JP7209335B2 - Imaging device and appearance inspection device - Google Patents

Description

The present invention relates to an imaging apparatus and an appearance inspection apparatus using the same.

Conventionally, various devices have been developed for performing defect inspections on objects to be inspected having translucency. As an example, Japanese Patent Application Laid-Open No. 2002-100002 discloses an appearance inspection apparatus for a sheet material having translucency.

The appearance inspection apparatus of Patent Document 1 has two background blocks with different colors, which are arranged in the direction in which the sheet material is conveyed. Two light-receiving elements are arranged above the two background blocks as photographing means, and are arranged along the conveying direction of the sheet material. One of the light-receiving elements is arranged on the upstream side in the conveying direction so as to be able to photograph the sheet material on one of the background blocks (the background block of the second color) arranged on the downstream side in the conveying direction. The other light-receiving element is arranged on the downstream side in the conveying direction so as to be able to photograph the sheet material on the other background block (background block of the first color) arranged on the upstream side in the conveying direction.

The conveyed sheet material first passes over the background block of the first color, and then passes over the background block of the second color. Therefore, the two light receiving elements can photograph the same portion of the sheet material with a time difference. For the same portion of the sheet material, by using the photographed image of the background block of the first color and the photographed image of the background block of the second color, the presence or absence and type of defects can be detected with higher accuracy.

Japanese Patent No. 4903031

However, in the apparatus disclosed in Patent Document 1, light-receiving elements (one form of photographing means) arranged separately between photographing on the background block of the first color and photographing on the background block of the second color are used. Therefore, the shooting conditions such as the shooting direction are different. From the viewpoint of the accuracy and reliability of appearance inspection, it is desirable that the photographing conditions for each background be the same as much as possible.

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide an imaging apparatus that facilitates improvement in the accuracy and reliability of appearance inspection.

In order to achieve the above object, the photographing apparatus of the present invention has a background switching unit that sequentially switches the color of the background provided at a predetermined position to each of a plurality of colors, and in each state in which the background is set to each of the plurality of colors, the above-described A configuration is adopted in which an object to be photographed is superimposed in front of the background.

According to this configuration, it is possible to accurately detect various defects and the like in the object to be photographed by photographing with each of a plurality of background colors. In addition, it is possible to make the photographing means such as the photographing direction the same as much as possible by using the same photographing means for each background.

Further, more specifically as the above configuration, the plurality of colors includes a first color and a second color, and the background switching unit includes a first movable member used as the background of the first color and the background of the second color. and a second movable member used as the first movable member to move the first movable member to the predetermined position, and a second movement to move the second movable member to the predetermined position.

Further, in the photographing apparatus configured as described above for photographing an object in which the side wall of the photographing object having a substantially cylindrical shape is overlapped in front of the background, the predetermined position may be the inner side of the cylindrical shape. According to this configuration, it is possible to suppress the influence of the side wall of the object to be photographed on the side opposite to the photographing means side during photographing.

In the above configuration, the first operation is an operation of inserting the substantially rod-shaped first movable member from one axial end into the object to be photographed, and the second operation is a substantially rod-shaped second movable member. The movable member may be inserted from the other end in the axial direction into the object to be photographed. According to this configuration, the space required for the operation can be reduced compared to, for example, the case where the first movable member and the second movable member are connected.

Further, in the above configuration, the background switching unit includes a substantially bar-shaped member in which the plurality of colors are arranged at different positions in the circumferential direction, and by rotating the member arranged in the predetermined position in the circumferential direction , the color of the background may be switched. According to this configuration, it becomes easy to shorten the tact time involved in switching the background color.

Further, in the above configuration, the photographing object may be photographed using a line camera while rotating the approximately cylindrical photographing object in its circumferential direction. According to this configuration, the side wall of the object to be photographed can be photographed over the entire circumferential direction, and various defects can be detected over the entire circumferential range.

In addition, in the photographing device having the above-described configuration for sequentially photographing the object to be photographed from different angles using a plurality of cameras, movable illumination used when photographing with some of the cameras is provided, and the position during use and the other A lighting movement operation may be performed to move the lighting to and from a position that does not interfere with photographing by the camera. According to this configuration, it is possible to avoid illumination interference during photographing by another camera.

Further, in the photographing apparatus configured as described above for sequentially switching the orientation of the object to be photographed and photographing using the plurality of cameras, the lighting movement operation may be performed in parallel with the orientation switching operation. good. According to this configuration, the tact time can be shortened compared to the case where these operations are performed in order.

In the above configuration, the object to be photographed may be a translucent housing used to form a dialyzer. According to this configuration, it is possible to improve the defect detection performance in the dialyzer housing. Further, an appearance inspection apparatus according to the present invention is provided with the photographing device configured as described above, and is configured to perform the appearance inspection of the object to be photographed based on the image obtained by photographing by the photographing device.

According to the photographing apparatus of the present invention, it becomes easy to improve the accuracy and reliability of appearance inspection. Further, according to the visual inspection apparatus of the present invention, it is possible to enjoy the advantages of the photographing apparatus of the present invention.

It is a figure which shows the arrangement|positioning state of a workpiece|work, a white bar, and a black bar. It is a figure which shows the state which inserted the white stick inside the workpiece|work. It is a figure which shows the state which inserted the black bar inside a workpiece|work. FIG. 10 is a diagram showing a state in which the backlight has been moved to a position for use; FIG. 10 is a diagram showing a state in which the backlight is moved to a non-use position; 1 is a perspective view showing an example of a housing for a dialyzer; FIG. It is a schematic perspective view which shows an example of camera arrangement in an imaging device. It is a side view which shows an example of camera arrangement in an imaging device. 4 is a table showing shooting targets and types for each camera; It is a schematic perspective view showing the arrangement of a camera and lighting in an imaging device. 1 is a block configuration diagram of an imaging device; FIG. It is a table|surface which shows the operation|movement flow of an imaging device. It is a side view which shows the rotation operation flow of the workpiece|work in an imaging device.

An embodiment of the present invention will be described below with reference to the drawings.

1. First Feature of Shooting Method First, the first feature of the shooting method performed by the example of the shooting apparatus according to the present invention will be described with reference to FIGS. 1 to 3. FIG.

As shown in FIG. 1, an object to be imaged by this imaging method is a workpiece W, which is an object to be inspected. The work W is a translucent object to be inspected, and is a transparent cylindrical member as an example here. As shown in FIG. 1, in this photographing method, a white bar B1 and a black bar B2 are used as a background for photographing the workpiece W. As shown in FIG. The white bar B1 and the black bar B2 are opaque bar-shaped members. The white bar B1 is colored white as the background color of the first color. The black bar B2 is colored black as the background color of the second color.

A workpiece W, which is a cylindrical member, extends along the central axis J with the central axis J as the center. Hereinafter, the direction in which the central axis J extends will be referred to as the "axial direction," the radial direction with respect to the central axis J will be referred to as the "radial direction," and the direction around the central axis J will be referred to as the "circumferential direction." The white bar B1 and the black bar B2 are arranged on the central axis J and extend in the axial direction. A work W is set between a white bar B1 and a black bar B2. In other words, the white bar B1 is arranged on one side in the axial direction when viewed from the workpiece W, and the black bar B2 is arranged on the other side.

A camera CM, which is a line camera (line sensor camera), is arranged on the front side of the work W. As shown in FIG. The camera CM captures a line-shaped image for one row. A line camera can have a larger number of pixels in the horizontal direction than an area camera (area sensor camera) for capturing a rectangular image. By photographing the work W with the camera CM while rotating the work W about the central axis J, it is possible to photograph the entire circumferential image of the work W.

The white bar B1 functions as an axially movable first movable member. The black bar B2 functions as a second movable member that is axially movable. With the work W set between the white bar B1 and the black bar B2 as shown in FIG. 1, the white bar B1 is first inserted into the work W from one axial end as shown in FIG. perform the first action to The first action is to move the white bar B1, which is the first movable member, to a predetermined position as the background. With the white bar B1 inserted inside the work W, the work W is rotated in the circumferential direction and photographed by the camera CM.

Next, as shown in FIG. 3, the white bar B1 is ejected from one axial end to the outside of the work W, and the black bar B2 is inserted into the work W from the other axial end. take action. The second action is to move the black bar B2, which is the second movable member, to the predetermined position. In a state in which the black bar B2 is inserted inside the work W, the work W is rotated in the circumferential direction and photographed by the camera CM. The order of inserting the white bar B1 and the black bar B2 into the workpiece W may be reversed.

That is, the color of the background provided at a predetermined position is sequentially switched to white and black by the white bar B1 and the black bar B2. The superimposed subject is photographed by a camera CM. Various defects in the work W can be detected using the image obtained by this photographing. For example, defects such as black dot smudges, white dot smudges, welds, bubbles, and sink marks can be detected. At this time, for example, if only an image with a white background color is used, there is a risk that white spot stains, etc., will not be properly detected due to the background color being assimilated. is canceled.

In addition, since the above method switches the background color, there is no need to provide a plurality of light receiving elements unlike the device disclosed in Patent Document 1, and it is possible to use a common camera CM for shooting with each background color. is. Therefore, it is possible to make the photographing conditions for each background the same as much as possible, and it is easy to improve the accuracy and reliability of the appearance inspection.

In addition, white bars B1 and black bars B2, which are the background, are inserted inside the workpiece W. As shown in FIG. That is, an object is photographed in which the side wall of the workpiece W, which is a cylindrical object to be photographed, is superimposed in front of the background, and the predetermined position is the inner side of the cylinder. As a result, it is possible to photograph the work W without being affected by the side wall on the back side opposite to the camera CM side (front side) of the work W, and detect defects with high accuracy. In addition, when the white bar B1 and the black bar B2 are alternately arranged at the position on the back side of the work W, the side wall on the front side and the side wall on the back side of the work W are photographed overlapping each other, and defects on the side wall on the front side are photographed. The image may become unclear, but this is avoided in the example of the present invention.

As another mode for switching the background color, it is also possible to employ a mode in which the white bar B1 and the black bar B2 are connected to form a single bar and inserted inside the work W. FIG. In this case, the insertion depth of the bar may be switched between the state where the white bar B1 is positioned inside the work W and the state where the black bar B2 is positioned inside the work W. In comparison with this form, when the white bar B1 and the black bar B2 are made independent as shown in FIG. 1, the movement space of the white bar B1 and the black bar B2 can be reduced, and the size of the device can be easily reduced. It is preferable in that

As still another mode of switching the background color, for example, in one columnar bar, a semicircular portion viewed in the axial direction is a white portion, and the remaining semicircular portion is a black portion, and is used as the background member. good too. In this case, the background color can be switched by inserting the background member inside the workpiece W and rotating the background member halfway in the circumferential direction. That is, a substantially bar-shaped background member having a plurality of colors arranged at different positions in the circumferential direction is provided, and the background color is switched by rotating the background member arranged inside the work W in the circumferential direction. be able to. In this form, it is easy to make the background color switchable with three or more colors. For example, if five colors are switchable, the background member has a different color every 72° (=360°/5). After that, the background member is rotated by 72° each time the background color is to be switched. In this embodiment, the background color can be switched simply by rotating the background member, so the tact time for switching the background color can be easily shortened. However, in the case of adopting this form, as the movement of the background member, the movement of rotation as well as the sliding movement is required.

Furthermore, as another form of switching the background color, one background member that emits light may be employed, and the background color may be switched by switching the color of the emitted light or the presence or absence of the emitted light. However, when adopting this form, a light emitter, a light emission control device, and the like are required.

As for the background color to be switched, colors other than white and black may be used, or three or more colors may be applied, depending on the type of object to be photographed and other circumstances. Further, the workpiece W may have a tubular shape other than a cylindrical shape, or may have a sheet shape other than a tubular shape, as long as it has translucency. The first feature of the photographing method described above is used in the operations of the photographing apparatus according to the present embodiment in the order of operations 29 to 33 (see FIG. 12), as will be described later.

2. Second Feature of Imaging Method Next, a second feature of the imaging method performed by the example of the imaging apparatus according to the present invention will be described with reference to FIGS. 4 and 5. FIG.

As shown in FIGS. 4 and 5, a camera CM1 and a camera CM2 are provided to photograph different photographing positions on the workpiece W. As shown in FIGS. The backlight BL is a movable illumination that can be slid between a predetermined use position and a non-use position, and illuminates a predetermined photographing position on the work W photographed by the camera CM1 from the back side.

When photographing with the camera CM1, as shown in FIG. 4, the backlight BL is moved from the unused position to the used position. The use position is the position when the backlight BL is used. However, the use position is located between the camera CM2 and the work W, and is also a position that interferes with the photographing of the work W by the camera CM2.

Next, when photographing the work W with the camera CM2, as shown in FIG. 5, the backlight BL is moved from the use position to the non-use position. The unused position is the position when the backlight BL is not used. The non-use position is not interposed between the camera CM2 and the work W, and even if the backlight BL is present at this position, photographing of the work W by the camera CM2 is not hindered.

In this way, the illumination movement operation of moving the backlight BL between the use position, which is the position used when shooting with the camera CM1, and the non-use position, which is the position that does not interfere with shooting with the other camera CM2, is performed. conduct. As a result, even if the position of the backlight BL used for photographing with the camera CM1 is a position that hinders photographing with another camera CM2, the backlight BL is retracted during photographing with the camera CM2, and the backlight BL is turned off. Interference can be prevented. In the case where the orientation of the workpiece W is sequentially switched for photographing, the tact time (the time required for these operations) can be shortened by performing the illumination movement operation in parallel with the operation for switching the orientation. can be shortened. The second feature of the photographing method described above is used in the operations of the photographing apparatus according to the present embodiment in work orders 2 to 6 (see FIG. 12), as will be described later.

3. Dializer The imaging device according to the present invention can be used for visual inspection of various articles, and for example, it is useful for visual inspection of a housing forming a dialyzer. A dialyzer is known as an instrument used for hemodialysis.

FIG. 6 is a perspective view showing one structural example of a housing which is a component forming the dialyzer. A housing 200 shown in FIG. 6 is a transparent member and is formed in a substantially cylindrical shape. The housing 200 has a body portion 201, a first flange portion 202, and a second flange portion 203, and is integrally formed of polystyrene or the like.

The trunk portion 201 has a cylindrical shape extending in the axial direction around the central axis J. As shown in FIG. A first flange portion 202 that expands and bulges in the radial direction is continuously provided on one axial end face of the body portion 201 . A second flange portion 203 is continuously provided on the other end surface of the body portion 201 in the axial direction, the second flange portion 203 being formed to expand and swell in the radial direction.

The first flange portion 202 has therein an opening portion 202A penetrating in the axial direction. A first threaded portion 202B is formed on the outer peripheral surface of the second flange portion 202 at one end in the axial direction. A first nozzle 204 is formed on the outer peripheral surface of the second flange portion 202 on the other side in the axial direction so as to protrude radially outward.

The second flange portion 203 has therein an opening portion 203A penetrating in the axial direction. A second threaded portion 203B is formed on the outer peripheral surface of the second flange portion 203 on the other side in the axial direction. A second nozzle 205 is formed on the outer peripheral surface of the second flange portion 203 on one side in the axial direction so as to protrude radially outward. The first nozzle 204 and the second nozzle 205 project in the same direction.

A first cap (not shown) is screwed to the first screw portion 202B, a second cap (not shown) is screwed to the second screw portion 203B, and a thin straw is attached to the container comprising the housing 200, the first cap and the second cap. A bundle of dialysis membranes (hollow fibers) having a shape is accommodated to form a dialyzer.

Each of the first cap and the second cap is connected to a blood vessel by a tube. A dialysate flows into the first nozzle 204 from a dialysate supply device (not shown), and a dialysate flows out from the second nozzle 205 to the dialysate supply device. As a result, waste products and excess water in the blood sent from the blood vessels in the body through the second cap into the dialyzer are discharged to the dialysate side and cleaned. The cleaned blood is returned to the body's blood vessels through the first cap.

In the housing 200 that forms such a dialyzer, for example, if foreign matter that forms stains or fragments that are formed when a scratch occurs, there is a risk that the foreign matter or fragments will enter the blood. Therefore, it is important in terms of safety and the like to detect defects in the housing 200 using an imaging device according to this embodiment, which will be described later.

4. Configuration of Photographing Apparatus Next, the photographing apparatus according to this embodiment will be described. The photographing device is formed to perform the photographing methods according to the first and second characteristics described above. It is assumed that the workpiece W, which is an object to be photographed by the photographing apparatus, is the previously described housing 200 for the dialyzer.

FIG. 7 is a schematic perspective view showing the arrangement of cameras in the imaging device 100 according to this embodiment. In FIG. 7, the upstream side in the transport direction of transporting the work W (housing 200) is indicated by X1, and the downstream side in the transport direction is indicated by X2. FIG. 8 is a view showing the camera arrangement when the work W is viewed from the right side as viewed from the downstream side in the transport direction. Further, in the following description, the right side viewed from the downstream side in the transport direction is referred to as the "right side", and the left side viewed from the downstream side in the transport direction is referred to as the "left side". Further, the downstream side front surface in the transport direction is referred to as a "front surface".

As shown in FIG. 7, the photographing apparatus 100 according to the present embodiment includes a first camera C1 to a twelfth camera C12 as photographing means (where the number n camera is denoted by "Cn"). Further, as shown in FIG. 7, the imaging device 100 also includes a roller section 1 . The photographing apparatus 100 uses a plurality of cameras (first camera C1 to twelfth camera C12) to sequentially photograph an object (workpiece W) from different angles.

A work W is loaded from the upstream side in the transport direction and set on the roller portion 1 . The 1st camera C1 to the 12th camera C12 take pictures of the set work W. As shown in FIG. At this time, the work W is rotated around the central axis J by the roller portion 1 as will be described later. In a state where the housing 200 (workpiece W) is set, the first screw portion 202B of the housing 200 is arranged on the right side, and the second screw portion 203B is arranged on the left side.

The table in FIG. 9 shows the shooting targets and types of each camera. The first camera C1 is a line camera, and captures the right side portion (right side of the body) of the body 201 of the housing 200 (workpiece W). The second camera C<b>2 is a line camera and captures the left side portion (left side of the torso) of the torso 201 of the housing 200 .

The No. 3 camera C3 is an area camera, and captures the first screw portion 202B (right screw portion) of the housing 200 as an object. The No. 4 camera C4 is an area camera that captures the second threaded portion 203B (left threaded portion) of the housing 200 . The No. 5 camera C5 is an area camera that captures the front of the first nozzle 204 (right nozzle portion) of the housing 200 . The sixth camera C<b>6 is an area camera, and captures the front of the second nozzle 205 (left nozzle portion) of the housing 200 .

Camera No. 7 C7 is an area camera that captures the outside of the first nozzle 204 (right nozzle portion) of the housing 200 . The eighth camera C<b>8 is an area camera that captures the outside of the second nozzle 205 (left nozzle portion) of the housing 200 . The ninth camera C9 is an area camera, and targets the inside of the first nozzle 204 (right nozzle portion) of the housing 200 . The number 10 camera C10 is an area camera, and targets the inside of the second nozzle 205 (left nozzle portion) of the housing 200 .

The 11th camera C11 is an area camera, and captures the opening 202A (right opening) of the housing 200 as an object. The twelfth camera C<b>12 is an area camera that captures the opening 203</b>A (left opening) of the housing 200 .

In addition, the imaging device 100 according to this embodiment also includes various types of illumination for imaging. FIG. 10 is a diagram showing the lighting arrangement in addition to the camera arrangement in the photographing apparatus 100. As shown in FIG. As shown in FIG. 10, the photographing apparatus 100 includes the first illumination L1, the third illumination L3, the fourth illumination L4, the seventh illumination L7, the eighth illumination L8, the ninth illumination L9, the tenth illumination L10, and the eleventh illumination. L11, No. 12 illumination L12, illumination L1a, and illumination L1b are provided.

The 9th illumination L9 and the 10th illumination L10 are movable illuminations, and other illuminations are stationary. In addition, hereinafter, lighting that illuminates the object to be photographed from the side where the photographing means (camera) is arranged with respect to the object to be photographed is referred to as a "front light", and the photographing means (camera) is arranged with respect to the object to be photographed. The illumination that irradiates the object to be photographed with light from the opposite side is called a "backlight".

Illumination No. 1 L1 is a front light that is used at the time of photographing by camera No. 1 C1 and camera No. 2 C2. Illumination No. 3 L3 is a backlight that is used when shooting with camera No. 3 C3 and camera No. 5 C5. Illumination No. 4 L4 is a backlight that is used at the time of photographing by camera No. 4 C4 and camera No. 6 C6. Illumination No. 7 L7 is a front light used when photographing with camera No. 7 C7. Illumination #8 L8 is a front light used when shooting with camera #8 C8. The eleventh illumination L11 is a front light used when photographing with the eleventh camera C11. The twelfth illumination L12 is a front light used when photographing with the twelfth camera C12. The lighting L1a is a front light that is used when shooting with the fifth camera C5. Illumination L1b is a front light that is used when shooting with camera C6.

The 9th lighting L9 is a backlight used when shooting with the 9th camera C9. Illumination No. 9 L9 can be slid between a position for use (use position) and a position (non-use position) that does not interfere with photographing with camera No. 10 C10. Illumination No. 10 L10 is a backlight that is used at the time of photographing by camera No. 10 C10. Illumination No. 10 L10 can be slid between a position for use (use position) and a position (non-use position) that does not interfere with shooting with camera No. 9 C9.

Also, FIG. 11 shows the block configuration of the imaging device 100 according to the present embodiment. As shown in FIG. 11, the photographing device 100 includes a roller unit 1, a roller driving unit 2, a white bar 3, a white bar moving mechanism unit 4, a black bar 5, a black bar moving mechanism unit 6, and a photographing unit. It includes a unit 7 , a fixed illumination unit 8 , a movable illumination unit 9 , an illumination moving mechanism unit 10 , a display unit 11 , an operation unit 12 and a control unit 13 . Note that the white bar 3, the white bar moving mechanism 4, the black bar 5, and the black bar moving mechanism 6 constitute a background switching unit 50. FIG.

A work W (housing 200) is set on the roller portion 1, and the set work W is rotated around a central axis J. As shown in FIG. The roller driving section 2 rotates the roller section 1 . The white bar 3 and the black bar 5 have the same configurations as the white bar B1 and the black bar B2, respectively. That is, the white bars 3 and the black bars 5 are inserted inside the workpiece W (housing 200) and used as a background during photographing. The white bar moving mechanism 4 inserts the white bar 3 inside the work W or ejects it from the inside of the work W. The black bar moving mechanism 6 inserts the black bar 5 inside the work W or ejects it from the inside of the work W.

The photographing unit 7 includes the first camera C1 to twelfth camera C12 described above. The fixed lighting unit 8 includes the first lighting L1, the third lighting L3, the fourth lighting L4, the seventh lighting L7, the eighth lighting L8, the eleventh lighting L11, the twelfth lighting L12, the lighting L1a, and the lighting L1b. including. The movable illumination unit 9 includes the previously described 9th illumination L9 and 10th illumination L10. The illumination moving mechanism unit 10 slides the 9th illumination L9 and the 10th illumination L10.

The display unit 11 displays an image captured by the image capturing unit 7, a setting screen, various images, and the like, and is configured by, for example, a liquid crystal display device. The operation unit 12 is an interface for the user to operate the photographing apparatus 100, and is composed of, for example, a keyboard.

The control unit 13 comprehensively controls each unit of the imaging device 100 . Note that the display unit 11, the operation unit 12, and the control unit 13 may be realized by a PC (personal computer). Further, the control unit 13 detects the presence or absence of a defect in the work W, the type of the defect, etc., based on the image captured by the image capturing unit 7 . In other words, the photographing apparatus 100 can also be regarded as a visual inspection apparatus that inspects the quality of an object to be photographed based on an image obtained by photographing.

5. Operation of Photographing Apparatus Next, the operation of the photographing apparatus 100 configured as described above will be described with reference to the table shown in FIG. The table shown in FIG. 12 schematically shows, in order from the left side, the order of work, movement of the work W (housing 200), various types of lighting, movement of white bars and black bars, camera for photographing, and lighting for emitting light. there is The numbers in the "camera for shooting" column indicate the camera numbers for shooting, and the numbers in the "illumination for emitting light" column indicate the numbers for the illumination for emitting light.

First, the work W is carried in from the upstream side in the transport direction and set on the roller section 1 (work order 1). In this state, the work W is sandwiched between the white bars 3 and the black bars 5 from both sides in the axial direction, similarly to the state shown in FIG. At this time, the 9th illumination L9 and the 10th illumination L10 are located at the non-use position.

Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the workpiece W to the first rotation position for photographing by the 9th camera C9 and the 10th camera C10 (work order 2). ). In parallel with this, based on a command from the control unit 13, the illumination movement mechanism unit 10 moves the 9th illumination L9 from the non-use position to the use position (work order 2).

Subsequently, based on a command from the control unit 13, the 9th illumination L9 emits light and the 9th camera C9 takes a photograph (operation order 3). At this time, the 10th illumination L10 is positioned at the non-use position, so it does not interfere with the photographing by the 9th camera C9. Next, based on a command from the control unit 13, the illumination movement mechanism unit 10 moves the 9th illumination L9 from the use position to the non-use position, and moves the 10th illumination L10 from the non-use position to the use position (work Order 4).

Subsequently, based on a command from the control unit 13, the 10th illumination L10 emits light, and the 10th camera C10 performs photographing (operation order 5). At this time, since the 9th illumination L9 is positioned at the unused position, it does not interfere with the photographing by the 10th camera C10.

Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the workpiece W to the second rotation position for photographing by the No. 5 camera C5 and No. 6 camera C6 (operation order 6). ). As shown in FIG. 13A, the second rotation position is a position where the nozzles 204 and 205 are displaced by a predetermined rotation angle (<90°) toward the downstream side in the conveying direction from the top position in the vertical direction in side view. . In parallel with this, based on a command from the control unit 13, the illumination moving mechanism unit 10 moves the 10th illumination L10 from the use position to the non-use position (work order 6).

It should be noted that the operations in work orders 2 to 6 correspond to the operations using the second feature described above. Further, in the work order 2, the rotation of the workpiece W and the movement of the ninth illumination L9 are performed in parallel, so that the tact time is shortened compared to the case where these are performed in order. In work sequence 4, the takt time is shortened by moving the 9th lighting L9 and moving the 10th lighting L10 in parallel, compared to the case where these are performed in order. In work sequence 6, the rotation of the workpiece W and the movement of the 10th illumination L10 are performed in parallel, thereby shortening the tact time compared to the case where these are performed in order.

Subsequently, based on a command from the control unit 13, the 3rd illumination L3 and the 4th illumination L4 emit light, and the 5th camera C5 and the 6th camera C6 perform photographing (operation order 7). Next, based on a command from the control unit 13, the illumination L1a and the illumination L1b emit light, and the camera No. 5 C5 and camera No. 6 C6 perform photographing (operation order 8).

Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the work W to the third rotation position (reference position) (operation order 9). As shown in FIG. 13B, the third rotation position is a position where the nozzles 204 and 205 are displaced by a predetermined rotation angle (<90°) toward the upstream side in the conveying direction from the top position in the vertical direction in side view. . Then, based on the command from the control unit 13, the 3rd illumination L3 and the 4th illumination L4 emit light, and the 3rd camera C3, the 4th camera C4, the 5th camera C5, and the 6th camera C6 take pictures (work order 10 ).

Subsequently, based on a command from the control unit 13, the lighting L1a and the lighting L1b emit light, and the third camera C3, the fourth camera C4, the fifth camera C5, and the sixth camera C6 take pictures (operation order 11). Then, based on the command from the control unit 13, the No. 7 illumination L7 emits light and the No. 7 camera C7 takes an image (operation order 12). Next, based on a command from the control unit 13, the No. 8 illumination L8 emits light and the No. 8 camera C8 takes an image (operation order 13). Next, based on a command from the control unit 13, the 11th illumination L11 emits light, and the 11th camera C11 takes an image (operation order 14). Next, based on a command from the control unit 13, the twelfth illumination L12 emits light and the twelfth camera C12 performs photographing (operation order 15).

Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the work W to the fourth rotation position (operation order 16). As shown in FIG. 13C, the fourth rotation position rotates from the third rotation position by 90° in the direction in which the upper part of the work W rotates from the downstream side in the conveying direction toward the upstream side in the conveying direction (normal rotation direction). position.

Subsequently, based on a command from the control unit 13, the 3rd illumination L3 and the 4th illumination L4 emit light, and the 3rd camera C3 and the 4th camera C4 perform photographing (operation order 17). Then, based on a command from the control unit 13, the 11th illumination L11 emits light, and the 11th camera C11 performs photographing (operation order 18). Further, based on a command from the control unit 13, the 12th illumination L12 emits light and the 12th camera C12 performs photographing (operation order 19).

Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the work W to the fifth rotation position (operation sequence 20). The fifth rotational position, as shown in FIG. 13D, is a position rotated by 90° in the normal direction from the fourth rotational position.

Subsequently, based on a command from the control unit 13, the No. 3 illumination L3 and No. 4 illumination L4 emit light, and the No. 3 camera C3 and No. 4 camera C4 perform photographing (operation order 21). Then, based on the command from the control unit 13, the illumination L1a and the illumination L1b emit light, and the camera No. 3 C3 and the camera No. 4 C4 take pictures (operation order 22). Next, based on a command from the control unit 13, the 11th illumination L11 emits light and the 11th camera C11 takes a picture (operation order 23). Next, based on a command from the control unit 13, the twelfth illumination L12 emits light and the twelfth camera C12 performs photographing (operation order 24).

Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the work W to the sixth rotation position (operation order 25). The sixth rotational position, as shown in FIG. 13(E), is a position rotated by 90° in the normal direction from the fifth rotational position.

Subsequently, based on a command from the control unit 13, the No. 3 illumination L3 and No. 4 illumination L4 emit light, and the No. 3 camera C3 and No. 4 camera C4 perform photographing (operation order 26). Then, based on the command from the control unit 13, the 11th illumination L11 emits light, and the 11th camera C11 performs photographing (operation order 27). Further, based on a command from the control unit 13, the 12th illumination L12 emits light, and the 12th camera C12 performs photographing (operation order 28).

Next, based on a command from the control unit 13, the white bar moving mechanism unit 4 inserts the white bar 3 inside the work W (housing 200) (operation sequence 29). Then, based on a command from the control unit 13, the roller driving unit 2 rotates the work W by 360° using the roller unit 1 (work order 30). At this time, based on a command from the control unit 13, the first illumination L1 emits light, and the first camera C1 and second camera C2, which are line cameras, perform photographing (operation order 30). As a result, the body portion 201 of the workpiece W can be photographed over the entire circumferential direction with white as the background color.

Next, based on a command from the control unit 13, the white bar moving mechanism 4 ejects the white bar 3 from the inside of the work W, and the black bar moving mechanism 6 inserts the black bar 5 into the work W (work Order 31). Then, based on a command from the control unit 13, the roller driving unit 2 rotates the work W by 360° using the roller unit 1 (work order 32). At this time, based on a command from the control unit 13, the first illumination L1 emits light, and the first camera C1 and second camera C2, which are line cameras, perform photographing (operation order 32). As a result, the body 201 of the workpiece W can be photographed over the entire circumferential direction with black as the background color.

Next, based on a command from the control unit 13, the roller driving unit 2 uses the roller unit 1 to rotate the work W to a predetermined discharge position, and the black bar moving mechanism unit 6 discharges the black bar 5 from the inside of the work W. (Work order 33). It should be noted that the operations in the work orders 29 to 33 correspond to the operations using the first feature described above. After that, the work W is discharged downstream in the transport direction (work order 34).

By performing a series of operations from work order 1 to work order 34 as described above, each image of each part of the work W photographed from an appropriate angle is obtained. The photographing device 100, which also functions as a visual inspection device, can perform a highly accurate visual inspection of the work W by using each image obtained in this way, and can detect whether or not there is a defect in the work W, the type of the defect, and the like. can be detected.

6. Others As described above, the photographing apparatus 100 according to the present embodiment has the background switching unit 50 that sequentially switches the color of the background provided at a predetermined position between white and black. , photograph the subject with the work W superimposed in front of the background. Therefore, it is possible to accurately detect various defects and the like in the work W by photographing with each of a plurality of background colors. In addition, it is possible to use the same photographing means for each background and to make the photographing conditions such as the photographing direction the same as much as possible, and it is easy to improve the accuracy and reliability of the appearance inspection.

Furthermore, the photographing device 100 is a photographing device that sequentially photographs the workpiece W from different angles using a plurality of cameras, and includes movable lighting (L9, L10) used when photographing with some of the cameras, A lighting movement operation is performed to move the lighting between a position in use (use position) and a position (non-use position) that does not interfere with photographing by another camera. Therefore, even if the position of the lighting used for shooting with some cameras is a position that interferes with shooting with other cameras, the lighting is retracted when shooting with the other cameras so that shooting is not hindered. It is possible to

Although one embodiment of the present invention has been described above, the configuration of the present invention can be modified in various ways in addition to the above-described embodiment without departing from the spirit of the invention. That is, the above embodiments should be considered as examples in all respects and not restrictive, and the technical scope of the present invention is indicated by the scope of claims rather than the description of the above embodiments. It should be understood that all changes that fall within the meaning and range of equivalence to the claims are included.

1 Roller Part 2 Roller Drive Part 3 White Bar 4 White Bar Moving Mechanism Part 5 Black Bar 6 Black Bar Moving Mechanism Part 7 Shooting Part 8 Fixed Lighting Part 9 Movable Lighting Part 10 Lighting Moving Mechanism Part 11 Display Part 12 Operation Part 13 Control Part 50 Background switching unit 100 Photographing device 200 Housing 201 Body 202 First flange 202A Opening 202B First screw 203 Second flange 203A Opening 203B Second screw 204 First nozzle 205 Second nozzle W Work B1 White Bar B2 Black bar CM, CM1, CM2, C1 to C12 Camera L1, L3, L4, L7 to L12, L1a, L1b Lighting BL Backlight

Claims (6)

having a background switching unit for sequentially switching the color of the background provided at a predetermined position to each of a plurality of colors;
In a photographing device for photographing a subject in which the photographing object is superimposed in front of the background in each state in which the background is each of the plurality of colors,
The object to be photographed is a substantially cylindrical housing having translucency and opening at both ends,
The background switching unit
provided corresponding to the first and second openings at the ends of the housing,
a first movable member that is inserted into the housing and used as the background of a first color; and a second movable member that is separate from the first movable member used as the background of a second color,
an operation of inserting the first movable member into the corresponding housing through a first opening of the housing so that the tip thereof is projected from the second opening; and discharging the first movable member from the inside of the housing to the outside. at the timing of inserting the second movable member into the housing through the second opening of the housing so that the distal end of the second movable member comes out of the first opening; and performing an operation of discharging from the second opening,
A photographing device, comprising: a photographing unit for photographing an entire circumference of the housing while rotating the housing in a circumferential direction for each of the background colors . 2. The photographing apparatus according to claim 1, wherein said light-transmitting substantially cylindrical housing having both ends opened is a housing used for forming a dialyzer . 3. The photographing apparatus according to claim 1 , wherein the photographing object is photographed using a line camera while rotating the substantially cylindrical photographing object in its circumferential direction. 4. The photographing device according to any one of claims 1 to 3 , wherein a plurality of cameras are used to sequentially photograph the object to be photographed from different angles,
Equipped with movable lighting used when shooting with some of the cameras,
An imaging apparatus, characterized by performing an illumination movement operation of moving the illumination between a position in use and another position that does not interfere with photographing by the camera. 5. The photographing device according to claim 4, wherein the orientation of the object to be photographed is sequentially switched to perform photographing using the plurality of cameras,
The photographing apparatus, wherein the lighting movement operation is performed in parallel with the direction switching operation. Equipped with the imaging device according to any one of claims 1 to 5 ,
An external appearance inspection apparatus that performs an external appearance inspection of the photographed object based on an image obtained by photographing by the photographing device.

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