JPH01131403A - Outward appearance inspecting method - Google Patents
Outward appearance inspecting methodInfo
- Publication number
- JPH01131403A JPH01131403A JP62288323A JP28832387A JPH01131403A JP H01131403 A JPH01131403 A JP H01131403A JP 62288323 A JP62288323 A JP 62288323A JP 28832387 A JP28832387 A JP 28832387A JP H01131403 A JPH01131403 A JP H01131403A
- Authority
- JP
- Japan
- Prior art keywords
- inspection
- coordinates
- deviation
- teaching
- points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000007689 inspection Methods 0.000 claims abstract description 46
- 238000011179 visual inspection Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 101100141323 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) RNR2 gene Proteins 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
Landscapes
- Image Processing (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の目的〕
（産業上の利用分野）
この発明は、たとえば自動車エンジンなどを組立したの
ち、そのエンジン本体に対して取付けられた部品の誤組
の検査等を行なう外観検査方法に関する。[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention is for, for example, assembling an automobile engine, and then inspecting for incorrect assembly of parts attached to the engine body. Concerning appearance inspection method.
（従来の技術）
自動車エンジンの組立が完了し、出荷する前においては
、エンジン本体の外部に取付けられた各種部品が正規な
ものであるか、正規の位置に取付けられているか、欠品
および誤組を検査して確認する必要がある。そこで、従
来においては、工業用テレビカメラを２台使用し、エン
ジンの上面と周囲の４面を自動的に検査している。(Prior Art) After the assembly of an automobile engine is completed and before it is shipped, it is necessary to check whether the various parts attached to the outside of the engine body are genuine, whether they are installed in the proper positions, and whether there are missing or incorrect parts. The set must be inspected and confirmed. Therefore, conventionally, two industrial television cameras are used to automatically inspect the top surface and four surrounding surfaces of the engine.
すなわち、第３図に示すように、回転テーブル１にエン
ジン２を載置し、このエンジン２の上部に第１のテレビ
カメラ３を、側部に第２のテレビカメラ４を設置してい
る。そして、第１および第２のテレビカメラ３．４の画
像を画像処理装置５を介してＣＲＴ （テレビ画面）６
に表示し、エンジン本体２の表面に取付けられた部品な
どの検査ポイント７・・・における取込みデータ、つま
り平均明度をティーチングデータと比較判定し、良否判
定している。この場合、ＣＲＴ６の画面内の検査部にビ
クセルと呼ぶ検査枠を設け、この部分の平均明度を良品
エンジンと生産品を比較しているが、各検査枠毎の１画
面は、縦・横が５１２・５１２ビツトの画素子に分解で
き、１素子ごとに２５６段階に分れてデータを取込むこ
とによりデータ処理を行なっている。That is, as shown in FIG. 3, an engine 2 is placed on a rotary table 1, and a first television camera 3 is installed above the engine 2, and a second television camera 4 is installed on the side thereof. The images of the first and second television cameras 3.4 are then transmitted to a CRT (television screen) 6 via an image processing device 5.
The data taken in at the inspection points 7, such as parts attached to the surface of the engine body 2, that is, the average brightness, is compared with the teaching data to determine the quality. In this case, an inspection frame called a pixel is set up in the inspection section of the screen of the CRT6, and the average brightness of this area is compared between the non-defective engine and the manufactured product. It can be divided into 512.512 bit pixel elements, and data processing is performed by taking in data in 256 steps for each element.
そして、通常、ＣＯＤカメラを使用しているが、このカ
メラの周囲温度によってＣＲＴの画面の画像のずれが生
じる。つまり、スキャンするときに走査線の速度が温度
によって変化し、カメラの周囲温度によって２〜５％（
１０〜２０°Ｃ変化）左右に位置ずれする。Although a COD camera is normally used, the image on the CRT screen may shift depending on the ambient temperature of this camera. This means that when scanning, the speed of the scanning line changes with temperature, and varies by 2-5% (depending on the ambient temperature of the camera).
10-20°C change) The position shifts from side to side.
（発明が解決しようとする問題点）
前述したように、カメラの周囲温度によって画像ずれが
生じると、ＣＲＴの画面に設けた検査枠からテストワー
クとしてのエンジン本体の画像が外れ、正規の位置に取
付けられている部品にも拘らず、“部品なし”という検
査結果が出てしまうことがあり、検査の信頼性に欠ける
という問題がある。(Problem to be Solved by the Invention) As mentioned above, if image deviation occurs due to the ambient temperature of the camera, the image of the engine body as a test work will be deviated from the inspection frame set on the CRT screen, and the image will be moved to the correct position. There is a problem that the inspection results lack the reliability of the inspection because the inspection result may show "no parts" even though the parts are installed.
この発明は前記事情に着目してなされたもので、その目
的とするところは、カメラの周囲ｍ度によって画像ずれ
が生じても、検査ポイントの取込みデータをそのずれ方
向にフィードバックしてから処理し、正確で信頼性の高
い外観検査方法を提供することにある。This invention was made with attention to the above-mentioned circumstances, and its purpose is to feed back the captured data of the inspection point in the direction of the shift, and then process it, even if the image shift occurs due to the circumference of the camera. The objective is to provide an accurate and reliable visual inspection method.
（問題点を解決するための手段及び作用）この発明は、
表面に検査ポイントを有するテストワークをテレビカメ
ラによってＷａ＠Ｌ、、テレビ画面上に前記検査ポイン
トを画像として表示するとともに、テレビ画面内に検査
枠を設け、この枠内の平均明度のティーチングデータと
検査ポイントにおける取込みデータとを比較することに
より良否判定する方法において、ティーチング時に前記
テストワークの外部でしかもテレビカメラの視野内に設
けられた基準マークの位置を座標で求めるとともに、前
記各検査ポイントの位置を座標で求め、検査時に前記基
準マークの位置とティーチングデータとのずれ量を算出
する。そして、このずれ組のずれ方向にフィードバック
して前記各検査枠を一括して偏位補正し、温度による画
像ずれを補正するようにしたことにある。(Means and effects for solving the problem) This invention has the following features:
A test workpiece having inspection points on its surface is displayed using a television camera as an image, and the inspection points are displayed as an image on the television screen, and an inspection frame is provided within the television screen, and teaching data of the average brightness within this frame is displayed. In a method of determining pass/fail by comparing the captured data at inspection points, during teaching, the position of a reference mark provided outside the test work and within the field of view of a television camera is determined in coordinates, and the position of each inspection point is The position is determined by coordinates, and the amount of deviation between the position of the reference mark and the teaching data is calculated during inspection. Then, feedback is given to the deviation direction of the deviation set to collectively correct the deviation of each of the inspection frames, thereby correcting the image deviation due to temperature.
（実施例）
以下、この発明の一実論例を第１図および第２図に基づ
いて説明する。(Example) Hereinafter, a practical example of the present invention will be explained based on FIG. 1 and FIG. 2.
第１図および第２図において、１１はテーブルであり、
１２はエンジンなどのテストワークである。このテスト
ワーク１２の上面および側面には複数個の部品などの検
査ポイント１３・・・が設けられ、これら各検査ポイン
ト１３・・・の存在を後述する手段によって検査するよ
うになっている。すなわち、１４はＣＯＤなどのテレビ
カメラであって、前記テーブル１１上のテストワーク１
２の上面をＩａ像するようになっており、このテレビカ
メラ１４の視野内で、しかも前記テストワーク１２の外
部の固定部位には基準マーク１５が設けられている。こ
の基準マーク１５は白地に黒または黒字に白のポイント
などのようにコントラストの明確なマークであり、前記
テレビカメラ１４によって撮像することによってＣＲＴ
（テレビ画面）１６に鮮明な画像として表示されるよう
になっており、このＣＲＴ１６には多数の検査枠１７・
・・が設けられている。In FIGS. 1 and 2, 11 is a table;
12 is test work such as an engine. A plurality of inspection points 13, such as parts, are provided on the top and side surfaces of the test work 12, and the presence of each of these inspection points 13 is inspected by means described later. That is, 14 is a television camera such as COD, and the test work 1 on the table 11 is
A reference mark 15 is provided within the field of view of the television camera 14 and at a fixed location outside the test work 12. The reference mark 15 is a mark with a clear contrast, such as a black point on a white background or a white point on a black background, and is imaged by the television camera 14.
(TV screen) 16 as a clear image, and this CRT 16 has many inspection frames 17 and 16.
... is provided.
そこで、まずティーチング時に、画面上に表示された基
準マーク１５の位置をＸ−Ｙ座標で求めるとともに、各
検査ポイント１３・・・のティーチングポイントをｘ−
ｙ座標で求める。そして、この基準マーク１５の位置お
よび各検査ポイント１３・・・のティーチングポイント
をティーチングデータとしてパソコンに記憶する。つぎ
に、検査しようとするテストワーク１２および基準マー
ク１５をテレビカメラ１４によって撮像するが、このと
きテレビカメラ１４の周囲の温度によってＣＲＴ６に表
示された基準マーク１５の位置を座標で求め、ティーチ
ング時のＸ−Ｙ座標からのずれ量を算出する（ΔＸ・Δ
Ｙ）。つぎに、つぎに、位置ずれ量（ΔＸ・ΔＹ）をず
れ方向にフィードバックして前記検査枠１７・・・を−
括して偏位補正してから処理を行なう。このように、検
査ポイント１３・・・が温度によって検査枠１７・・・
から外れても検査枠１７・・・を−括して偏位すること
によって温度による画像のずれが生じても正確に検査で
きる。Therefore, at the time of teaching, first, the position of the reference mark 15 displayed on the screen is found in the X-Y coordinates, and the teaching point of each inspection point 13...
Find it using the y coordinate. Then, the position of the reference mark 15 and the teaching points of each inspection point 13 are stored in the personal computer as teaching data. Next, the test work 12 to be inspected and the reference mark 15 are imaged by the television camera 14. At this time, the position of the reference mark 15 displayed on the CRT 6 is determined by the coordinates based on the temperature around the television camera 14, and the position of the reference mark 15 is determined by coordinates during teaching. Calculate the amount of deviation from the X-Y coordinates (ΔX・Δ
Y). Next, the amount of positional deviation (ΔX, ΔY) is fed back in the deviation direction to move the inspection frame 17...
Processing is performed after the deviation is corrected all at once. In this way, the inspection points 13... are changed depending on the temperature of the inspection frames 17...
Even if the inspection frame 17 .
なお、前記一実施例においては、自動車エンジンの外観
検査において、そのエンジンの上面のみを検査する場合
について説明したが、側面においても同様な方法で検査
でき、またエンジンに限定されず、各種製品の外観検査
に適用できる。In the above embodiment, in the external appearance inspection of an automobile engine, only the top surface of the engine is inspected, but the side surface can also be inspected in the same manner. Applicable to visual inspection.
以上説明したように、この発明によれば、カメラによっ
て外観を検査する際に、周囲温度によって画像ずれが生
じても、ずれ口をずれ方向にフィードバックして検査枠
を一括して偏位補正することによって温度による画像ず
れを補正でき、正確で信頼性の高い外観検査方法を提供
できるという効果がある。As explained above, according to the present invention, even if image deviation occurs due to ambient temperature when inspecting the appearance with a camera, the deviation of the inspection frame is corrected all at once by feeding back the deviation edge in the deviation direction. This has the effect of correcting image shifts due to temperature and providing an accurate and reliable visual inspection method.
第１図および第２図はこの発明の一実施例を示すもので
、第１図は検査状態の正面図、第２図はＣＲＴの画像を
示す説明図、第３図は一般的な外観検査装置の構成図で
ある。
１２・・・テストワーク、１３・・・検査ポイント、１
４・・・テレビカメラ、１５・・・基準マーク、１６・
・・ＣＲＴ、１７・・・検査枠。
出願人代理人 弁理士 鈴江武彦Figures 1 and 2 show an embodiment of the present invention. Figure 1 is a front view of the inspection state, Figure 2 is an explanatory diagram showing a CRT image, and Figure 3 is a general appearance inspection. It is a block diagram of a device. 12...Test work, 13...Inspection point, 1
4...TV camera, 15...Reference mark, 16.
...CRT, 17...Inspection frame. Applicant's agent Patent attorney Takehiko Suzue
Claims (1)
トワークをテレビカメラによつて撮像し、テレビ画面上
に前記検査ポイントを画像として表示するとともに、前
記画面内の検査部に検査枠を設け、この検査枠内おける
平均明度のティーチングデータと検査ポイントにおける
取込みデータとを比較することにより良否判定する外観
検査方法において、ティーチング時に前記テストワーク
の外部でしかもテレビカメラの視野内に設けられた基準
マークの位置を座標で求めるとともに、前記各検査ポイ
ントの位置を座標で求め、検査時に前記基準マークの位
置を座標で求め、テイーチングデータとのずれ量を算出
し、このずれ量をずれ方向にフィードバックして前記検
査枠を一括して偏位補正することを特徴とする外観検査
方法。A test workpiece having one or more inspection points on its surface is imaged by a television camera, the inspection points are displayed as an image on the television screen, and an inspection frame is provided in the inspection area within the screen. In a visual inspection method that determines pass/fail by comparing the average brightness teaching data within the inspection frame with the captured data at the inspection point, a reference mark provided outside the test work and within the field of view of the television camera during teaching is used. The position is determined by coordinates, the position of each inspection point is determined by coordinates, the position of the reference mark is determined by coordinates during inspection, the amount of deviation from the teaching data is calculated, and this amount of deviation is fed back in the direction of deviation. A visual inspection method characterized in that the deviation of the inspection frame is corrected all at once.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62288323A JPH01131403A (en) | 1987-11-17 | 1987-11-17 | Outward appearance inspecting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62288323A JPH01131403A (en) | 1987-11-17 | 1987-11-17 | Outward appearance inspecting method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01131403A true JPH01131403A (en) | 1989-05-24 |
Family
ID=17728693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62288323A Pending JPH01131403A (en) | 1987-11-17 | 1987-11-17 | Outward appearance inspecting method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01131403A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0235342A (en) * | 1988-07-25 | 1990-02-05 | Datsuku Eng Kk | Visual inspection method |
| EP0531811A2 (en) | 1991-08-30 | 1993-03-17 | Canon Kabushiki Kaisha | Hand mechanism for robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6022609A (en) * | 1983-07-19 | 1985-02-05 | Toyota Motor Corp | Method and device for detecting positional deviation of television camera in instrumentation equipment |
| JPS61241611A (en) * | 1985-04-19 | 1986-10-27 | Mitsubishi Electric Corp | Visual sensor |
| JPS62261005A (en) * | 1986-05-07 | 1987-11-13 | Omron Tateisi Electronics Co | Printed-circuit board processing apparatus |
-
1987
- 1987-11-17 JP JP62288323A patent/JPH01131403A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6022609A (en) * | 1983-07-19 | 1985-02-05 | Toyota Motor Corp | Method and device for detecting positional deviation of television camera in instrumentation equipment |
| JPS61241611A (en) * | 1985-04-19 | 1986-10-27 | Mitsubishi Electric Corp | Visual sensor |
| JPS62261005A (en) * | 1986-05-07 | 1987-11-13 | Omron Tateisi Electronics Co | Printed-circuit board processing apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0235342A (en) * | 1988-07-25 | 1990-02-05 | Datsuku Eng Kk | Visual inspection method |
| EP0531811A2 (en) | 1991-08-30 | 1993-03-17 | Canon Kabushiki Kaisha | Hand mechanism for robot |
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