JP6752643B2 - Visual inspection equipment - Google Patents

Description

The present invention relates to an apparatus for inspecting the appearance of a work, and more particularly to an apparatus for optically inspecting the appearance.

Conventionally, a device for visually inspecting whether or not characters, symbols, etc. are correctly written on the outer surface of a cylindrical body such as a can has been proposed (Patent Document 1). The apparatus described in Patent Document 1 detects the head position of the inspection target area of the cylindrical body from the image data obtained by taking a picture with the line sensor camera while rotating the cylindrical body at high speed by the motor, and then detects the head position of the inspection target area of the cylindrical body. The appearance inspection is performed based on the image data obtained by rotating the cylindrical body at a rotation speed that can secure the above and re-photographing the image from the head position with the line sensor camera.

There is also a proposal for an apparatus for inspecting unevenness defects of a cylindrical workpiece (Patent Document 2). The apparatus described in Patent Document 2 includes a semiconductor laser that irradiates parallel light tilted by a predetermined angle from a direction perpendicular to the central axis in a plane including the central axis of the cylindrical work, and an arrangement direction and a light receiving surface. It is arranged so as to be parallel to the direction of the central axis of the cylindrical work, and is equipped with a line sensor that receives the positively reflected light from the surface of the cylindrical work irradiated by the semiconductor laser and converts it into an electric signal. The electric signal obtained by the line sensor is processed to detect the uneven portion on the surface of the cylindrical work.

Further, there is also a proposal of an inspection device for detecting the appearance, inner surface, and wrinkles of a can (Patent Document 3). The device of Patent Document 3 is intended to inspect the inner surface of the can, the five visual inspection cameras that divide the circumferential direction of the can and the mark detection sensor that detects the reference point mark printed on the can. It is equipped with a provided internal inspection camera and a wrinkle detection sensor consisting of a gloss meter that images the entire circumference of the can, and while rotating the turntable at high speed, the mark detection by the mark detection sensor is used as a trigger signal. The appearance inspection is performed from the image obtained by the appearance inspection camera of the table and divided into five in the circumferential direction, the inner surface inspection is performed by the inner surface inspection camera, and the wrinkle is detected by the wrinkle detection sensor.

JP-A-2002-39948 (0015-0030, FIGS. 1-4) JP-A-2006-242828 (0022 to 0030, FIGS. 1 to 3) Japanese Patent Application Laid-Open No. 6-174649 (0012 to 0014,0018,0030, FIG. 1)

In the technique of Patent Document 1, it is possible to judge the quality of printing on the surface of the cylindrical body, but it is not possible to judge the presence or absence of unevenness defects on the surface. On the contrary, in the technique of Patent Document 2, the presence or absence of unevenness defects on the surface is determined. It can be done, but the quality of printing cannot be judged. According to the technique of Patent Document 3, it is possible to perform both the quality determination of printing on the surface and the determination of the presence or absence of unevenness defects on the surface, but there is a problem that a large number of cameras and sensors must be provided for that purpose.

Therefore, an object of the present invention is to provide a visual inspection apparatus capable of determining the presence or absence of design and shape defects on the work surface without complicating the apparatus configuration.

The visual inspection device of the present invention made to achieve the above object for a cylindrical work includes a rotating device that rotates the cylindrical work around the center of the cylinder of the work within the imaging range of the area sensor camera, and the imaging range. Based on the illumination device that irradiates the surface of the cylindrical work located inside and the image data input from the area sensor camera while the rotating device makes the cylindrical work make one or more rotations within the imaging range. It is characterized in that it is provided with an image data generation means for generating image data for visual inspection, and further has the following configuration.
(1A) As the illumination device, a coaxial epi-illumination device that irradiates light so as to generate specular reflected light extending from the surface of the cylindrical work in the length direction of the cylinder, and the positive light from the surface of the cylindrical work. It is provided with a diffuse light illuminating device that irradiates light so as to generate diffuse reflected light parallel to the specular reflected light at a position separated from the reflected light by a predetermined distance.
(1B) The image data generation means includes a group of specularly reflected light pixels input from a group of sensors on a line having a predetermined width capable of receiving the specularly reflected light in the image data captured by the area sensor camera. The specular reflection pixel group storage area and the diffuse reflection pixel group storage area for separately storing the diffuse reflection light pixel group input from the sensor group on the line having a predetermined width capable of receiving the diffuse reflection light are provided. By continuously accumulating pixel groups in each pixel group storage area based on the rotation angle information acquired from the rotating device, a first image data based on specular reflected light and a second image based on diffuse reflected light are obtained. It must be configured as a means of generating data.

According to the visual inspection device of the present invention having the above configuration, the rotating device rotates the cylindrical work one or more times around the center of the cylinder of the work within the imaging range of the area sensor camera. At this time, the coaxial epi-illumination device irradiates light so as to generate specularly reflected light extending from the surface of the cylindrical work in the length direction of the cylinder, and the diffuse light illuminator directly reflects from the surface of the cylindrical work. Light is irradiated so as to generate diffusely reflected light parallel to specularly reflected light at a position separated from the light by a predetermined distance. As a result, the area sensor camera has a line-like specular reflection light generated from the cylindrical work surface by the illumination of the coaxial epi-illumination device and a line-like diffusion generated from the cylindrical work surface by the diffuse light illumination device at a certain moment. Acquire imaging data including both reflected light. Here, the area sensor camera is provided with a large number of sensor elements in a matrix so as to cover the imaging range. Among these many sensor elements, the sensor element that reacts to the line-shaped specular reflected light and the sensor element that reacts to the line-shaped diffuse reflected light include the arrangement of the coaxial epi-illumination device and the diffuse light illumination device, and the cylindrical work. It is geometrically determined from the relationship with the diameter of. The image data generation means separately sets the pixel group acquired by the sensor element geometrically determined in this way as a specular reflection light pixel group and a diffuse reflection light pixel group, respectively, as a specular reflection pixel group storage area and a diffuse reflection pixel group storage. Store in the area. At this time, the image data generation means diffuses the first image data based on the specularly reflected light by continuously accumulating the pixel groups in each pixel group storage area based on the rotation angle information acquired from the rotating device. A second image data based on the reflected light is generated. As a result, it is possible to generate the first image data based on the specularly reflected light and the second image data based on the diffuse reflected light on the entire surface of the cylindrical work while the rotating device makes one or more rotations. Then, the presence or absence of a shape defect such as unevenness on the surface of the cylindrical work is determined from the first image data, and the presence or absence of a design result such as the printed state of the surface of the cylindrical work is determined from the second image data. Can be done.

The visual inspection device of the present invention made to achieve the above object with respect to the web-shaped work includes a moving device that moves the web-shaped work in a predetermined direction within the imaging range of the area sensor camera, and a web located within the imaging range. Image data for visual inspection is obtained based on the image data input from the area sensor camera while the moving device passes the web-shaped work through the imaging range and the lighting device that irradiates the surface of the shaped work with light. It is characterized in that it includes a means for generating image data to be generated, and further has the following configuration.
(2A) As the lighting device, a coaxial epi-illumination device that irradiates light so as to generate specularly reflected light extending from the surface of the web-shaped work in a direction orthogonal to the moving direction, and the web-shaped work. It is provided with a diffuse light illuminating device that irradiates light so as to generate diffuse reflected light parallel to the specular light at a position separated from the surface by a predetermined distance from the specular light.
(2B) The image data generation means includes a group of specularly reflected light pixels input from a group of sensors on a line having a predetermined width capable of receiving the specularly reflected light in the image data captured by the area sensor camera. The specular reflection pixel group storage area and the diffuse reflection pixel group storage area for separately storing the diffuse reflection light pixel group input from the sensor group on the line having a predetermined width capable of receiving the diffuse reflection light are provided. By continuously accumulating pixel groups in each pixel group storage area based on the movement amount information acquired from the moving device, a first image data based on specular reflected light and a second image based on diffuse reflected light are obtained. It must be configured as a means of generating data.

According to the visual inspection device of the present invention having the above configuration, the moving device moves the web-shaped work in a predetermined direction within the imaging range of the area sensor camera. At this time, the coaxial epi-illumination device irradiates light so as to generate specularly reflected light extending in the direction orthogonal to the surface of the web-like work so as to cross the moving direction, and the diffuse light illumination device is the web-like work. Light is irradiated so as to generate diffusely reflected light parallel to the specularly reflected light at a position separated from the specularly reflected light by a predetermined distance from the surface. As a result, the area sensor camera has a line-like specular reflection light generated from the web-like work surface by the illumination of the coaxial epi-illumination device and a line-like diffusion generated from the cylindrical work surface by the diffuse light illumination device at a certain moment. Acquire imaging data including both reflected light. Here, the area sensor camera is provided with a large number of sensor elements in a matrix so as to cover the imaging range. Among these many sensor elements, the sensor element that reacts to the line-shaped specular reflected light and the sensor element that reacts to the line-shaped diffuse reflected light include the arrangement of the coaxial epi-illumination device and the diffuse light illumination device, and the web-like work. It is geometrically determined from the relationship with the thickness of. The image data generation means separately sets the pixel group acquired by the sensor element geometrically determined in this way as a specular reflection light pixel group and a diffuse reflection light pixel group, respectively, as a specular reflection pixel group storage area and a diffuse reflection pixel group storage. Store in the area. At this time, the image data generation means diffuses the first image data based on the specularly reflected light by continuously accumulating the pixel groups in each pixel group storage area based on the movement amount information acquired from the moving device. A second image data based on the reflected light is generated. As a result, the first image data based on the specularly reflected light and the second image data based on the diffusely reflected light of the entire surface of the web-like work while being moved in a predetermined direction within the imaging range by the area sensor camera by the moving device. And can be generated. Then, the presence or absence of a shape defect such as unevenness on the surface of the cylindrical work is determined from the first image data, and the presence or absence of a design result such as the printed state of the surface of the cylindrical work is determined from the second image data. Can be done.

Here, these visual inspection devices of the present invention may further include the following configurations.
(3) The coaxial epi-illumination device and the diffuse light illumination device are configured as devices that irradiate parallel light having a predetermined width toward the surface of the work.

By irradiating light as parallel light having a predetermined width, the first and second image data can be generated with high accuracy. The diffused light illumination device may be configured to irradiate red, blue, and yellow monochromatic light so as to shift the diffused light reflection position, and may be configured to generate a plurality of second image data for each irradiation light. it can.

Further, the visual inspection apparatus of the present invention may further include the following configurations.
(4) The image data generation means has a position of a sensor element group on a line having a predetermined width capable of receiving the specularly reflected light and a position of the sensor element group on a line having a predetermined width capable of receiving the diffuse reflected light. A positional correspondence setting means for setting a positional correspondence between the first image data, the second image data, and the work to be inspected based on the offset amount of Being.

By providing such a configuration, for example, image data for determining whether or not there is a design result such as a printing defect on the surface of the cylindrical work and whether or not there is a shape defect such as unevenness can be obtained. It can be generated simply by rotating it. For example, in a long web-like work, identifying the range where a design or shape defect occurs and giving accurate information for the post-process such as truncating the defective part. Can be done.

According to the present invention, it is possible to provide an appearance inspection device capable of determining the presence or absence of design and shape defects on the work surface without complicating the device configuration.

The visual inspection apparatus of Example 1 is shown, (A) is an overall perspective view, and (B) is an explanatory view of a main part. It is a schematic diagram which shows the structure of the appearance inspection apparatus of Example 2. It is a flowchart which shows the processing procedure of the appearance inspection to execute in the appearance inspection apparatus of Example 2. It is a schematic diagram which shows the structure of the appearance inspection apparatus of Example 3. FIG. It is a flowchart which shows the processing procedure of the appearance inspection which is executed in the appearance inspection apparatus of Example 3.

Hereinafter, embodiments for carrying out the present invention will be described based on examples.

The first embodiment is an appearance inspection device for a cylindrical work. As shown in FIG. 1A, the visual inspection device 1 of the first embodiment rotates the area sensor camera 10 and the cylindrical work W1 around the center of the cylinder of the work within the imaging range of the area sensor camera 10. From the area sensor camera 10 while the device 20, the lighting device 30 that irradiates the surface of the cylindrical work W1 located within the imaging range with light, and the rotating device 20 rotates the cylindrical work W1 one or more times within the imaging range. It is equipped with a computer 40 that generates image data for visual inspection based on the input image data.

The area sensor camera 10 is attached to a support column 12 erected at the right end of the base plate 11 so that the entire height of the cylindrical work W1 can be captured in the imaging range via the fixing block 13. ing. The area sensor camera 10 is provided with a large number of solid-state image pickup elements (CCD image sensor, CMOS image sensor, etc., hereinafter the same) in a matrix so as to cover the image pickup range, and the imaged pixel group is computerized. It is connected so as to input to 40.

The rotating device 20 includes a turntable 21 on the upper part of the main body containing the stepping motor MT1. The rotating device 20 is connected so as to input an encoder signal corresponding to the rotation angle of the stepping motor MT1 to the computer 40.

The lighting device 30 includes a coaxial epi-illumination device 31 that irradiates line-shaped parallel light having a predetermined width so as to generate specular reflected light extending in the length direction of the cylinder from directly in front of the cylindrical work W1, and the cylindrical work W1. On the other hand, the base is provided with a diffuse light illuminating device 32 that irradiates line-shaped parallel light having a predetermined width from an oblique direction so as to generate diffuse reflected light parallel to the specular light at a position separated from the specular light by a predetermined distance. It is installed at the left end of the plate 11 in the drawing. The coaxial epi-illumination device 31 and the diffused light illumination device 32 are configured to irradiate parallel light having a predetermined width, respectively, and are configured to be lit at the same time during a visual inspection. The coaxial epi-illumination device 31 is installed so as to irradiate the light reflected by the half mirror from the front toward the center of rotation of the cylindrical work W1 and guide the specularly reflected light directly behind through the half mirror.

The keyboard 41 and the display 42 are connected to the computer 40, and as described above, the area sensor camera inputs the pixel group captured by the area sensor camera 10 and the encoder signal of the stepping motor MT. It is also connected to 10 and the stepping motor MT1. The computer 40 is also connected so as to output a control signal to the area sensor camera 10, the stepping motor MT1, and the lighting device 30.

The computer 40 commands the lighting device 30 to turn on, commands the area sensor camera 10 to acquire and transmit an image, and outputs a command to the stepping motor MT1 to rotate the turntable 21 once. In response to these commands, the lighting device 30 simultaneously lights the coaxial epi-illumination device 31 and the diffused light lighting device 32, and the pixel group imaged by the area sensor camera 10 while the stepping motor MT1 rotates the turntable 21 once. It is continuously output to the computer 40.

The arrangement of the coaxial epi-illumination device 31 and the diffused light illumination device 32 and the diameter of the cylindrical work W1 are input to the computer 40 in advance. Then, the computer 40 has a first region of interest ROI01 that captures a pixel group corresponding to the specularly reflected light and a pixel group corresponding to the diffuse reflected light in the pixel group of the entire imaging range input from the area sensor camera 10. The second region of interest ROI02 that captures the above is geometrically calculated and set from the arrangement of the coaxial epi-illumination device 31 and the diffuse light illumination device 32 and the diameter of the cylindrical work W1. The information required for this setting is input from the keyboard 41.

As shown in FIG. 1B, the computer 40 is a normal reflection that stores the pixel group corresponding to the first region of interest ROI01 among the entire pixel group of the imaging range AREA01 input from the area sensor camera 10. A pixel group storage area MEM01 and a diffuse reflection pixel group storage area MEM02 for storing a pixel group corresponding to the second area of interest ROI02 are secured in the storage device 45. Then, the first image based on the specular light is obtained by continuously accumulating the specular reflection light pixel group and the diffuse reflection light pixel group based on the encoder signal from the stepping motor MT1 in the respective storage areas MEM01 and MEM02. The data DAT01 and the second image data DAT02 based on the diffuse reflected light are generated and displayed on the display 42 as shown in FIG. 1 (A).

The first image data DAT01 based on the specularly reflected light shows the unevenness of the surface of the cylindrical work W1, and when a dent is present, it is observed as a shadow. On the other hand, the second image data DAT02 based on the diffuse reflected light is an image corresponding to the characters and figures printed on the surface of the cylindrical work W1, and whether or not information such as the barcode and the expiration date is correctly printed. Can be observed.

The second embodiment is also an appearance inspection device for a cylindrical work. As shown in FIG. 2, the visual inspection device 2 of the second embodiment has an area sensor camera 50 and a rotating device 60 that rotates the cylindrical work W2 around the center of the cylinder of the work within the imaging range AREA02 by the area sensor camera 50. The lighting device 70 that irradiates the surface of the cylindrical work W2 located in the imaging range AREA02 and the rotating device 60 input from the area sensor camera 50 while rotating the cylindrical work W2 one or more times within the imaging range. It is equipped with a computer 80 that generates image data for visual inspection based on the image data obtained.

Similar to the first embodiment, the area sensor camera 50 is provided with a large number of solid-state image pickup elements in a matrix so as to cover the image pickup range AREA02, and is connected so as to input the imaged pixel group to the computer 80. Has been done.

The area sensor camera 50 is attached so that the entire cylindrical work W2 can be captured within the imaging range AREA02 by opening a predetermined height directly above the rotating device 60 and pointing the lens directly below.

The rotating device 60 is installed in the middle of the work transfer device 90. The work transfer device 90 includes an upstream side conveyor 91 and a downstream side conveyor 92 with the rotating device 60 interposed therebetween, and includes conveyor motors MT91 and MT92, respectively. These conveyor motors MT91 and MT92 transport and stop based on a command from the computer 80.

The rotating device 60 includes a driving roller 61 that is rotationally driven by the stepping motor MT60, and a driven roller 62. The drive roller 61 and the driven roller 62 have a structure that can abut on the lower side surface of the cylindrical work W2 and support the entire length. Then, by driving the stepping motor MT60, the cylindrical work W2 that is abutted and supported can be rotated by one or more rotations around the center of the cylinder. The rotating device 60 is provided with a sensor SE60 that detects that the cylindrical work W2 is supported by the driving roller 61 and the driven roller 62. Then, the detection signal of the sensor SE60 and the encoder signal corresponding to the rotation angle of the stepping motor MT60 are connected so as to be input to the computer 80. Further, when the inspection result is "good", the rotary device 60 lifts the upstream side and discharges the cylindrical workpiece W2 to the downstream conveyor 92, and when the inspection result is "defective", the upstream side is pulled down. A solenoid SOL60 for removing defective products is also installed. The solenoid SOL60 and the stepping motor MT60 are connected to the computer 80 so as to operate based on a drive command from the computer 80.

The illuminating device 70 includes a coaxial epi-illumination device 71 that irradiates line-shaped parallel light having a predetermined width so as to generate specular reflected light LGHT50 extending in the length direction of the cylinder from directly in front of the cylindrical work W2, and the cylindrical work W2. A diffused light illuminating device 72 that irradiates line-shaped parallel light having a predetermined width from an oblique direction so as to generate diffuse reflected light LGHT51 parallel to the specularly reflected light at a position separated from the specularly reflected light by a predetermined distance is provided. ing. Further, in the present embodiment, the coaxial epi-illumination device 71 irradiates the light reflected by the half mirror from the front toward the center of rotation of the cylindrical work W2, and guides the specularly reflected light directly behind through the half mirror. In addition to the specularly reflected light, it is also possible to irradiate a line-shaped parallel light having a predetermined width toward the cylindrical work W2 in an oblique direction from the side opposite to the diffusely reflected light illuminating device 72. It is configured like this. As a result, in this embodiment, by turning on the lighting device 70, as shown in the figure, the specular reflected light LGHT50, the first diffuse reflected light LGHT51, and the second diffused light are diffused from the surface of the cylindrical work W2. The reflected light LGHT 52 will be generated. In the sensor element group of the area sensor camera 50, the regions of interest ROI50, ROI51, and ROI52 that capture the specular reflected light LGHT50, the first diffuse reflected light LGHT51, and the second diffuse reflected light LGHT52 are the lighting devices 70. Geometrically determined from the arrangement and the diameter of the cylindrical workpiece W2.

Peripheral devices such as a keyboard, mouse, display, and printer (not shown) are connected to the computer 80. Further, as described above, the computer 80 inputs the pixel group imaged by the area sensor camera 50, and also inputs the detection signal of the sensor SE60 and the encoder signal of the stepping motor MT60, so that the area sensor camera 50 and the sensor It is connected to the SE60 and the stepping motor MT60. The computer 80 is also connected to output control signals to the area sensor camera 50, the conveyor motors MT91 and MT92, the stepping motor MT60, the solenoid SOL60, and the lighting device 70.

The computer 80 performs a visual inspection by executing the arithmetic processing program shown in FIG. In the visual inspection routine, as shown in FIG. 3A, the computer 80 commands the conveyor motors MT91 and MT92 to feed the conveyor (S110). When the work detection signal is input from the sensor SE60 (S120: YES), the computer 80 commands the conveyor motors MT91 and MT92 to stop the conveyor (S130).

Subsequently, the computer 80 commands the lighting device 70 to turn on and the stepping motor MT60 of the rotating device 60 to start rotating (S140), captures the imaging data from the area sensor camera 50, and receives the imaging data from the stepping motor MT60. Input of the encoder signal is started (S150).

When the computer 80 starts capturing the imaging data from the area sensor camera 50 and inputting the encoder signal from the stepping motor MT60 in this way, the computer 80 activates an image data generation routine as shown in FIG. 3 (B) (S160). In the image data generation routine, among the imaging data input from the area sensor camera 50, the pixel groups that detect the sensor element groups located on the three lines of the region of interest ROI50, ROI51, and ROI52 are detected. , The specular reflection pixel group storage area MEM50, the first diffuse reflection pixel group storage area MEM51, and the second diffuse reflection pixel group storage area MEM52 (S161). This accumulation process is continuously executed based on the encoder signal input from the stepping motor MT60 until it is determined that the work has made one rotation (S162: NO → S161).

Then, when it is determined that the work has rotated once (S162: YES), the specular reflection pixel group storage area MEM50, the first diffuse reflection pixel group storage area MEM51, and the second diffuse reflection pixel group storage area MEM52 are continuously connected. Based on the specular reflection light image data DAT50 based on the specular reflection light LGHT50, the first diffuse reflection light image data DAT51 based on the first diffuse reflection light LGHT51, and the second diffuse reflection light LGHT52 by the pixel group accumulated in The second diffuse reflected light image data DAT52 is generated and exits this routine (S163).

The computer 80 activates a pass / fail determination routine as shown in FIG. 3 (C) (S170). In the quality determination routine, the presence or absence of a shadow is determined based on the specularly reflected light image data DAT50 (S171). When there is no shadow (S171: NO), the printed portion of the expiration date is extracted from the first diffuse reflected light image data DAT51 and the second diffuse reflected light LGHT52 (S172). Then, it is determined whether or not the expiration date is printed correctly (S173). When the expiration date is printed correctly (S173: YES), the judgment result is "good" (S174), when the expiration date is not printed correctly (S173: NO), the judgment result is "bad". (S175). When it is determined in S171 that there is a shadow, it is immediately determined to be "defective" without going through the processing of S172 or less (S171: NO → S175).

When the visual inspection is completed in this way, the computer 80 instructs the solenoid SOL60 to discharge the work (S180). In this step, if the result of the visual inspection is "non-defective", the upstream side is lifted and the cylindrical workpiece W2 is discharged to the downstream conveyor 92, and if it is "defective", the upstream side is pulled down to be defective. A command is given to the solenoid SOL60 to remove the.

The processes of S110 to S180 are repeatedly executed until the inspection is completed (S190: NO). The visual inspection routine is terminated when the conditions for determining the end of inspection are satisfied, such as the input of termination by the operator, the passage of the set operating time, or the satisfaction of the set number of non-defective products (S190: YES). ..

Example 3 is an appearance inspection device for a web-like work. As shown in FIG. 4, the visual inspection device 3 of the third embodiment is a moving device that moves the web-shaped work W3 in a predetermined direction so as to pass through the area sensor camera 110 and the image pickup range AREA03 by the area sensor camera 110. Input from the area sensor camera 110 while the illumination device 130 that irradiates the surface of the web-shaped work W3 located in the imaging range AREA03 with light 120 and the moving device 120 passes the web-shaped work W3 through the imaging range AREA03. It is equipped with a computer 140 that generates image data for visual inspection based on the image data obtained.

Similar to the second embodiment, the area sensor camera 110 is provided with a large number of solid-state image sensors in a matrix so as to cover the image pickup range AREA03, and is connected so as to input the imaged pixel group to the computer 140. Has been done.

The area sensor camera 110 is attached so that the entire width of the web-shaped work W3 can be captured within the imaging range AREA03 by opening a predetermined height directly above the moving device 120 and pointing the lens directly below.

The moving device 120 includes a conveyor motor MT 120, transports and stops the work based on a command from the computer 140, and connects to the computer 140 so as to input an encoder signal measured by the conveyor motor MT 120 to the computer 140. Has been done.

The illuminating device 130 includes a coaxial epi-illumination device 131 that irradiates a line-shaped parallel light having a predetermined width so as to generate specular reflected light extending in the width direction of the work from directly above the center of the imaging range AREA03, and the imaging range AREA03. On the other hand, it is provided with a diffused light illuminating device 132 that irradiates line-shaped parallel light having a predetermined width diagonally from the downstream side in the work moving direction. The coaxial epi-illumination device 131 is installed so as to irradiate the light reflected by the half mirror from directly above toward the imaging range AREA03 and guide the specularly reflected light directly behind through the half mirror, and the specularly reflected light. Separately, it is also configured so that a line-shaped parallel light having a predetermined width can be obliquely irradiated toward the imaging range AREA03 with respect to a position shifted to the upstream side in the work moving direction from a position where specular reflected light can be generated. Has been done. As a result, in this embodiment, by turning on the lighting device 130, as shown in the figure, the surface of the web-shaped work W3 has a specularly reflected light LGHT110 extending directly upward from the center of the imaging range AREA03 and an imaging range. The first diffuse reflected light LGHT111 heading diagonally backward from a predetermined position on the upstream side of the work moving direction of AREA03 and the second diffusely reflected light LGHT112 heading diagonally forward from a predetermined position on the downstream side of the work moving direction of the imaging range AREA03. It will occur. In the case of this embodiment, among the sensor element groups of the area sensor camera 110, the sensor element group located at the center becomes the region of interest ROI 110 corresponding to the specular reflection light LGHT 110, and the region of interest ROI 111 that captures the first diffuse reflection light LGHT 111. Is set on the upstream side in the work moving direction, and the region of interest ROI 12 that captures the second diffuse reflected light LGHT 112 is set on the downstream side in the work moving direction. The regions of interest ROI 110, ROI 111, and ROI 112 are geometrically determined from the arrangement of the lighting device 130 and the thickness of the web-shaped work W3.

A printer 150 is connected to the computer 140 and is configured to output inspection results. In addition to this, peripheral devices such as a keyboard, a mouse, and a display (not shown) are also connected to the computer 140. Further, as described above, the computer 140 is connected to the area sensor camera 110 and the conveyor motor MT120 so as to input the pixel group captured by the area sensor camera 110 and the encoder signal of the conveyor motor MT120. .. The computer 140 is also connected to output a control signal to the area sensor camera 110, the conveyor motor MT120, and the lighting device 130.

The computer 140 performs a visual inspection by executing the arithmetic processing program shown in FIG. In the visual inspection routine, as shown in FIG. 5A, the computer 140 commands the lighting device 130 to turn on and the conveyor motor MT120 to feed the conveyor (S210). Subsequently, the acquisition of the imaging data from the area sensor camera 110 and the input of the encoder signal from the conveyor motor MT120 are started (S220).

The computer 140 determines whether or not there is a change in the signal of the region of interest ROI 112 that captures the second diffuse reflection light LGHT112 in the imaged data captured from the area sensor camera 110 (S230). The timing at which the signal of the region of interest ROI 112 changes due to the tip of the web-shaped work W3 generating the second diffuse reflected light LGHT 112 is determined.

When there is a change in the signal of the region of interest ROI112 (S230: YES), the pixel group accumulation routine as shown in FIG. 5B is activated (S240). In the pixel group storage routine, the signal of the region of interest ROI 112 is stored in the second diffuse reflection pixel group storage area MEM112 (S241). Subsequently, it is determined whether or not the encoder signal SIG has become the predetermined value SIG1 or more (S242). If SIG <SIG1, exit this routine (S242: NO → return).

On the other hand, when SIG ≧ SIG1 (S242: YES), the signal of the region of interest ROI110 is accumulated in the specular reflection pixel group storage region MEM110 (S243). Subsequently, it is determined whether or not the encoder signal SIG is equal to or greater than the predetermined value SIG2 (> SIG1) (S244). If SIG <SIG2, this routine is exited (S244: NO → return).

When SIG ≧ SIG2 (S244: YES), the signal of the region of interest ROI111 is stored in the first diffuse reflection pixel group storage region MEM111 (S245).

Here, the SIG1 is set to the moving distance L1 shown in FIG. 4, and the SIG2 is set to the encoder signal value corresponding to the moving distance L2 shown in FIG. In this way, in this embodiment, the accumulation start time points of the pixel groups with respect to the storage area MEM112, the storage area MEM110, and the storage area MEM111 are different.

The pixel group accumulation routine continues until the signal in the region of interest ROI111 that captures the first diffuse reflected light LGHT111 changes (S250: NO → S240). The change in the signal of the region of interest ROI111 is set so as to determine the timing at which the rear end of the web-shaped work W3 does not generate the first diffuse reflected light LGHT111.

In this way, when the web-like work W3 invades the imageable range AREA03 and executes the pixel group accumulation routine until it has passed through (S250: YES), the computer 140 commands the lighting device 130 to turn off the light and the conveyor. The motor MT120 is instructed to stop the conveyor (S260).

Next, the computer 140 activates an image data generation routine as shown in FIG. 5 (C) (S270). In the image data generation routine, the specular reflection pixel group storage area MEM110, the first diffuse reflection pixel group storage area MEM51, and the second diffuse reflection pixel group storage area MEM52 are obtained by repeatedly executing the pixel group storage routine. The specular reflection light image data DAT110 based on the specular reflection light LGHT110, the first diffuse reflection light image data DAT111 based on the first diffuse reflection light LGHT111, and the first diffuse reflection light image data DAT111 based on the regular reflection light LGHT110, and the pixel group continuously accumulated by shifting the accumulation start time point, respectively. The second diffuse reflection image data DAT112 based on the second diffuse reflection LGHT112 is generated (S271).

Subsequently, the computer 140 activates a pass / fail determination routine as shown in FIG. 5 (D) (S280). In the pass / fail determination routine, first, the image data DAT for the unit length is read (S281). By shifting the accumulation start timing, the pixel data for a predetermined length from the beginning of each storage area MEM110, MEM1111, MEM112 corresponds to the unit length from the tip of the work.

After reading the image data DAT for the unit length in this way, first, the presence or absence of a shadow is determined based on the specularly reflected light image data DAT110 (S282). When there is no shadow (S282: NO), the barcode print portion is extracted from the first diffuse reflection image data DAT111 and the second diffuse reflection light LGHT112 (S283). Then, it is determined whether or not the barcode is printed correctly (S284). When the barcode is printed correctly (S284: YES), the judgment result is "good" (S285), when the barcode is not printed correctly (S284: NO), the judgment result is "bad". (S286). When it is determined in S282 that there is a shadow, it is immediately determined to be "defective" without going through the processing of S283 or less (S282: NO → S286).

Next, it is determined whether or not the quality determination for the entire length has been completed (S287). If the total length is not completed (S287: NO), the process returns to S281 to read the image data DAT for the next unit length, and the processing of S282 or less is executed. The determination results of S285 and S286 are recorded in a form that specifies the target unit length portion.

When the quality determination for the entire length is completed (S287: YES), the process returns to the main routine and the result of the quality determination is output from the printer 150 (S290).

The processes of S210 to S290 are repeatedly executed until the inspection is completed (S300: NO). When it is determined that the inspection is completed (S300: YES), such as input by the operator, the lapse of the set operating time, or the set number of non-defective products is satisfied, the visual inspection routine is terminated.

Although the examples of the present invention have been described above, the present invention is not limited to this, and can be variously implemented within a range that does not deviate from the gist thereof.

For example, instead of installing the processing program described in the embodiment as software on the computer, the configuration by the programmable cologic controller or the camera itself may have a function. Further, each process such as the pass / fail judgment routine may be performed in parallel.

The present invention can be used for visual inspection of various workpieces.

1 ... Visual inspection device of Example 1, 10 ... Area sensor camera, 11 ... Base plate, 12 ... Support, 13 ... Fixed block, 20 ... Rotating device, 21 ...・ Turntable, 30 ... Lighting device, 31 ... Coaxial epi-illumination device, 32 ... Diffuse lighting device, 40 ... Computer, 41 ... Keyboard, 42 ... Display, AREA01 ... Imaging range, DAT01: first image data based on specular reflected light, DAT02: second image data based on diffuse reflected light, MEM01: specular reflection pixel group storage area, MEM02: diffused Reflective pixel group storage area, MT1 ... Stepping motor, ROI01 ... First area of interest, ROI02 ... Second area of interest, W1 ... Cylindrical work.
2 ... Visual inspection device of Example 2, 50 ... Area sensor camera, 60 ... Rotating device, 61 ... Drive roller, 62 ... Driven roller, 70 ... Lighting device, 71. .. Coaxial epi-illumination device, 72 ... Diffuse lighting device, 80 ... Computer, 90 ... Work transfer device, 91 ... Upstream side conveyor, 92 ... Downstream side conveyor, AREA02 ... Imaging range, DAT50 ... normal reflected light image data, DAT51 ... first diffuse reflected light image data, DAT52 ... second diffuse reflected light image data, LGHT50 ... normal reflected light, LGHT51 ... First diffuse reflection light, LGHT52 ... second diffuse reflection light, MEM50 ... normal reflection pixel group storage area, MEM51 ... first diffuse reflection pixel group storage area, MEM52 ... second Diffuse reflection pixel group storage area, MT60 ... stepping motor, MT91, MT92 ... conveyor motor, ROI50, ROI51, ROI52 ... area of interest, SE60 ... sensor, SOL60 ... solenoid, W2 ... -Cylindrical work.
3 ... Visual inspection device of Example 3, 110 ... Area sensor camera, 120 ... Mobile device, 130 ... Lighting device, 131 ... Coaxial epi-illumination device, 132 ... Diffuse light illumination Device, 140 ... Computer, 150 ... Printer, AREA03 ... Imaging range, DAT110 ... Normal reflected light image data, DAT111 ... First diffuse reflected light image data, DAT112 ... Second Diffuse reflected light image data, LGHT110 ... Normal reflected light, LGHT111 ... First diffuse reflected light, LGHT112 ... Second diffuse reflected light, MEM110 ... Normal reflected pixel group storage area, MEM111 ... .. 1st diffuse reflection pixel group storage area, MEM112 ... 2nd diffuse reflection pixel group storage area, MT120 ... Conveyor motor, ROI110, ROI111, ROI112 ... Interest area, W3 ... Web-like work.

Claims (4)

A rotating device that rotates a cylindrical work around the center of the cylinder of the work within the imaging range of the area sensor camera, an illumination device that irradiates the surface of the cylindrical work located within the imaging range with light, and the rotating device. Provided an image data generation means for generating image data for visual inspection based on image data input from the area sensor camera while rotating the cylindrical work one or more times within the imaging range, and further, the following. A visual inspection device characterized by having the above-mentioned configuration.
(1A) As the illumination device, a coaxial epi-illumination device that irradiates light so as to generate specular reflected light extending from the surface of the cylindrical work in the length direction of the cylinder, and the positive light from the surface of the cylindrical work. It is provided with a diffuse light illuminating device that irradiates light so as to generate diffuse reflected light parallel to the specular reflected light at a position separated from the reflected light by a predetermined distance.
(1B) The image data generation means includes a group of specularly reflected light pixels input from a group of sensors on a line having a predetermined width capable of receiving the specularly reflected light in the image data captured by the area sensor camera. The specular reflection pixel group storage area and the diffuse reflection pixel group storage area for separately storing the diffuse reflection light pixel group input from the sensor group on the line having a predetermined width capable of receiving the diffuse reflection light are provided. By continuously accumulating pixel groups in each pixel group storage area based on the rotation angle information acquired from the rotating device, a first image data based on specular reflected light and a second image based on diffuse reflected light are obtained. It must be configured as a means of generating data. A moving device that moves the web-shaped work in a predetermined direction within the imaging range of the area sensor camera, an illumination device that irradiates the surface of the web-shaped work located within the imaging range with light, and the moving device that moves the web-shaped work. Is provided with an image data generation means for generating image data for visual inspection based on the image data input from the area sensor camera while passing through the imaging range, and further has the following configuration. A visual inspection device characterized by the fact that.
(2A) As the lighting device, a coaxial epi-illumination device that irradiates light so as to generate specularly reflected light extending from the surface of the web-shaped work in a direction orthogonal to the moving direction, and the web-shaped work. It is provided with a diffuse light illuminating device that irradiates light so as to generate diffuse reflected light parallel to the specular light at a position separated from the surface by a predetermined distance from the specular light.
(2B) The image data generation means includes a group of specularly reflected light pixels input from a group of sensors on a line having a predetermined width capable of receiving the specularly reflected light in the image data captured by the area sensor camera. The specular reflection pixel group storage area and the diffuse reflection pixel group storage area for separately storing the diffuse reflection light pixel group input from the sensor group on the line having a predetermined width capable of receiving the diffuse reflection light are provided. By continuously accumulating pixel groups in each pixel group storage area based on the movement amount information acquired from the moving device, a first image data based on specular reflected light and a second image based on diffuse reflected light are obtained. It must be configured as a means of generating data. The visual inspection apparatus according to claim 1 or 2, further comprising the following configuration.
(3) The coaxial epi-illumination device and the diffuse light illumination device are configured as devices that irradiate parallel light having a predetermined width toward the surface of the work. Further, the visual inspection apparatus according to any one of claims 1 to 3, further comprising the following configuration.
(4) The image data generation means has a position of a sensor element group on a line having a predetermined width capable of receiving the specularly reflected light and a position of the sensor element group on a line having a predetermined width capable of receiving the diffuse reflected light. A positional correspondence setting means for setting a positional correspondence between the first image data, the second image data, and the work to be inspected based on the offset amount of Being.