 - Inspection device - Google Patents

Description

  The present invention relates to a technique for inspecting an inner wall of a kneading chamber in which a kneader kneads a kneaded product.

  A kneader for kneading a kneaded material such as rubber requires overhaul in a few years from a new product. While the user wants to postpone overhaul as much as possible, he wants to perform inspection work before overhaul because it will be a problem if production is affected. It is desirable that the inspection work be performed by an operator actually entering the kneading chamber of the kneader installed at the site. When an operator is in the kneading chamber, the rotor with blades provided in the kneading chamber is of course stopped. However, there is a possibility that the rotor with blades may rotate by mistake.

  As described above, the check operation of the kneader is very dangerous and requires skill, and therefore, a proposal of an inspection technique that replaces manual labor is required.

  As prior art documents related to the present invention, there are Patent Documents 1 and 2. In Patent Document 1, when any one of a plurality of VD (visual digest) index images displayed on a browser screen of a terminal device is selected by a mouse click, the corresponding moving image is displayed, and the selected VD index is displayed. A technique starting from a portion corresponding to an image is disclosed.

  Patent Document 2 emphasizes the brightness by increasing the gain of the target pixel as the target pixel becomes brighter than the surrounding pixels, and lowers the gain of the target pixel as the target pixel becomes darker than the surrounding pixels. A technique that emphasizes this is disclosed.

International Publication No. 00/17779 JP 2013-127804 A

  However, Patent Literature 1 is a technology related to a browser, and the above-described problems during the check operation of the kneader are not considered at all, and the technical field is different from the present invention. In addition, Patent Document 2 merely discloses a technique for improving the contrast of the appearance, and similarly to Patent Document 1, the technical field is different from the present invention.

  The objective of this invention is providing the technique which assists the check operation | work of the inner wall of the kneading | mixing chamber by an operator.

  An inspection apparatus according to an aspect of the present invention is an inspection apparatus that inspects an inner wall of a kneading chamber in which a kneader kneads a kneaded product, and an imaging device that is detachably fixed to a rotor disposed in the kneading chamber; When rotation of the rotor is started, a photographing control unit that causes the photographing device to continuously photograph the inner wall of the kneading chamber, and image processing is performed on a frame photographed by the photographing device, and the rotor stops. An identification unit for identifying a stop frame photographed during the rotation of the rotor, and a moving frame photographed while the rotor is rotating; A moving frame photographed by the photographing device is extracted, an arrangement unit that arranges the extracted moving frame on a time axis at regular intervals, and the arranged moving frame is rotated by the rotor. It joined in a direction corresponding to the direction, and a combining unit for generating an inner wall picture.

  When checking the inside of the kneading chamber of the kneader, the rotor is manually rotated by an operator. This is because if the rotor is automatically rotated, if the worker accidentally enters the kneading chamber, the worker may be seriously damaged. In addition, many kneaders do not have an automatic rotation mode that can rotate the rotor at an ultra-low speed suitable for inspection. When the rotor is manually rotated, the rotor cannot be rotated at a constant speed, so that speed unevenness occurs. On the other hand, since the photographing device attached to the rotor photographs the inner wall at a constant frame rate, the amount of deviation of the subject between the front and rear frames photographed by the photographing device is not constant. Therefore, even if the frame is shifted by a certain distance in the direction corresponding to the rotation direction of the rotor, the inner wall image for one round cannot be generated well.

  Therefore, in this aspect, the frames taken by the photographing apparatus are classified into moving frames and stop frames, and the moving frames taken when the rotor rotates by a certain angle are extracted from the moving frames, and the extracted movements are extracted. Frames are arranged at regular intervals on the time axis. Therefore, a frame group from which speed unevenness has been removed is obtained. Then, an inner wall image representing the entire inner wall can be obtained by aligning these frame groups by shifting them by a certain distance in a direction corresponding to the rotational direction of the rotor. As a result, the inner wall image is automatically generated without imposing the work of manually arranging the shot frames one frame at a time. Therefore, the labor for the inspection of the inner wall of the kneading chamber by the worker is greatly reduced, and the inspection work can be supported.

  Further, in the above aspect, the identification unit obtains a difference image between frames that move back and forth in time series, counts the number of pixels in which the luminance value has changed by a certain value or more in the difference image, and counts the number of pixels counted May be identified as a moving frame.

  Since the subject is greatly deviated between the frames taken in time while the rotor is rotating, the moving frame and the stop frame can be accurately identified by obtaining the difference image of both frames.

  Further, in the above aspect, the identification unit corresponds to the rotation direction of the rotor on the other frame, using the whole or a part of one frame as a template among frames moving back and forth in time series. The shift amount may be shifted in the direction to determine the shift amount between the two frames.

  Since the subject is greatly deviated in the frames that are taken in time while the rotor is rotating, the moving frame and the stop frame can be accurately identified by calculating the deviation amount of both frames.

  Further, in the above aspect, the image processing apparatus further includes a switching unit that switches a plurality of shooting conditions cyclically and causes the shooting apparatus to perform shooting, and the identification unit has a contrast among frames shot under the plurality of shooting conditions. The highest frame may be extracted for each cycle, and the image processing may be performed on the extracted frame.

  In this case, since the frame with the highest contrast is extracted as the image processing target frame, the accuracy of the image processing can be improved.

  Further, in the above aspect, the apparatus includes a plurality of light sources that irradiate light to a photographing spot of the photographing apparatus from a plurality of directions, and the switching unit turns on the plurality of light sources cyclically, and the lighting and photographing by the photographing apparatus are performed. The imaging conditions may be switched in synchronization with each other.

  In this case, since the photographing by the photographing device is performed while changing the irradiation direction of the light to the photographing spot of the photographing device, frames with various contrasts can be photographed by the photographing device.

  In the above aspect, the switching unit may switch the imaging condition by cyclically changing an exposure time of the imaging device.

  In this case, since the photographing with the photographing device is performed while changing the exposure time, it is possible to cause the photographing device to photograph frames with various contrasts.

  Further, in the above aspect, a frame storage unit that stores a frame photographed by the photographing device, a display unit that displays the inner wall image, and an arbitrary position in the inner wall image displayed on the display unit are designated. A first reception unit that receives a first instruction for instructing display of a moving image, a frame in which a position specified by the first instruction is captured, and a shooting period of the frame. A playback unit that reads a plurality of frames shot by the shooting device from the frame storage unit and displays a moving image on the display unit may be further provided.

  In this case, since the worker displays a frame around the designated position on the display unit as a moving image in the inner wall image, the worker can finely observe the state of the position where there is a scratch or the like.

  In the above aspect, the synthesis unit performs a differentiation process on the inner wall image, and causes the display unit to display the inner wall image in which a mark is attached around a pixel having a differential value equal to or greater than a certain value. Also good.

  In this case, in the inner wall image, since a mark is added around the position of the scratch or the like, the worker can quickly specify the position of the scratch.

  Moreover, in the said aspect, the 2nd reception part which receives the 2nd instruction | indication which displays a comment input screen in the arbitrary positions in the inner wall image displayed on the said display part, and the vicinity of the position designated by the said 2nd instruction | indication Display a comment input screen, display a comment input by the user on the comment input screen, and generate a report image in which the comment input screen on which the comment input by the user is displayed is superimposed on the inner wall image And a comment management unit.

  In this case, the worker can input a comment about a scratch or the like at a desired position in the inner wall image, and the labor of the worker when creating the inspection report can be greatly saved.

  ADVANTAGE OF THE INVENTION According to this invention, the labor of an operator at the time of performing the inspection work of the inner wall of a kneading | mixing chamber can be reduced significantly, and the inspection work by an operator can be supported.

It is a section schematic diagram of an example of a kneading machine. FIG. 2 is an enlarged view of a kneading chamber and a rotor shown in FIG. 1. FIG. 3 is a schematic diagram showing a state in which an inner wall is photographed using a photographing device fixed to the rotor in the rotor and kneading chamber shown in FIG. 2. It is a top view which shows the state which looked at the rotor from the upper direction of the kneading | mixing chamber. It is a figure which shows a position display member. It is a block diagram which shows an example of a structure of the test | inspection apparatus in this embodiment. It is a flowchart which shows an example of a process of the test | inspection apparatus in this embodiment. It is a flowchart which shows an example of a brightness nonuniformity correction process. It is a flowchart which shows the identification process of a 1st example. It is a flowchart which shows the identification process of a 2nd example. It is a flowchart which shows an example of arrangement | positioning composition processing. It is a figure explaining the process by an arrangement | positioning part. It is explanatory drawing of the identification process of a 1st example. It is explanatory drawing of the identification process of a 2nd example. It is the figure which looked at the imaging device from the front. It is a figure which shows an example of the switching sequence of exposure conditions. It is process drawing which shows the process of producing | generating the inner wall image for 1 round using the flame | frame image | photographed with the imaging device 3-2. It is a figure which shows three inner wall images produced | generated using the flame | frame image | photographed with the imaging devices 3-1, 3-3, 3-4. It is a figure which shows the inner wall image of the whole inner wall. It is a figure which shows an example of the inner wall image to which the mark was attached | subjected.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic cross-sectional view of an example of a kneader 100. The kneader 100 is a biaxial batch mixer, and is used, for example, to generate a kneaded material in which rubber raw materials and various materials (reinforcing agent, plastic material, anti-aging agent, etc.) are kneaded. In the present embodiment, a kneader 100 that generates a kneaded product that becomes a rubber product will be described as an example. However, the present invention is not limited to this, and is applied to a kneader that generates a kneaded product that becomes a plastic product. You can also.

  The kneader 100 includes a material supply cylinder 11, a floating weight 13, a pneumatic cylinder 15, a casing 17, two kneading chambers 19 a and 19 b, two rotors 21 a and 21 b, and a drop door 23.

  The material supply cylinder 11 extends in the vertical direction above the casing 17. A pneumatic cylinder 15 is provided at the upper end of the material supply cylinder 11. A piston rod 29 is arranged from the inside of the pneumatic cylinder 15 to the inside of the material supply cylinder 11. A piston 31 fixed to the upper end of the piston rod 29 is arranged inside the pneumatic cylinder 15.

  A floating weight 13 is disposed inside the material supply cylinder 11. The floating weight 13 is fixed to the lower end of the piston rod 29 and can move up and down together with the piston rod 29.

  The lower end of the material supply cylinder 11 communicates with the two kneading chambers 19 a and 19 b through a material supply port 25 formed in the casing 17.

  A hopper 27 is provided on the side surface of the material supply cylinder 11. Materials (rubber raw materials and various materials) are put into the material supply cylinder 11 from the hopper 27.

  When the floating weight 13 is lowered by the action of the pneumatic cylinder 15, the material put into the material supply cylinder 11 is supplied to the two kneading chambers 19a and 19b.

  The two kneading chambers 19 a and 19 b are formed inside the casing 17. Each of the two kneading chambers 19a and 19b has a substantially cylindrical shape extending in a direction perpendicular to the paper surface of FIG.

  A rotor 21a is disposed in the kneading chamber 19a, and a rotor 21b is disposed in the kneading chamber 19b. The rotors 21a and 21b extend in a direction perpendicular to the paper surface of FIG. 1, and are powered by a motor (not shown) to rotate the rotor 21a in the direction of arrow A, and the rotor 21b is an arrow opposite to the direction of arrow A. Rotate in B direction.

  A kneaded material discharge port 33 for discharging the kneaded material is provided at the lower portion of the casing 17.

  The drop door 23 functions as a lid for closing the kneaded product discharge port 33. The drop door 23 is arranged so that it can move up and down. As the drop door 23 descends, the kneaded product discharge port 33 is opened. As the drop door 23 rises, the kneaded product discharge port 33 is closed.

  FIG. 2 is an enlarged view of the kneading chambers 19a and 19b and the rotors 21a and 21b shown in FIG. The rotor 21a includes a body part 41a and a wing part 43a provided on the body part 41a. The rotor 21b includes a body part 41b and a wing part 43b provided on the body part 41b, similarly to the rotor 21a.

  The diameters of the body portions 41a and 41b are relatively large. This is because a large force acts on the rotors 21a and 21b during the kneading, that is, when the rubber raw material is sheared to mix the rubber raw material and various materials by the rotation of the rotors 21a and 21b. , 21b is prevented from being destroyed. Moreover, in order to absorb the heat which generate | occur | produces by kneading | mixing, it is because the cooling pipe is let through the trunk | drum 41a, 41b.

  The gap between the tip of the wing portion 43a and the inner wall 45a of the kneading chamber 19a and the gap between the tip of the wing portion 43b and the inner wall 45b of the kneading chamber 19b cause shearing of the rubber material and dispersion of various materials into the rubber material. It has been reduced to increase efficiency.

  Thus, the said clearance gap is small and the diameter of the trunk | drum 41a, 41b is made comparatively large. Therefore, when the kneading chambers 19a and 19b, for example, the inner wall 45a of the kneading chamber 19a are viewed from the kneaded material discharge port 33, the dead angle θ1 is inevitably generated, and therefore there is an area that cannot be visually observed in the inner wall 45a.

  Therefore, in this embodiment, the imaging device is fixed to the rotor 21a, and the inner wall 45a is imaged by the imaging device while the rotor 21a is rotated, and the imaging device is fixed to the rotor 21b, and the rotor 21b is fixed. In the rotated state, the inner wall 45b is photographed by the photographing device. Hereinafter, a case where the inner wall 45a is photographed using the photographing device fixed to the rotor 21a will be described as an example. However, in the same manner as this example, the inner wall 45b is formed using the photographing device fixed to the rotor 21b. Take a picture.

  FIG. 3 is a schematic diagram showing a state in which the inner wall 45a is photographed using the photographing device 3 fixed to the rotor 21a in the rotor 21a and the kneading chamber 19a shown in FIG. The photographing device 3 is detachably fixed to the body portion 41a of the rotor 21a.

  The inner wall 45a is photographed when no kneaded material is generated by the kneader 100 shown in FIG. When the kneaded material is generated by the kneader 100, the photographing device 3 is in the way, so the photographing device 3 is removed from the body portion 41a. Since the body part 41a is made of a material that is attracted by a magnet, the imaging apparatus 3 is fixed to the body part 41a by a magnet attached to the imaging apparatus 3. When the body part 41 a does not attract the magnet, the photographing apparatus 3 is fixed to the body part 41 a by a suction cup attached to the photographing apparatus 3.

  The photographing apparatus 3 includes a base 51, a camera 53, a light source 55, and a communication unit 57. A magnet (not shown) is attached to the back surface of the base 51. A camera 53, a light source 55, and a communication unit 57 are attached to the surface of the base 51.

  The camera 53 captures an area (imaging spot) in the range of the viewing angle θ2 in the inner wall 45a. The light source 55 illuminates the range of the viewing angle θ <b> 2 of the camera 53 when the camera 53 photographs the inner wall 45 a. Outside the kneader 100, a person rotates the rotating shaft 47 of the rotor 21a, and the inner wall 45a is photographed by the camera 53 with the rotor 21a rotated in the direction of arrow A.

  The communication unit 57 communicates with the personal computer 5 outside the kneader 100. The camera 53 and the light source 55 are remotely controlled by the personal computer 5 through the communication unit 57.

  Communication between the personal computer 5 and the photographing apparatus 3 may be wired or wireless. There are two methods for sending an image taken by the camera 53 to the personal computer 5. One is to transmit an image captured by the camera 53 to the personal computer 5 via the communication unit 57. The other is to store an image photographed by the camera 53 in a memory in the camera 53. After the photographing is finished, the photographing device 3 is detached from the body 41a of the rotor 21a, the personal computer 5 and the camera 53 are connected, and the image stored in the memory in the camera 53 is taken into the personal computer 5.

  The power source of the camera 53, the power source of the light source 55, and the power source of the communication unit 57 are batteries.

  FIG. 4 is a plan view showing a state in which the rotor 21a is viewed from above the kneading chamber 19a. Four imaging devices 3 are detachably fixed to the body portion 41a of the rotor 21a. Hereinafter, if it is not necessary to distinguish the four photographing devices, they are referred to as photographing devices 3, and when distinguishing the four photographing devices, the photographing devices 3-1, 3-2, 3-3, 3-4 and Describe.

  As described above, since the diameter of the body part 41a is relatively large, the distance between the body part 41a and the inner wall 45a is short. For this reason, since one imaging device 3 cannot image the entire inner wall 45a, a plurality of imaging devices 3 share the area to be imaged. That is, the position where the photographing devices 3-1, 3-2, 3-3 and 3-4 are fixed to the body portion 41 a is made different in the coordinates of the rotation axis direction D 1 which is the direction of the rotation shaft 47 of the rotor 21 a. The inner wall 45a is photographed. In the present embodiment, there are four photographing devices 3, but the number of photographing devices 3 used for photographing is determined according to the distance between the body portion 41a and the inner wall 45a and the dimensions of the inner wall 45a in the rotation axis direction D1.

  In this way, if a plurality of photographing devices 3 are prepared and the inner wall 45a is photographed, the photographing can be completed in one time.

  In addition, the imaging device 3 is detachably fixed to the body portion 41a. Therefore, it is also possible to prepare one photographing device 3 and photograph the inner wall 45a by changing the coordinates of the rotational axis direction D1 at the position where the photographing device 3 is fixed to the body portion 41a. That is, first, the photographing device 3 is fixed at the position of the photographing device 3-1, and the inner wall 45a is photographed. Next, the photographing device 3 is fixed at the position of the photographing device 3-2, and the inner wall 45a is photographed. Next, the photographing device 3 is fixed at the position of the photographing device 3-3 and the inner wall 45a is photographed. Finally, the photographing device 3 is fixed at the position of the photographing device 3-4 and the inner wall 45a is photographed. . According to this, although imaging | photography must be performed in multiple times, the number of the imaging devices 3 is sufficient.

  Since a plurality of wing parts 43a having a shape twisted in the rotation axis direction D1 are formed on the body part 41a, an inclined surface 49 having a complicated shape is formed on the surface of the body part 41a. For this reason, four imaging | photography apparatuses 3 cannot be arrange | positioned to the trunk | drum 41a along the rotating shaft direction D1. In the present embodiment, the four photographing devices 3 are fixed to the inclined surface 49 of the body portion 41a in an oblique direction with respect to the rotation axis direction D1.

  The position display member 61 is a member having a mark indicating a position along the rotation axis direction D1 in the kneading chamber 19a. In the present embodiment, a scale is used as the position display member 61 as shown in FIG. The scale 63 and the number 65 included in the position display member 61 are the marks.

  Referring to FIGS. 3 and 4, position display member 61 is detachably attached to the side portion that defines kneaded product discharge port 33 on the kneading chamber 19 a side and along rotation axis direction D <b> 1. It has been. When the kneaded material is generated by the kneader 100, the position display member 61 is removed.

  FIG. 6 is a block diagram illustrating an example of the configuration of the inspection apparatus according to the present embodiment. The inspection device includes a photographing device 3 and a personal computer 5. The imaging device 3 is detachably fixed to the rotor 21a as shown in FIG. The personal computer 5 includes a communication unit 601, an imaging control unit 602, an identification unit 603, an arrangement unit 604, a composition unit 605, a comment management unit 607, a comment storage unit 608, a frame storage unit 609, a display unit 610, an operation unit 611, and a switching unit. Part 612 is provided.

  The communication unit 601 is a communication device for communicating with the communication unit 57 of the photographing apparatus 3 and the printer 600. For example, the communication unit 601 is a communication device that supports a communication protocol such as an IEEE 802.1 series wireless LAN or Bluetooth (registered trademark). is there. In the present embodiment, the communication unit 601 particularly receives an image photographed by the photographing device 3 and transmits a control command for controlling the photographing device 3 to the photographing device 3.

  The imaging control unit 602 transmits a control command to the imaging device 3 via the communication unit 601 to control the imaging device 3. As an example of this control, for example, control for causing the photographing apparatus 3 to start a photographing operation, control for setting the exposure time of the photographing apparatus 3, control of lighting timing and extinguishing timing of the light source 55 provided in the photographing apparatus 3, and photographing apparatus Control for setting a frame rate of 3 is included.

  The identification unit 603 performs image processing on the frame photographed by the photographing device 3 and identifies a stop frame photographed while the rotor 21a is stopped and a moving frame photographed while the rotor 21a is rotating. Here, the frame represents an image of one frame constituting a moving image photographed by the photographing device 3. This image has a data configuration in which, for example, a plurality of pixel data are arranged in a matrix of predetermined rows × predetermined columns. The pixel data is digital data represented by a gradation value of a predetermined bit (for example, 8 bits), for example. Thus, the frame is a digital image. The frame may be color or monochrome. In the case of color, one frame is composed of, for example, frames of three color components R, G, and B. Note that image processing performed by the identification unit 603 will be described later.

  Then, in order to distinguish between the stop frame and the moving frame, the identification unit 603 assigns a movement flag to one of the two frames (for example, the moving frame) and also records a time record (for example, shooting) on the stop frame and the moving frame Time), and is stored in the frame storage unit 609 in time series.

  In addition, when the switching unit 612 cyclically switches the plurality of imaging conditions and causes the imaging device 3 to perform imaging, the identification unit 603 has the highest contrast among frames captured under the plurality of imaging conditions. A high frame may be extracted for each cycle, and image processing may be performed on the extracted frame.

  The placement unit 604 extracts a moving frame photographed by the photographing device 3 when the rotor 21a rotates by a certain angle from the moving frames identified by the identifying unit 603, and the extracted moving frame on the time axis. Placed at regular intervals.

  In the present embodiment, by rotating the rotor 21a, the imaging device 3 is caused to take an image of the entire inner wall 45a, but the rotor 21a is rotated by an operator. This is due to the following reason. In the present embodiment, it is premised that no inspection work is performed with a worker in the kneading chamber 19a, but it is undeniable that the worker enters the kneading chamber 19a, 19b during some inspection work. . In this case, if the rotor 21a is automatically rotated, the rotation of the rotor 21a cannot be stopped promptly, causing serious damage to workers. Thus, in this embodiment, the rotor 21a is manually turned by an operator.

  Here, the problem is that the rotational speed of the rotor 21a cannot be made constant. In other words, when the rotor 21a is manually rotated, there are places where the operator can turn with a weak force and places where it is necessary to turn with a strong force due to the balance of the weight of the rotor 21a. Will occur. On the other hand, in consideration of this rotational speed, the imaging device 3 cannot change the frame rate, and images the inner wall 45a at a constant frame rate.

  Therefore, speed unevenness as shown in the upper diagram of FIG. 12 occurs. FIG. 12 is a diagram for explaining processing by the placement unit 604. In the upper diagram of FIG. 12, one thick line and one dotted line each represent one frame, the thick line represents the frame F when the rotor 21a rotates by a certain angle, and the dotted line represents the other frames. In the upper diagram of FIG. 12, the horizontal axis indicates the elapsed time. When the rotor 21a is stopped, the imaging device 3 captures the same portion, so that the interval between the frames indicated by the two thick lines across the stop is widened. Further, when the rotor 21a is accelerating, the frame interval indicated by the thick line gradually decreases. Further, when the rotor 21a rotates at a constant speed, the frame interval indicated by the bold line is constant. Further, when the rotor 21a is decelerating, the frame interval indicated by the thick line gradually increases. As described above, if the rotational speed of the rotor 21a is not constant, the frames photographed in time series by the photographing apparatus 3 are sequentially shifted in a direction corresponding to the rotational direction of the rotor 21a (for example, the vertical direction) by a predetermined interval. It is not possible to generate an inner wall image for one round of the inner wall 45a. In addition, it is possible for an operator to arrange the frames photographed in this way by visual observation to generate an inner wall image, but this is very laborious. In particular, it is harsh to have an operator who checks several places a day perform such work.

  Therefore, in the present embodiment, the placement unit 604 extracts a frame indicated by a thick line from the frames shown in the upper diagram of FIG. 12, and the extracted frame is constant on the time axis as shown in the lower diagram of FIG. By arranging them at intervals, speed unevenness is prevented.

  Returning to FIG. 6, the combining unit 605 connects the moving frames arranged on the time axis at a constant interval by the arranging unit 604 in a direction corresponding to the rotation direction of the rotor 21a, and the inner wall image for one round of the inner wall 45a. Is generated. In the present embodiment, since the four photographing devices 3 are provided, the synthesis unit 605 also joins the images photographed by these four photographing devices 3 and generates the entire inner wall image of the inner wall 45a. To do. This process will be described later. The synthesizing unit 605 displays the generated inner wall image on the display unit 610.

  The reproduction unit 606 includes a frame storage unit that captures a frame obtained by photographing the position designated by the first instruction received by the operation unit 611 and a plurality of frames photographed by the photographing apparatus during a certain period including the photographing timing of the frame. The data is read from 609 and displayed on the display unit 610 as a moving image. Here, the first instruction is an instruction for designating an arbitrary position in the inner wall image displayed on the display unit 610 and displaying the position and a frame at a surrounding position including the position in a moving image in time series.

  The playback unit 606 may read not only the frames extracted by the placement unit 604 but also frames taken before and after the frames from the frame storage unit 609 and display them on the display unit 610 as moving images. Therefore, the worker can view the moving image near the position designated by the first instruction with high resolution.

  The comment management unit 607 displays a comment input screen in the vicinity of the position specified by the second instruction received by the operation unit 611, and a comment input by the worker (user) using the operation unit 611 on the comment input screen. Is displayed. In addition, the comment management unit 607 generates a report image in which a comment input screen on which a comment input by a worker is displayed is superimposed on the inner wall image. Then, the comment management unit 607 stores the generated report image in the comment storage unit 608 in association with the generated date. In addition, when the operation unit 611 receives a print instruction, the comment management unit 607 transmits a report image to the printer 600 via the communication unit 601 to print the report image.

  The second instruction is an instruction to display the comment input screen at an arbitrary position in the inner wall image displayed on the display unit 610.

  The frame storage unit 609 stores a frame shot by the shooting device 3. The comment storage unit 608 stores the report image generated by the comment management unit 607. The operation unit 611 is configured with, for example, a keyboard, a mouse, and the like, and receives instructions from workers. The display unit 610 is configured by a liquid crystal display, for example, and displays an inner wall image or the like.

  The switching unit 612 causes the photographing apparatus 3 to perform photographing by switching a plurality of photographing conditions cyclically. Here, the switching unit 612 may switch the shooting conditions by turning on a plurality of light sources cyclically and synchronizing the lighting and shooting by the shooting device 3. Alternatively, the switching unit 612 may switch the shooting conditions by changing the exposure time of the shooting device 3 cyclically. Alternatively, the switching unit 612 may switch the exposure conditions by cyclically switching the exposure conditions of a plurality of patterns including combinations of the light source to be turned on and the exposure time.

  In FIG. 6, the imaging control unit 602, the identification unit 603, the arrangement unit 604, the synthesis unit 605, the reproduction unit 606, the comment management unit 607, and the switching unit 612 are executed by, for example, the processor of the personal computer 5 executing a program. It is realized with. Alternatively, a dedicated processing device may be employed instead of the personal computer 5. In this case, the imaging control unit 602, the identification unit 603, the arrangement unit 604, the synthesis unit 605, the reproduction unit 606, and the comment management unit 607 may be configured by a dedicated hardware circuit, for example. Further, the comment storage unit 608 and the frame storage unit 609 may be configured by a rewritable nonvolatile storage device, for example.

  FIG. 7 is a flowchart illustrating an example of processing of the inspection apparatus according to the present embodiment. First, luminance unevenness correction processing is mainly performed by the identification unit 603 (S701). Here, the luminance unevenness correction process is a process of determining a frame having the highest contrast for each cycle as a target of image processing from frames photographed by cyclically switching a plurality of shooting conditions. Next, identification processing is mainly performed by the identification unit 603 (S702). Here, the identification process is a process of identifying, from the frame determined by the luminance unevenness correction process, a moving frame captured while the rotor 21a is rotating and a stop frame captured while the rotor 21a is stopped. Next, layout composition processing is mainly performed by the layout unit 604 and the synthesis unit 605 (S703). Here, the layout composition process is a process of extracting a motion frame photographed when the rotor 21a rotates by a certain angle from the motion frames identified by the identification process, and compositing the extracted motion frames.

  Note that the processing shown in FIG. 7 is started, for example, when the rotation of the rotor 21a is started by an operator. Specifically, for example, it is started when an operator inputs an inspection work start instruction to the operation unit 611.

  FIG. 8 is a flowchart illustrating an example of luminance unevenness correction processing. First, the switching unit 612 sets shooting conditions (S801). FIG. 15 is a view of the photographing apparatus 3 as seen from the front. In FIG. 15, the direction of the arrow A indicates the rotation direction of the rotor 21a. In the photographing apparatus 3, four light sources 551 to 554, a camera 53, and a communication unit 57 are arranged. Further, when the light sources 551 to 554 are not distinguished, they are described as the light source 55. In the example of FIG. 15, the light sources 551 and 554 are arranged in the order of the light sources 554 and 551 from the front to the rear in the rotation direction of the camera 53.

  The light source 552 and the light source 553 are arranged symmetrically about the light source 551. By arranging a plurality of light sources 55 in this manner and turning on the plurality of light sources 55 in order, the direction of light applied to the imaging spot on the inner wall 45a can be changed. When the number of the light sources 55 is one, depending on the rotation position of the photographing apparatus 3, the photographing apparatus 3 may be able to photograph the inner wall 45a only with low contrast. On the other hand, if a plurality of light sources 55 are provided, the photographing apparatus 3 can photograph the inner wall 45a with high contrast by the light of any one of the light sources 55. Therefore, in the present embodiment, the light sources 551 to 554 are turned on in order. Here, for example, the light source 55 is turned on in the order of the light sources 551, 552, 553, and 554, and this lighting is cyclically repeated.

  Note that the arrangement pattern of the light sources 551 to 554 in FIG. 15 is merely an example, and another arrangement pattern may be adopted. As the camera 53, a two-dimensional image sensor such as a CMOS or a CCD can be employed.

  In the present embodiment, the exposure conditions are also switched by changing the exposure time. FIG. 16 is a diagram showing an example of an exposure condition switching sequence. In the example of FIG. 16, in one cycle, exposure times are set in the order of exposure times TE1, TE2, and TE3. The exposure time TE1 is the shortest exposure time among the three exposure times. The exposure time TE3 is the longest exposure time among the three exposure times. The exposure time TE2 is an intermediate exposure time between the exposure time TE1 and the exposure time TE3.

  In this embodiment, 3 × 4 = 12 patterns of exposure conditions are used in which the three exposure times TE1 to T3 and the lighting of the four light sources 551 to 554 are arbitrarily combined. These 12 pattern 1 cycle exposure conditions are cyclically changed.

  Returning to FIG. 8, in S802, the identification unit 603 obtains a frame photographed by the photographing apparatus 3 under the exposure condition set in S801 (S802). Next, the identification unit 603 stores the acquired frame in the frame storage unit 609 (S803). If one cycle of exposure conditions has not ended (NO in S804), the process returns to S801, the next exposure condition is set by the switching unit 612 (S801), and the processes of S802 to 804 are repeated. On the other hand, if one cycle is completed (YES in S804), the process proceeds to S805. By repeating the processing of S801 to S804 for 12 loops, 12 frames photographed under each of 12 exposure conditions are acquired.

  In S805, the identification unit 603 determines one frame having the highest contrast from the 12 frames obtained in one cycle (S805). Here, the identification unit 603 obtains the minimum luminance Lmin and the maximum luminance Lmax in each frame. Then, the identification unit 603 obtains the contrast of each frame by (Lmax−Lmin) / (Lmax + Lmin), for example. Then, the identification unit 603 may determine the frame having the maximum value among the 12 frames as the frame having the highest contrast.

  Next, the identification unit 603 assigns a processing target flag indicating that it is a target of image processing to the determined frame (S806). Next, if the measurement is not completed (NO in S807), the process returns to S801. On the other hand, if the measurement is terminated (YES in S807), the luminance unevenness correction process is terminated. Here, as a condition for ending the measurement, for example, a case where the rotor 21a makes one rotation and a frame for one round of the inner wall 45a is obtained by the imaging device 3 can be employed. Note that whether or not the rotor 21a has made one revolution is determined, for example, by providing a rotary encoder in the rotor 21a, and the imaging control unit 602 determining whether or not the count number of the rotary encoder has reached a specified value corresponding to one revolution. do it.

  Subsequently, the identification process will be described. In this embodiment, there are two identification processes, and any one of the identification processes can be adopted. FIG. 9 is a flowchart showing the identification processing of the first example. The identification process of the first example is a process for identifying a moving frame and a stop frame by obtaining a difference image between previous and subsequent frames.

  First, the identification unit 603 acquires two frames from the frame storage unit 609 in chronological order among the frames with the processing target flag added (S901). Here, of the two frames, a previous frame in time series is a previous frame, and a subsequent frame is a subsequent frame.

  Next, the identification unit 603 generates a difference image by subtracting the previous frame from the subsequent frame (S902). FIG. 13 is an explanatory diagram of the identification processing of the first example. As shown in FIG. 13, the previous frame F (t−1) is subtracted from the rear frame F (t), and a difference image S (t) is generated.

  Next, the identification unit 603 counts the number of pixels having a pixel value equal to or greater than a certain value in the difference image S (t) (S903). Here, as the constant value, for example, a value obtained by adding a slight margin to the maximum value that can be taken by the pixel value representing noise can be adopted.

  Next, if the counted number of pixels is equal to or greater than the threshold (YES in S904), the identification unit 603 identifies the subsequent frame as a moving frame (S905), and if the counted number of pixels is less than the threshold (NO in S904). ) And identify the subsequent frame as a stop frame (S906).

  As shown in FIG. 13, if the rotor 21a is rotating, the subject appearing in each of the front frame F (t-1) and the rear frame F (t) is shifted, so the difference image S (t) There are many pixels with pixel values greater than a certain value. On the other hand, if the rotor 21a is stopped, the front frame F (t−1) and the rear frame F (t−1) are the same image, and therefore the pixel value is constant in the difference image S (t). There are many pixels smaller than the value. Therefore, in the difference image S (t), the stop frame and the moving frame can be identified by counting the number of pixels having a pixel value equal to or greater than a certain value.

  In S907, if the processing for all the frames with the processing target flag is not completed (NO in S907), the process returns to S901, and the next frame before and after is acquired from the frame with the processing target flag. The processing after S902 is performed. On the other hand, if the processing for all the frames to which the processing target flag is attached has been completed (YES in S907), the identification processing is terminated.

  FIG. 10 is a flowchart showing identification processing of the second example. In step S1001, the identification unit 603 acquires the previous and subsequent frames as in step S901. Next, the identification unit 603 generates a template from the previous frame. FIG. 14 is an explanatory diagram of the identification process of the second example. In the example of FIG. 14, in the previous frame F (t−1), a strip-like region that is long in the vertical direction including the center is generated as the template TP. Here, the vertical direction is a direction corresponding to the rotation direction of the rotor 21a. In the example of FIG. 14, the template TP is set over the entire area in the vertical direction, but may be set in a partial area in the vertical direction in order to reduce processing costs. In the template TP, the horizontal width is set to be short because a subject shift between the front frame F (t-1) and the rear frame F (t) mainly appears in the rotation direction of the rotor 21a. is there.

  Next, the identification unit 603 calculates the amount of deviation between the previous frame and the subsequent frame (S1003). Here, the identification unit 603 obtains the similarity while shifting the template TP in the vertical direction on the subsequent frame F (t), and determines the amount of displacement of the template TP when the similarity shows a peak as the previous frame F. What is necessary is just to calculate as a deviation | shift amount of (t-1) and back frame F (t).

  As a method for calculating the similarity, for example, normalized cross-correlation can be adopted. The following formula (1) on the first line and formula (2) on the second line indicate the calculation expression of the normalized cross-correlation.

  Here, R indicates similarity, I (i, j) indicates a subsequent frame, and T (i, j) indicates a template. Further, i represents the horizontal coordinate, j represents the vertical coordinate, M represents the number of pixels in the horizontal direction, and N represents the number of pixels in the vertical direction. Expression (2) is an expression obtained by developing Expression (1). As shown in the equation (2), the similarity R is represented by an inner product of an M × N-dimensional I vector and a T vector. The similarity R is 1 when I (i, j) and T (i, j) match.

  Here, the amount of deviation was calculated using normalized cross-correlation, but this is only an example, and deviation using a phase-only correlation method, SAD (Sum of Absolute Difference), or SSD (Sum of Squared Difference) is used. An amount may be calculated. In the above description, the template is generated from the previous frame. However, the template may be generated from the subsequent frame, and the template may be shifted on the previous frame. In the above description, a part of the previous frame is a template, but the entire area of the previous frame may be a template. In this case, the processing cost increases, but the amount of deviation can be obtained with high accuracy.

  In S1004, the identification unit 603 identifies the subsequent frame as a moving frame if the amount of deviation between the previous and next frames is equal to or greater than the threshold (YES in S1004) (S1005), and if the amount of deviation between the previous and next frames is less than the threshold (S1004). NO), the subsequent frame is identified as a stop frame (S1006). Here, as the threshold value, for example, a numerical value indicating that the rotor 21a is clearly rotating, and a numerical value capable of removing the shift amount due to the shakiness of the photographing device 3 can be adopted. Further, the identification unit 603 may add a movement flag indicating that the frame is identified as a movement frame, for example.

  In S1007, if the processing for all the frames to which the processing target flag is attached has not been completed (NO in S1007), the processing returns to S1001, and the processing after S1001 is performed on the next preceding and succeeding frames. On the other hand, if the processing for all the frames to which the processing target flag is attached has been completed (YES in S1007), the identification processing is terminated.

  FIG. 11 is a flowchart illustrating an example of the layout synthesis process. First, the placement unit 604 determines one moving frame as a reference frame in time series from the moving frames stored in the one frame storage unit 609 (S1101).

  Next, the placement unit 604 extracts a moving frame shot when the rotor 21a rotates by a certain angle from the shooting timing of the reference frame from the moving frames stored in the frame storage unit 609. When the identification process of the second example is employed, the amount of shift between moving frames can be known. Therefore, the arrangement unit 604 adds the shift amounts of the respective moving frames in time series starting from the reference frame, and the added value indicates a moving frame indicating a value corresponding to the rotation amount when the rotor 21a rotates by a certain angle. May be determined as a moving frame to be extracted.

  On the other hand, when the identification process of the first example is adopted, the amount of shift between the moving frames is not known, and therefore the moving frame when the rotor 21a rotates by a certain angle with respect to the reference frame cannot be accurately determined. In this case, the arrangement unit 604 may extract the moving frame as follows, for example. First, when it is assumed that the rotor 21a is rotating at an average rotation speed when the operator manually rotates the rotor 21a, a moving frame shot within a period in which the rotor 21a rotates by a certain angle is used. The number of sheets is held in the placement unit 604 in advance. Then, the arrangement unit 604 may determine, as the moving frame to be extracted, the moving frames that have been captured later for the number of frames starting from the reference frame.

  In order to realize the above, it is necessary to photograph a large number of moving frames within a period in which the rotor 21a rotates by a certain angle. Therefore, the frame rate of the photographing apparatus 3 is set to a value higher than the normal frame rate. For example, if the frame rate of the normal photographing apparatus 3 is 30 Hz, it is set to about 100 Hz.

  Next, the arrangement unit 604 adds an extraction flag for distinguishing the extracted moving frame from other moving frames (S1103). Next, if the processing for all the moving frames has not been completed (NO in S1104), the identifying unit 603 uses the moving frame extracted in S1103 as a reference frame (S1101), and executes the processes after S1102.

  On the other hand, if the processing for all the moving frames is completed (YES in S1104), the moving frames with the extraction flag are arranged at regular intervals on the time axis (S1105). In this case, the arrangement unit 604 may arrange the moving frame to which the extraction flag is added, for example, at the normal frame rate of the photographing apparatus 3 (in the above example, 30 Hz).

  Specifically, the arrangement unit 604 may add information defining the drawing timing to the moving frame to which the extraction flag is added.

  Next, the synthesizing unit 605 generates an inner wall image for one round by shifting and joining the moving frames to which the extraction flag is added in the vertical direction by a predetermined shift amount (S1106). Here, since there are four photographing devices 3, four inner wall images for one round are generated.

  Next, the synthesis unit 605 connects the inner wall images for one round in the horizontal direction to generate an inner wall image of the entire inner wall 45a.

  FIG. 17 is a process diagram illustrating a process of generating the inner wall image 101 for one round using a frame photographed by the photographing apparatus 3-2.

  With reference to step 1, first, the synthesis unit 605 prepares a unit image 103. The unit image 103 is a moving frame photographed when the rotor 21a is rotated by a certain angle. Here, it is assumed that a certain angle is set so that adjacent unit images 103 partially overlap. In the example of FIG. 17, 60 degrees is adopted as a constant angle in order to simplify the description. Therefore, in the example of FIG. 17, an image taken when the rotation angle of the rotor 21 a is 0 °, 60 °, 120 °, 180 °, and 240 ° is the unit image 103. However, the fixed angle is not limited to this example, and a smaller angle or a larger angle may be employed.

  Here, the unit image 103 when the rotation angle of the rotor 21a is 0 ° is referred to as a unit image 103-1, the unit image 103 when the rotation angle of the rotor 21a is 60 ° is referred to as a unit image 103-2, and The unit image 103 when the rotation angle is 120 ° is a unit image 103-3, the unit image 103 when the rotation angle of the rotor 21a is 180 ° is a unit image 103-4, and the rotation angle of the rotor 21a is 240 °. The unit image 103 at that time is defined as a unit image 103-5.

  If it is not necessary to distinguish these five unit images, they are described as a unit image 103. If they need to be distinguished, the unit images 103-1, 103-2, 103-3, 103-4, 103-5 are described. It describes.

  The unit image 103-1 corresponding to the rotation angle 0 ° includes a cut image 105 obtained by cutting the image of the position display member 61 shown in FIG. The longitudinal direction of the cut image 105 is inclined with respect to the rotation axis direction D1. This is because, as described above, since the surface of the body portion 41a is the inclined surface 49 (FIG. 4) having a complicated shape, the photographing apparatus 3 cannot be set horizontally.

  Referring to step 2, the synthesis unit 605 calculates the inclination of the unit image 103. Of the inclined surface 49 of the rotor 21a, the aspect ratio of the unit image 103 differs depending on the angle of the location where the imaging device 3 is fixed, so that it is assumed that the location where the imaging device 3 is fixed is not inclined. Compared to the aspect ratio of the unit image 103, the inclination of the unit image 103 can be obtained. In addition, since the inclination in the longitudinal direction of the cut image 105 becomes the inclination of the unit image 103, the inclination of the unit image 103 may be obtained by calculating the inclination in the longitudinal direction of the cut image 105. The synthesizing unit 605 corrects the unit images 103-1 to 103-5 to be tilted to the calculated tilt value.

  Next, the synthesizing unit 605 determines whether or not the scale interval 107 included in the cut image 105 is a predetermined value. If it is not a predetermined value, the interval is a predetermined value. As described above, the magnification of the unit image 103-1 is corrected. The combining unit 605 corrects the remaining unit images 103-2 to 103-5 to the same magnification as that of the unit image 103-1. The scale interval 107 is an example of the size of the image of the mark (scale 63) on the position display member 61 shown in FIG.

  Referring to step 3, the composition unit 605 sets the distance d of the center C of the images in the adjacent unit images 103 to a value corresponding to the difference in photographing angle between the unit images 103 (here, 60 °).

  In the adjacent unit images 103, one of the overlapping portions is unnecessary. Therefore, the synthesis unit 605 removes one of the overlapping portions of adjacent units.

  Thus, the inner wall image 101-2 using the unit image 103 photographed by the photographing device 3-2 is generated.

  Similarly, as illustrated in FIG. 18, the composition unit 605 generates an inner wall image 101-1 using the unit image 103 photographed by the photographing device 3-1, and a unit image 103 photographed by the photographing device 3-3. The inner wall image 101-4 using the used inner wall image 101-3 and the unit image 103 photographed by the photographing device 3-4 is generated.

  If it is not necessary to distinguish the inner wall images, they are described as inner wall images 101. If they are required to be distinguished, they are described as inner wall images 101-1, 101-2, 101-3, 101-4.

  As described above, the synthesizing unit 605 determines the size of the mark image (scale interval 107) in advance for each of the inner wall images 101 in which the longitudinal direction of the cut image 105 coincides with the rotation axis direction D1. It is made to become the value which was given. By setting the size of the mark image to a predetermined value, the size of each mark image of the inner wall image 101 becomes the same.

  As shown in FIGS. 18 and 19, the combining unit 605 sets the position in the rotation axis direction D1 and the position in the direction D2 orthogonal to the rotation axis direction D1 for each of the inner wall images 101 (the scale 63 in FIG. The inner wall image 109 of the entire inner wall 45a is generated by correcting based on the image of numeral 65).

  More specifically, the number 3 included in the cut image 105 (FIG. 18) of the inner wall image 101-1 and the number 3 included in the cut image 105 (FIG. 17) of the inner wall image 101-2 are overlapped. The number 6 included in the cut image 105 (FIG. 17) of the inner wall image 101-2 and the number 6 included in the cut image 105 (FIG. 18) of the inner wall image 101-3 are overlapped to create an inner wall image 101−. 3 is overlapped with the numeral 9 included in the cut image 105 (FIG. 18) of FIG. 3 and the numeral 9 included in the cut image 105 (FIG. 18) of the inner wall image 101-4. By removing, the inner wall image 109 shown in FIG. 10 is generated.

  As described above, the synthesis unit 605 generates the inner wall image 109 by overlapping the images of the marks indicating the same position and connecting the inner wall images 101.

  Then, the synthesizing unit 605 synthesizes the line 111 indicating the range defining the inner wall 45 a with the inner wall image 109. The range of the inner wall 45a in the rotation axis direction D1 can be specified by the position display member 61. Since the range of the inner wall 45a in the direction D2 orthogonal to the rotation axis direction D1 corresponds to the rotation range 0 ° to 240 ° of the rotor 21a, the range of the inner wall 45a in the direction D2 orthogonal to the rotation axis direction D1 is the position display member. With reference to 61, the rotation range of the rotor 21a can be specified by 0 ° to 240 °.

  The composition unit 605 displays the inner wall image 109 illustrated in FIG. 19 on the display unit 610. Reference numeral 113 indicates scratches or peeling off of the inner wall 45a.

  Here, the synthesizing unit 605 performs a differentiation process on the inner wall image 109 to generate the inner wall image 109 with marks around pixels whose differential values are equal to or larger than a certain value, and causes the display unit 610 to display the inner wall image 109. Also good.

  FIG. 20 is a diagram illustrating an example of the inner wall image 109 to which the mark 2001 is attached. When differentiation is performed, a portion where the pixel value changes sharply can be extracted. If a three-dimensional or planar pattern is not intentionally formed on the surface of the inner wall 45a, the pixel value changes steeply at a place where a scratch or peeling of the plating occurs. Therefore, it is possible to extract a spot where a scratch or peeling of the plating occurs by performing the differential processing. Note that a three-dimensional or planar pattern may be intentionally formed on the inner wall 45a. In this case, the synthesizing unit 605 stores the differential image of the intact inner wall image 109 that is the intentionally formed inner wall image 109 in advance, and from the differential image of the inner wall image 109 obtained as a result of measurement, The pattern information may be removed by subtracting the differential image of the inner wall image 109 stored in advance. Then, the synthesis unit 605 may extract scratches and the like using the differential image of the inner wall image 109 from which the pattern information has been removed.

  In the example of FIG. 20, as the mark 2001, a figure surrounding a scratch or the like in a circle is adopted, but this is only an example, and a figure such as an ellipse, a triangle, or a rectangle may be adopted. Further, as the color of the mark 2001, a color having at least one of hue, saturation, and lightness different from the color of the inner wall image 109 may be adopted. Specifically, the mark 2001 includes a red circle. Thereby, a worker can be made to recognize the part of a crack immediately.

  In FIG. 20, it is assumed that the worker selects a certain position P on the inner wall image 109 using the operation unit 611 and inputs a first instruction. Here, as an input method of the first instruction, for example, an operation of clicking the mouse after positioning the mouse pointer at the position P can be adopted. In this case, the comment management unit 607 displays the comment input screen 2002 in the vicinity of the position P in an overlapping manner on the inner wall image 109. Here, as the comment input screen 2002, for example, a balloon mark whose tip is positioned at the position P is employed. When the worker inputs a comment using the operation unit 611, the comment management unit 607 displays the input comment in the comment input screen 2002. Here, a comment “Plating peeling, size * mm” is input.

  For example, when a save button (not shown) is selected by the worker, the comment management unit 607 stores the inner wall image 109 on which the comment input screen 2002 including the comments is displayed in the comment management unit 607 as a report image. Let Thereby, the worker can confirm the comment inputted later.

  For example, when a print button (not shown) is selected by the worker, the comment management unit 607 causes the printer 600 to print a report image.

  Thereby, the operator can generate | occur | produce an inspection report easily. Conventionally, for example, an operator creates an inner wall image 109 by connecting inner wall images taken with a camera frame by frame, and creates an inspection report with comments using a writing tool or the like on the inner wall image 109. Was. This work put a heavy burden on the workers.

  In this embodiment, since the inner wall image 109 is automatically created and a comment can be attached to an arbitrary position on the inner wall image 109, the labor of the worker when creating the inspection report can be greatly reduced. .

  Further, it is assumed that the worker selects the position P using the operation unit 611 and inputs the second instruction. Here, as the second instruction input method, for example, a method of double-clicking the mouse after positioning the mouse pointer at the position P can be employed. In this case, the playback unit 606 reads out the frames shot during a fixed period before and after the shooting timing of the frame at the position P from the frame storage unit 609 and displays the read frames on the display unit 610 as a moving image (FIG. 20). (Right figure).

  Here, as the fixed period before and after, for example, a period in which the inner wall image 109 in a certain range in the vertical direction centering on the position P can be employed. Thereby, the display unit 610 displays an image as if the camera was photographed while moving from below to above within a certain range centered on the position P.

  Here, when the second instruction is input, the playback unit 606 identifies the frame F (P) in which the position P is captured from the coordinates of the position P, and is constant forward and backward based on the capturing timing of the frame F (P). The frames shot during the period of time may be read from the frame storage unit 609 using the time record assigned to each frame and displayed on the display unit 610 in time series. Here, not only the frame used for generating the inner wall image 109 but also a frame photographed in the middle of these frames is adopted as the frame read by the reproduction unit 606.

  In addition, when the operation unit 611 instructs the playback unit 606 to display a moving image for each shooting condition, the playback unit 606 selects a frame that is not attached with the processing target flag and is shot under the specified shooting condition. It may be read from the frame storage unit 609 and displayed on the display unit 610 as a moving image. In this embodiment, since there are 12 shooting conditions, any one of the 12 patterns may be selected by the worker.

  As a result, the worker can finely observe the state of the inner wall 45a in the vicinity of the position P where the scratch or the like has been applied, and can smoothly inspect the inner wall 45a.

602 Shooting control unit 603 Identification unit 604 Placement unit 605 Composition unit 606 Playback unit 607 Comment management unit 608 Comment storage unit 609 Frame storage unit 610 Display unit 611 Operation unit 612 Switching unit 2001 Mark 2002 Comment input screen

Claims (9)

An inspection device for inspecting an inner wall of a kneading chamber in which a kneader kneads a kneaded product,
An imaging device removably fixed to a rotor disposed in the kneading chamber;
When the rotation of the rotor is started, a photographing control unit that causes the photographing device to continuously photograph the inner wall of the kneading chamber;
An identification unit that performs image processing on a frame photographed by the photographing device and identifies a stop frame photographed while the rotor is stationary and a moving frame photographed while the rotor is rotating;
When the rotor rotates by a certain angle from the identified moving frames, the moving frames photographed by the photographing device are extracted, and the extracted moving frames are arranged on the time axis at regular intervals. A placement section;
An inspection apparatus comprising: a combining unit that joins the arranged moving frames in a direction corresponding to a rotation direction of the rotor to generate an inner wall image.   The identification unit obtains a difference image between frames before and after in time series, and in the difference image, counts the number of pixels whose luminance value has changed by a certain value or more, and when the counted number of pixels is equal to or greater than a threshold value, The inspection apparatus according to claim 1, wherein the rear frame is identified as a moving frame.   The discriminating unit shifts the template in the direction corresponding to the rotational direction of the rotor on the other frame, using the whole or a part of one frame as a template between frames that are arranged in time series. The inspection apparatus according to claim 1, wherein a frame shift amount is obtained, and if the shift amount is equal to or greater than a threshold, a rear frame is identified as the moving frame. A switching unit that switches a plurality of shooting conditions cyclically and causes the shooting device to perform shooting;
The said identification part extracts the flame | frame with the highest contrast from the flame | frame image | photographed on these imaging | photography conditions for every cycle, and performs the said image process with respect to the said extracted flame | frame. The inspection apparatus according to one item. The photographing apparatus includes a plurality of light sources that irradiate light to a photographing spot of the photographing apparatus from a plurality of directions.
The inspection apparatus according to claim 4, wherein the switching unit switches on the imaging conditions by causing the plurality of light sources to light cyclically and synchronizing the lighting with imaging by the imaging apparatus.   The inspection apparatus according to claim 4, wherein the switching unit switches the imaging condition by cyclically changing an exposure time of the imaging apparatus. A frame storage unit for storing frames photographed by the photographing device;
A display unit for displaying the inner wall image;
A first instruction for specifying an arbitrary position in the inner wall image displayed on the display unit, the first receiving unit receiving a first instruction for instructing a moving image display;
A frame obtained by photographing the position designated by the first instruction and a plurality of frames photographed by the photographing apparatus during a certain period including the photographing timing of the frame are read from the frame storage unit, and are displayed on the display unit. The inspection apparatus according to claim 1, further comprising a reproduction unit that displays a moving image.   The inspection apparatus according to claim 7, wherein the synthesizing unit performs a differentiation process on the inner wall image, and causes the display unit to display the inner wall image in which a mark is attached around a pixel having a differential value equal to or greater than a certain value. . A second accepting unit for accepting a second instruction for displaying a comment input screen at an arbitrary position in the inner wall image displayed on the display unit;
A comment input screen is displayed near the position designated by the second instruction, the comment input by the user is displayed on the comment input screen, and the comment input screen on which the comment input by the user is displayed The inspection apparatus according to claim 7, further comprising a comment management unit that generates a report image superimposed and displayed on the inner wall image.

Images