JP6512585B1 - Parts appearance automatic inspection device - Google Patents

Abstract

The present invention provides an automatic inspection apparatus excellent in cost performance ratio capable of acquiring a clear image capable of determining the quality of the entire appearance of a small part and performing image processing to determine the quality. A part appearance automatic inspection apparatus includes a plurality of dark rooms 14 and a turntable 15 installed in each dark room, a light 12 and a camera 13, and the inspected parts 11 are arranged on each turntable, The turn table is rotated to obtain an appearance continuous image of the inspected part in each dark room, and processing of a plurality of appearance images obtained in each dark room is simultaneously performed in parallel. [Selected figure] Figure 1

Description

  The present invention relates to an automatic inspection apparatus used for visual inspection of parts.

  Automation of visual inspection has become a top priority in improving productivity in many manufacturing industries. Automation of visual inspection is in practical use for simple parts, but automation is difficult for parts with complicated structures, and visual inspection is still performed on many parts.

  However, visual inspection takes man-hours, and in addition, the judgment criteria are vague because of human sensory inspection, and data accumulation for quality improvement is impossible. Therefore, it has become an impediment to improvement in productivity, and its automation is strongly demanded.

  For example, in Patent Document 1, the cylindrical inspection object is rotated around the central axis, light is irradiated to the outer peripheral surface of the inspection object, and the outer periphery of the inspection object is detected using a line sensor. An automatic appearance inspection apparatus is described which automatically inspects a defect on the outer peripheral surface of an object to be inspected by scanning a surface, detecting the reflected light intensity, and image processing the output.

  On the other hand, recent technological innovations in image sensor technology and information processing technology have made it possible to develop technology that was previously impossible in cost. Therefore, research and development on automation of various visual inspections is active.

  Also, recently, practical application of AI technology such as deep learning has been promoted, and the spread of simple open source software has also started. The AI technology such as this deep learning is expected to be developed as a new image processing technology that approaches human judgment functions, in order to improve inspection accuracy, which is a major issue in automation of visual inspection.

Unexamined-Japanese-Patent No. 11-183391

  Although visual inspection of high value-added parts requires high quality, the structure is complicated and there are many defective items, and it is difficult to put into practice automation technology that can achieve inspection capability and inspection accuracy that surpass visual inspection, Most of them are currently performed by visual inspection.

  In particular, in the optical automatic inspection of appearance defects of small metal parts, since reflection and scattering of light on the metal surface are large, it is difficult to obtain a defect optical image capable of being clearly discriminated. Although there are line scan cameras and methods using stripe light sources to avoid light scattering, it is difficult to realize inspection performance (speed) and inspection accuracy that surpass visual inspection by automatic inspection, so far, simple structure It has only been put to practical use in simple inspection on objects.

  For example, in a complex three-dimensional structure, such as a metal bellows, and a small-sized high-value-added component having a subtle variation in shape, it is necessary to clearly identify appearance defects from various angles. Until now, automation has been forced to give up because it is extremely difficult to obtain appearance optical images from various angles.

  The present invention has been made in view of such problems, and the main object thereof is to obtain a clear image capable of judging the goodness or badness of the entire appearance of a small part, and perform image processing to judge the good or bad To provide an automatic inspection apparatus excellent in cost performance ratio.

  The part appearance automatic inspection apparatus according to the present invention comprises a plurality of dark rooms, a turntable installed in each dark room, an illumination and a camera, arranges the parts to be inspected on each turntable, and rotates the turntable. An external appearance continuous image of the part to be inspected is acquired in each dark room, and processing of a plurality of external appearance images acquired in each dark room is simultaneously performed in parallel.

  In a preferred embodiment, the dark room consists of four, and the camera consists of a line scan camera, and the appearance image of the inspected part is sequentially from the angle of four directions of side black and white, diagonally upper black and white, side color, and reverse oblique. get.

  In a preferred embodiment, at the time of image acquisition with a line scan camera from diagonally upper and lower black and white and reverse diagonal angles, a tilting technique is adopted to increase the depth of focus.

  In one preferred embodiment, the turntable is rotated twice, and the first and second rotations change the image acquisition conditions of the illumination and the camera, and can select many optimum image acquisition conditions for many defective items. Let's do it.

  In a preferred embodiment, a mechanism for fixing the inspection object on the turntable is provided, a non-slip sheet is disposed, and the drive of the turntable is performed at a gradually increasing speed.

  Another part appearance automatic inspection apparatus according to the present invention is a part appearance automatic inspection apparatus that automatically determines the quality of an inspected part by acquiring an appearance image of the inspected part and performing image processing on the acquired appearance image. In image processing, a large number of pass / fail image data are given in advance, learning processing is performed by deep learning technology, parameters are optimized and a learning binary file is created, and among various defect items, images of defective items for which it is difficult to judge pass / fail It is characterized in that the processing is performed on a learning binary file.

  According to the present invention, there is provided an automatic inspection apparatus excellent in cost-performance ratio capable of acquiring a clear image capable of determining the quality of all appearances of small parts and performing image processing on the image to perform quality determination. be able to.

It is the figure which showed the structure and test | inspection flow of the components external appearance inspection apparatus in one Embodiment of this invention. It is the figure which showed the metal bellows as a to-be-inspected part. It is the figure which showed the method to image | photograph a metal bellows from a diagonal direction using the inclination imaging | photography technique. (A)-(c) is a figure explaining the method to image | photograph from diagonal direction. (A)-(c) is the figure which showed the external appearance image at the time of actually image | photographing metal bellows from the diagonal direction. (A)-(c) is the figure which showed the result of having actually photographed the external appearance image from diagonally upward of metal bellows, changing the rotational speed of a turntable. It is a figure showing composition of a turntable which can acquire an appearance picture without distortion, even if it rotates a turntable at high speed. It is the figure which showed the drive method of the rotational speed of the turntable. It is a figure showing an example of the histogram of the quality decision value in an automatic inspection device. It is the flowchart which showed the method of image processing.

  Hereinafter, embodiments of the present invention will be described in detail based on the drawings. The present invention is not limited to the following embodiments. Moreover, changes can be made as appropriate without departing from the scope in which the effects of the present invention are exhibited.

  FIG. 1 is a diagram showing a configuration and an inspection flow of a part appearance automatic inspection apparatus according to an embodiment of the present invention. In addition, although the metal bellows 21 as shown in FIG. 2 are illustrated as a to-be-tested | inspected part 11 here, it is not limited to this.

  As shown in FIG. 1, the component appearance automatic inspection apparatus of the present invention includes a plurality of dark rooms 14, in each dark room 14 a turntable 15 is installed, and on each turntable 15 a metal bellows 21 is disposed. It is done. Illumination light is emitted from the illumination 12 toward the metal bellows 21, and the reflected light is imaged by the camera 13. For example, a line scan camera can be used as the camera 13.

  In the inspection, the turntable 15 on which the metal bellows 21 is disposed is rotated, and an external appearance continuous image of the metal bellows 21 is acquired in each dark room 14. The installation of the metal bellows 21 in the plurality of dark rooms 14 is controlled to be performed simultaneously in parallel for speeding up.

  Specifically, as shown in FIG. 1, the dark room 14 is composed of four, and as the external appearance image of the metal bellows 21, the side 1 black and white image on the stage 1, the obliquely upper black and white image on the stage 2, and the stage 3 In the side surface color image and the stage 4, the reverse oblique image is sequentially acquired from angles in four directions.

  FIG. 3 is a view showing a method of photographing the metal bellows 21 from an oblique direction using a tilt photographing technique.

  As shown in FIG. 3, the metal bellows 21 is fixed to the turntable 15 and rotates. Then, light is illuminated by the illumination 12, and the side surface of the metal bellows 21 is photographed by the camera 13A from the lateral direction. The inner surface of the metal bellows 21 is photographed by the camera 13B from the obliquely upper direction. At this time, in the camera 13A that shoots from the side, the lens 22A is mounted on the camera 13A as usual. On the other hand, in the camera 13B that shoots from an obliquely upper direction, the lens 22B is equipped with an angle (arrangement) to the camera 13B.

  Next, referring to FIG. 4, a method of photographing from an oblique direction will be described.

  FIG. 4A shows a normal photographing method, in which the light of the subject 32 is imaged as a projected image 34 on the imaging surface 33 through the lens 22.

  FIG. 4B shows the case where the subject 32 is photographed from an oblique direction, and the subject 32 is not parallel to the lens 22. In this case, since the image forming surface 33 similar to that of FIG. 3A is different in position from the original image forming surface 35 through the lens 22, the blur 36 is larger as the image forming surface 35 separates from the original image forming surface 35.

  FIG. 4C shows the case where the lens 22 and the camera have an angle (aberration) so as to form an image on the original imaging plane 35 in the case shown in FIG. 4B. In this case, the blur 36 as shown in FIG. 4B does not occur.

  In addition, the camera-shooting technology includes those used under the names of camera tilt, tilt, swing, etc. when shooting with a camera. Further, as a similar photographing technique, a technique used under the names of shift, rise, fall, etc. may be used.

  FIG. 5 actually shows an external appearance image when the metal bellows 21 is photographed from an oblique direction, and shows an external appearance image when (a) is not photographed and (b) is photographed when the metal bellows 21 is not photographed. It can be seen that a clear appearance image can be obtained in FIG. 5 (b) than in FIG. 5 (a).

  In the present embodiment, the turntable 15 is rotated twice, and the image acquisition conditions such as the illumination 12 and the camera 13 are changed in the first and second rotations, and eight types of acquisition conditions can be selected. This makes it possible to select a number of optimal image acquisition conditions for a large number of defect items. At this time, the rotational speed of the turntable 15 is preferably set to 2 seconds / rotation to 0.5 seconds / rotation.

  Further, the image processing can be performed by adding a labeling process to a known background difference method. From one defect image acquired under a certain image acquisition condition, it is possible to classify into a plurality of defect items by identifying a plurality of defect characteristics by appropriate image processing. For example, the defect items of 12 items of the metal bellows 21 can be classified under the eight inspection conditions described above.

  Further, in order to speed up, it is preferable to simultaneously image process the appearance rotation images obtained from the inside of the plurality of dark rooms 14 in parallel.

  Further, to increase the inspection speed, the rotational speed of the turntable 15 may be increased. However, when trying to increase the rotational speed from 2 seconds / rotation to 0.5 seconds / rotation, the position of the small part 11 (metal bellows 21) disposed on the turntable 15 is at the time of rotational start It is slightly shifted by the centrifugal force. Therefore, there is a problem that the acquired image from diagonally above becomes a distorted image, and a defect determination is made.

  FIG. 6 is a view showing the result of actually photographing the external appearance image of the metal bellows 21 obliquely from the upper side by changing the rotational speed of the turntable 15. (a) is 2 seconds / rotation, (b) is 1.5 seconds / rotation, (c) shows the case of 1 second / rotation. As shown in FIGS. 6A to 6C, when the rotational speed of the turntable 15 is increased, a distorted appearance image is obtained.

  FIG. 7 is a view showing the configuration of the turntable which can acquire an appearance image without distortion even when the turntable 15 is rotated at high speed.

  As shown in FIG. 7, a mechanism (fixing jig) 42 for fixing the metal bellows 21 and a non-slip sheet 41 are provided on the turntable 15. Thereby, even if the turntable 15 is rotated at high speed, it is possible to prevent the position of the metal bellows 21 from being displaced.

  Furthermore, as shown in FIG. 8, it is preferable to gradually increase the rotational speed of the turntable 15. Here, A is a case where the rotational speed of the turntable 15 is gradually increased, and B is a case where the rotational speed of the turntable 15 is constant.

  By adopting such a configuration, stable image acquisition that can be judged as good or bad can be made even if the speed is increased to 0.5 seconds / rotation.

  By the way, in an automatic inspection apparatus, it is difficult to determine the quality of a shadow appearing in an appearance image in a specific defect item (for example, "scratch defect"), and a well-known item is an acceptable item even with a well-known image processing method (background difference + labeling processing). It may be determined as a defect.

  For example, FIG. 9 is a diagram showing an example of a histogram of the quality determination value (the number of white pixels) in the automatic inspection apparatus. Here, the histogram shown in (a) is a sample determined to be defective (scratch defect) in visual inspection, and the histograms shown in (b) and (c) are samples determined to be non-defective in visual inspection is there. Here, when the determination value of the quality is set to 100, the sample of the histogram shown in (b) is determined as a non-defective product in the visual inspection, but is determined as a failure in the automatic inspection. This is because the defect shadow in b) is caused by the manufacturing process, and therefore, those with a light degree are regarded as non-defective items in visual inspection.

  Therefore, in the present invention, in order to determine this defective shadow as a non-defective product, an AI (deep learning) technology is introduced to effectively grasp the characteristics of the shadow of the non-defective product as a non-defective product.

  FIG. 10 is a flowchart showing a method of the image processing. As shown in FIG. 7, after the image taken by the automatic inspection apparatus is read (step S1), the defective portion is cut out (step S2), and a large number of pass / fail image data registration processing is performed (step S3). Then, "learning processing" is performed using a cloud such as AWS or GPGPU so that learning processing can be performed in a short time, and parameters are optimized to create a "learning binary file" (step S4). Thereafter, the image processing of "defective defect" is performed with this file to perform the quality determination (step S5). By introducing such deep learning technology, the time (0.2%) of the automatic appearance inspection apparatus can be dramatically improved from 60% to 90% in 0.2 seconds for the time taken for this image processing. did it.

  The appearance automatic inspection apparatus in the present invention is positioned as a sensor for acquiring various control data in the manufacturing process. Therefore, even with IoT technology, which is expected as a means to innovate the productivity of the manufacturing industry in the future, a great demand is expected as a product that plays an important role.

11 Parts to be inspected
12 lighting
13 camera
14 Darkroom
15 turntable
21 Metal Bellows (Inspected Parts)
22 lens
32 subject 33, 35 imaging plane
34 Projection image
41 anti-slip seat
42 Fixing member

Claims (4)

A part appearance automatic inspection apparatus comprising a plurality of dark rooms, a turntable installed in each dark room, a light and a camera,
The parts for inspection arranged on each turntable, the turntable rotated twice, in each dark room, at the first rotation and the second rotation, by changing the image acquisition condition of the lighting and the camera, a number of A plurality of optimum image acquisition conditions are selected for each defect item to acquire an appearance continuous image of the inspected part, and processing of a plurality of appearance images acquired in each dark room is simultaneously performed in parallel. Parts appearance automatic inspection device. A part appearance automatic inspection apparatus comprising a plurality of dark rooms, a turntable installed in each dark room, a light and a camera,
The inspected parts are arranged on each of the turntables, the turntable is rotated, an appearance continuous image of the inspected parts is acquired in each dark room, and processing of a plurality of appearance images acquired in each dark room is performed. Done in parallel at the same time,
A part appearance automatic inspection apparatus characterized by providing a mechanism for fixing a part to be inspected on the turn table, arranging a non-slip sheet, and gradually driving the turn table at high speed. The dark room consists of four, and the camera consists of a line scan camera,
The part appearance automatic inspection apparatus according to claim 1 or 2 , wherein an appearance image of the part to be inspected is sequentially acquired from angles of four directions of side black and white, diagonally upper black and white, side color, and reverse oblique. The automatic part appearance inspection apparatus according to claim 3 , characterized in that when acquiring an image with a line scan camera from diagonally upper black and white and reverse oblique angles, the depth of focus is made deeper by adopting a tilting technique.