JPH05281152A - Article inspecting apparatus - Google Patents

Abstract

PURPOSE:To make it possible to inspect to be inspected having three-dimensional inspecting data and to classify the article to be inspected into a plurality of levels. CONSTITUTION:This apparatus is constituted of a CCD camera 16, which picks up the image of the X-Y plane (two-dimensional inspection data) of half-split chopsticks, a warp detection sensor 13, which detects the warping state (three- dimensional inspection data) of the half-split chopsticks in the direction of Z axis 14, an image processing means 38, which discriminates the good or defective state of the half-split chopsticks based on reference data and the picked-up image data, and a determining means, which determines the final good or defective state of the half-split chopsticks based on the results from the image processing means 38 and the warp detection sensor 13. The image processing means 38 has a plurality of reference data, and the half-split chopsticks are classified into a plurality of levels based on the data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention inspects articles to be inspected, such as disposable chopsticks for shape and dirt, knots, discoloration, etc., and classifies them by classifying them into non-defective products and defective products, or first-class, second-class and defective products. The present invention relates to an article inspection device that does.

[0002]

2. Description of the Related Art As a device for inspecting the appearance of various articles to discriminate between non-defective products and defective products, various types of devices have been proposed. One of them is disclosed in JP-A-2-291910. In this method, a sample product (reference product) is first imaged by a camera, the imaged image is binarized by dividing the image into a background and an article, and the number of pixels is counted. Then, an image of the article to be inspected is picked up by the camera, binarized similarly, and the number of pixels is counted. The number of pixels of each of the sample product and the inspected product thus counted is compared to determine whether the inspected product is a good product or a defective product.

[0003]

However, in the conventional article inspection device, the quality is judged based on the two-dimensional inspection information obtained by imaging the appearance of the article to be inspected by the camera. Since it is not possible to inspect not only the shape and color of the inspection information in two dimensions but also the inspection information in three dimensions, that is, the warped state, it is not possible to inspect the article, and thus the inspection is performed with high accuracy. I couldn't.

Further, since it is not possible to classify articles into two kinds of good or bad and not to classify into various kinds of more than three kinds such as the first class, the second class, and the third class, the sub-classification is not possible. It was possible.

Therefore, an object of the present invention is to provide an article inspection apparatus which can take in three-dimensional inspection information to inspect and can classify articles into a plurality of types.

[0006]

In order to achieve the above object, an article inspection apparatus of the present invention comprises an image pickup means for picking up an image of an XY plane of an article to be inspected, and an image picked up by the image pickup means for numerical conversion. Then, image processing means for judging the quality of the inspected article by comparing this data with preset reference data, detection means for detecting a change state of the inspected article in the Z-axis direction, and It is characterized by further comprising: a determining unit that determines a final quality of the inspected article based on a determination result by the image processing unit and a detection result by the detecting unit.

Further, the article inspection apparatus of the present invention captures an image of an article to be inspected, converts an image captured by the image capturing section into numerical values, and compares this data with a plurality of preset reference data. The image processing means for discriminating the article to be inspected step by step is provided.

Further, in the article inspection apparatus of the present invention, the operation for changing the reference for numerically converting the image picked up by the image pickup means in each of the article inspection apparatuses or the reference data preset in the image processing means. It is characterized by having means.

Further, the article inspecting apparatus of the present invention includes a hopper for accommodating an article to be inspected, an alignment pulley for supplying the article to be inspected stored in the hopper, and the article to be inspected placed on a conveyor. A plurality of pallets for carrying the inspection article, an image pickup means for picking up the XY plane of the conveyed article to be inspected, an image picked up by the image pickup means, numerically converted, and this data and preset Image processing means for judging the quality of the inspected article by comparing with reference data, detecting means for detecting a change state of the inspected article in the Z-axis direction, discrimination result by the image processing means and the detection Determining means for determining the final quality of the inspected article based on the detection result of the means, classification means for classifying the inspected article determined by the determining means, and It is characterized in that an operating means for performing work and setting.

Further, the article inspecting apparatus of the present invention is provided with the original aligning means for arranging the articles to be inspected, which are not classified by the classifying means, in the article inspecting apparatus with their directions adjusted according to the position of the center of gravity. It is characterized by.

Further, the article inspection apparatus of the present invention is characterized in that, in the article inspection apparatus, the classification means is an air ejector for ejecting an article to be inspected by air.

[0012]

The article inspecting apparatus according to the first aspect of the present invention operates as follows. First, whichever comes first, the imaging means images the XY plane of the inspected article, and the detection means detects the presence or absence of a change state in the Z-axis direction of the inspected article. The image processing means numerically converts the picked-up image and compares this data with reference data to judge the quality of the inspected article. The deciding means decides the final quality of the inspected article based on the discrimination result by the image processing means and the detection result by the detecting means.

The article inspection apparatus according to the second aspect of the present invention operates as follows. The inspected article is inspected by the image pickup means, the image picked up by the image pickup means is captured by the image processing means, converted into numerical values, and the inspected article is stepped by comparing this data with a plurality of preset reference data. Discriminate.

The article inspection apparatus according to the third aspect of the present invention operates as follows. That is, by providing the operating means in claims 1 and 2, the operating means changes the reference for numerically converting the image captured by the image capturing means or the reference data preset in the image processing means. ..

The article inspection apparatus according to the fourth aspect of the present invention operates as follows. First, the hopper stores the article to be inspected, the alignment pulley supplies the article to be inspected, and the plurality of pallets convey the article to be inspected. Further, the image pickup means takes an image of the XY plane of the conveyed inspected article, and the image processing means takes in the picked-up image and converts it into numerical values, and compares this data with preset reference data. The quality of the inspected article is determined by. Further, the detecting means detects the change state of the inspected article in the Z-axis direction, and the determining means determines the final quality of the inspected article based on the discrimination result by the image processing means and the detection result by the detecting means. Further, the classifying unit classifies the articles to be inspected, the quality of which is determined, and the operating unit operates and sets each operation.

The article inspection apparatus according to the fifth aspect of the present invention operates as follows. That is, by providing the original aligning means in claim 4, the original aligning means arranges and stores the articles to be inspected that have not been classified by the classifying means, with their directions being adjusted according to the position of the center of gravity.

The article inspection apparatus of the present invention as defined in claim 6 operates as follows. That is, in claim 4 or 5, the classification means comprises an air ejector, and the air ejector ejects the inspected article by air.

[0018]

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

FIG. 1 is a schematic side view of an article inspection apparatus which is an embodiment of the present invention. FIG. 2 is a schematic top view of FIG.

The hopper 1 accommodates, for example, disposable chopsticks 2 which are the articles to be inspected in a state of being stacked side by side, and a bottom plate 3 made of a diaphragm provided at the bottom is vibrated in the direction of arrow 4 to sequentially open from the lower opening. Send out the disposable chopsticks 2.
Further, the hopper 1 is configured so that its width W can be changed according to the length of the disposable chopsticks 2. Further, a sensor (not shown) may be provided in the hopper 1 so that when the disposable chopsticks 2 becomes less than a certain amount, it is displayed on an alarm light or the like. The alignment pulley 5 has a gear shape and is rotated in the direction of an arrow 6 by a motor (not shown) so that the disposable chopsticks 2 sent from the hopper 1 are placed on the gears one by one and supplied to the pallet 7.

The pallet 7 is in the form of an L-shaped plate having an elongated hole 7a near its center and is fixed on the conveyor 8 at regular intervals. The conveyor 8 has three sprockets 9, 9, 9 so as to form a horizontal portion 8a and an inclined portion 8b.
A motor (not shown) travels above in the direction of arrow 10. An encoder (not shown) is attached to this motor, and the encoder generates rotation of the motor, that is, a pulse synchronized with the conveyor 8 (conveyor synchronization pulse). This conveyor synchronizing pulse is output every time the pallet 7 travels, for example, 0.5 mm. Also, the disposable chopsticks 2 placed on the pallet 7 are the brush rollers 1 that rotate.
It is aligned by 1, and dust and the like are removed. With this structure, the disposable chopsticks 2 are supplied to the pallet 7 at the inclined portion 8b and tested at the horizontal portion 8a.

The first position detection sensor 12 is the pallet 7
It is detected that the disposable chopsticks 2 placed and conveyed on the top reach the horizontal portion 8a. The warp detection sensor 13, which is a detection unit, includes a light emitting unit 13 a and a light receiving unit 13 with the pallet 7 sandwiched between them at a position immediately behind the first position detection sensor 12.
The disposable chopsticks 2 that are transported by the b
In the Z-axis 14 direction, that is, a warped state (three-dimensional information) is detected. The warp detection sensor 13 is supported on a substrate (not shown) so that the vertical position can be adjusted. The warp detection sensor 13 outputs an NG signal when the split chopstick 2 is warped more than the prescribed value, and thus outputs an NG signal, and otherwise outputs an OK signal.

The second position detecting sensor 15 detects the disposable chopsticks 2 conveyed behind the warp detecting sensor 13. The CCD camera 16 which is an image pickup means is installed immediately behind the second position detection sensor 15 and picks up an image of the XY plane 17 (two-dimensional information) of the conveyed disposable chopsticks 2.
The CCD camera 16 is supported on a substrate (not shown) so that the vertical position can be adjusted. The two illumination means 18, 18 illuminate the split chopsticks 2 imaged by the CCD camera 16 from both sides.

The first air ejector 19, which is one of the classification means, is located below the pallet 7 behind the CCD camera 16 and blows air to the elongated holes 7a of the pallet 7 at a timing described later, Disposable chopsticks 2 on pallet 7
Blow up. The blown-away disposable chopsticks 2 is the first
It is sent to the storage box (not shown) through the passage 20.
One of the classification means located behind the first air ejector 19
The second air ejector 21, which is the second one, has the same structure as the first air ejector 19 and blows the disposable chopsticks 2 on the pallet 7 upward at a timing described later. The blown chopsticks 2 are sent to a storage box (not shown) through the second passage 22. These first and second air ejectors 19, 2
The operation No. 1 is based on input signals from the conveyor synchronization pulse, the first position detection sensor 12, the detection unit 13, the second position detection sensor 15, the image pickup unit 16, and the operation unit 33 described later. Is controlled as described below.

As shown in FIG.
It is composed of first to sixth belts which will be described below and run between two pulleys. The first and second belts 24 and 25 are positioned so as to sandwich the pallet 7,
It slightly overlaps the end of the horizontal portion 8a. The third and fourth belts 26, 27 are respectively the first and second belts 24,
It is installed on the extension line of 25. This first belt 2
The fourth belt 3 and the third belt 26 are connected by a fifth belt 28. Further, a predetermined space 29 is provided between the second belt 25 and the fourth belt 27. In addition, the sixth belt 30 and the fifth belt 28 and the space 29.
And is configured to be movable vertically to the fifth belt 28 so that the distance to the fifth belt 28 can be adjusted. The plurality of belts are driven by the same motor that drives the conveyor 8.

With this construction, the original aligning means 23 first displaces the chopsticks 2 carried on the pallet 7 by first diverting the pallet 7 downward at the end of the horizontal portion 8a, so that the first and second belts 24 are provided. , Receive on 25. The disposable chopsticks 2 that have moved on the first and second belts 24 and 25 are
When the center of gravity is closer to the space 29 than the sixth belt 30, that is, when the thicker one of the chopsticks 2 is closer to the space 29, it falls toward the space 29 and is stored in the first storage box 31. Further, the disposable chopsticks 2 whose center of gravity is closer to the fifth belt 28 than the sixth belt 30 reaches the third and fourth belts 26 and 27 and drops at the end thereof, and is then stored in the second storage box 32. It is stored. In this way, the disposable chopsticks 2 are stored with their directions being adjusted.

The operating means 33 is a speed setting volume 34 for setting the traveling speeds of the conveyor 8 and the original aligning means 23.
And, for example, a first-class and second-class selection switch 35 for reading the reference data of the image processing, a setting button 36 for setting the read reference data, and acceptance of each judgment criterion when judging the first-class or the second-class. It is composed of a volume 37 for changing the range and a start button 46 for starting the discrimination of chopsticks. These volumes and the like will be described in detail in the operation description given later.

Next, the image processing means 38 will be described with reference to FIG. FIG. 3 is a block diagram of the inspection system. The image processing means 38 includes an A / D converter 39 for converting the image data from the image pickup means 16 into a digital amount, an image storage means 40 for storing the data from the A / D converter 39, and a first threshold value storing means. First and second threshold storage means 41, 42;
First and second binarization processing means 43 and 44 for comparing the data from the A / D converter 39 with the data from the first and second threshold value storage means 41 and 42 and binarizing the data; The data from the first and second binarization processing means 43 and 44 are operated to discriminate the disposable chopsticks 2, and the first and second threshold value storage means 41 and 42 are stored in the first and second threshold value storage means 42 based on the data from the image storage means 40. It comprises a graphic system processor 45 (hereinafter referred to as GSP) having a function of setting a threshold value and the like. The GSP 45 operates as a determining means and its function will be described later.

The operation of the article inspection apparatus of this embodiment having the above configuration will be described. For this operation, the first class of disposable chopsticks,
There are a teaching operation of setting a threshold value by reading data for judging the second grade, and a judgment operation of judging the conveyed disposable chopsticks based on the threshold value.

The teaching operation is performed as follows.
First, set the first-class and second-class selection switch 35 of the operation means 33 to 1.
Set to class. This set information is used as the image processing means 38.
Sent to GSP45. Next, the disposable chopsticks 2 serving as a first-class discrimination reference are provided on the pallet 7 in the image pickup area of the image pickup means 16.
Then, the setting button 36 of the operation means 33 is turned on. Upon receiving this signal, the GSP 45 outputs a signal for instructing image pickup to the image pickup means 16. Image pickup means 16 receiving this signal
Captures the disposable chopsticks 2 and outputs the image data to the A / D converter 39. The A / D converter 39 digitally converts this data and outputs it to the image storage means 40. The image storage means 40 stores this data and, at the same time, stores it in the GSP 45.
Output to. The GSP 45 calculates the contour data and the threshold value as the data for the first-class discrimination from this data, and stores the threshold value in the first threshold value storage means 41.

Next, in the same manner, first and second operation means 33 are used.
The class selection switch 35 is set to the class 2, the split chopsticks serving as the classification criterion of the class 2 are imaged, the contour data and the threshold value are calculated from this data as the data for the class 2 discrimination, and the second threshold value storage means 42. This threshold is stored in.

Next, the discriminating operation will be described with reference to FIGS. FIG. 4 is a timing chart of input / output signals of the GSP.

First, the start button 46 of the operating means 33 is turned on while outputting the conveyor synchronizing pulse (a).
As a result, the article inspection device starts the discriminating operation. First, the disposable chopsticks 2 are supplied from the hopper 1 at the inclined portion 8b, are sequentially placed one by one on the pallet 7, and are moved to the horizontal portion 8a of the conveyor 8. At this position, the first position detection sensor 12 detects the presence of the disposable chopsticks 2 and the detection signal (b) shown in FIG.
Is output. Receiving this, the GSP 45 counts the pulse (a) synchronized with the conveyor 8 and detects it.
When the warp detection sensor 13 reaches the detection area, the warp detection sensor 13 reads the detection signal (c) of the three-dimensional information in the warped state, and the signal is used to determine the quality.

Next, the second position detecting sensor 15 detects the further moving chopstick 2 and outputs a detection signal (d) to the GSP 45. Receiving this, the GSP 45 counts the pulse (a) synchronized with the conveyor 8 and outputs a signal (e) for instructing the image pickup means 16 to take an image at the timing when the detected disposable chopstick 2 reaches the image pickup area of the image pickup means 16. To do. The image pickup means 16 takes the X- of the disposable chopsticks 2 at this timing.
The Y plane 17 (two-dimensional information) is imaged, and the A / D converter 39
Output the image data to. The A / D converter 39 digitally converts this data into inspection data, and outputs the first and second inspection data.
To the binarization processing means 43 and 44. The first binarization processing means 43 compares this inspection data with the data stored in the first threshold value storage means 41 and performs binarization processing. Similarly, the second binarization processing unit 44 compares the inspection data with the data stored in the second threshold value storage unit 42 and performs the binarization process.

The GSP is preset with reference data such as a tolerance for deformation of the appearance of the disposable chopsticks related to the first and second grades and a tolerance for the size of the nodes, grain, discoloration, scratches, etc. of the disposable chopsticks. ing. And GSP45
The comparison value between the contour data of the disposable chopsticks on the XY plane 17 after the binarization processing by the first binarization processing means 43 and the contour data of the disposable chopsticks of the first-class discrimination reference set by the teaching operation is previously set. The quality of the external shape such as bending and opening of the split chopsticks with respect to the first grade is judged by whether or not the set reference data regarding the first grade is allowed. In addition, GSP45
The binarized data is used to calculate the size of the area of the disposable chopsticks such as knots, wood grain, discoloration, stains, etc. The disposable chopsticks is determined by whether or not the area data permits preset reference data for the first grade. The quality of 1st grade is judged. Only disposable chopsticks that meet both of these two judgments are judged to be first grade.

Subsequently, the GSP 45 uses the second binarization processing means 44 for the disposable chopsticks that do not meet the first grade judgment standard.
Based on the binarized data, the contour data of the split chopsticks of the second-class discrimination reference obtained by the teaching operation, and the reference data on the second-class, the quality of the second-class is determined in the same manner as the first-class determination method.

Further, the GSP 45, which is a determining means, determines the disposable chopsticks that have failed as a result of detection by the warp detection sensor 13 as a defective product and outputs a discharge signal (f) to the first air ejector 19. This discharge signal (f) is
Is output at the timing when the distance from the imaging position to the first air ejector 19 is measured by counting the conveyor synchronization pulse (a). Upon receiving this signal, the first air ejector 19 sends the disposable chopsticks determined to be defective to the first
Skip to the passage 20 and store. The GSP 45 also blows off the disposable chopsticks that have become defective as a result of the determination by the image processing to the first passage 20 and stores them in a storage box (not shown).

Next, the GSP 45 determines that the disposable chopsticks which are judged as the second grade product by the image processing means 38 are the second grade products, and the discharge signal is sent to the second air ejector 21. Output (g). The discharge signal (g) is output by measuring the distance to the second air ejector 21 in the same manner as the discharge signal (f) of the first air ejector 19. Then, the second air ejector 21
The disposable chopsticks that have become grades are blown off into the second passage 22 and stored in a storage box (not shown).

Further, the GSP 45 includes a warp detection sensor 13
The detection result of 1 is passed, and the image processing means 38 sets 1
The disposable chopsticks that have been judged to be grades are judged to be grade 1. The disposable chopsticks that have become first-class products are conveyed to the original aligning means 23, and in the state where the orientation is adjusted there, the first or second storage boxes 31, 3 are provided.
It is stored in 2.

In addition to the above method, for the sake of safety, the total area of the part recognized as black in the binarized data of the disposable chopsticks determined as the first grade product is calculated, and the calculated result is 1 If the chopsticks do not meet the standard of the grade, the disposable chopsticks may be determined as the second grade. This is to prevent a product having many small stains and the like from being determined as a first-class product.

As described above, the disposable chopsticks are grade 1, grade 2,
Three types of defective products are determined and they are stored in the respective storage boxes. When it is desired to change the determination standard for the image processing, the volume 37 for changing the allowable range of the operation unit 33.
The criteria can be changed by. The change of the determination standard may be performed by changing the threshold value stored in the first or second threshold value storage means 41, 42, or the first or second class preset in the GSP 45. The reference data may be changed.

The article inspection apparatus of the present invention is not limited to the above-mentioned embodiments, but can take various forms within the scope of the present invention.

For example, in the above embodiment, the Z axis 14 of the disposable chopsticks is used.
Using one warp detection sensor 13 provided with a light emitting portion 13a and a light receiving portion 13b as a detecting means for detecting the distortion in the direction, the warp determination of the split chopsticks is classified into two types, a first grade product and a defective product. Two or more warp detection sensors may be used to perform various classifications such as first-class, second-class, and third-class.

Further, it is also possible to use the image pickup means as the detection means and perform the image processing for the detection in the direction of the Z axis 14 to judge the article to be inspected.

Further, the image processing means 38 is not limited to the above-mentioned method, and the judgment may be performed by another method. For example, the bending state of the disposable chopsticks can be determined by measuring the length at a position at a predetermined distance from one end of the disposable chopsticks,
A method of recognizing the open portion of the disposable chopsticks as black and calculating the area thereof to determine the open state of the disposable chopsticks may be used.

Further, the image processing means 38 is of the first class, second class,
Although it is configured to classify into three types of defective products, it is possible to classify into more types by increasing the reference data set in the threshold value storage means, the binarization processing means and the GSP.

In the case of directional disposable chopsticks as the article to be inspected, that is, one of which is thick and the other of which is thin, an original aligning means is required. If the chopsticks do not need to be aligned, the original aligning means may be deleted.

Further, although two air ejectors are provided as the classification means, the number may be appropriately changed according to the number of inspection classifications.

Further, in the present embodiment, the disposable chopsticks have been described as an example of the article to be inspected, but if the article requires the inspection incorporating the three-dimensional inspection information or the article needs to be judged stepwise. It goes without saying that other articles can be inspected by the article inspection apparatus of the present invention.

[0050]

As described above, the article inspection apparatus of the present invention is configured not only to inspect the article to be inspected in the XY plane but also to inspect the article in the Z-axis direction at the same time, and determine the quality based on the inspection results. Since it is possible to perform an inspection that incorporates three-dimensional inspection information, it is possible to perform an accurate inspection.

Moreover, since the image processing of the inspected article is performed and the quality of each of the reference data is determined by using the plurality of reference data, the inspected article can be classified into a plurality of types. And can be subdivided.

[Brief description of drawings]

FIG. 1 is a schematic side view of an article inspection device according to an embodiment of the present invention.

2 is a schematic top view of FIG. 1. FIG.

FIG. 3 is a block diagram of the inspection system of the present invention.

FIG. 4 is a timing chart of GSP input / output signals.

[Explanation of symbols]

 1 Hopper 2 Split chopsticks (inspection object) 3 Bottom plate 5 Alignment pulley 7 Pallet 8 Conveyor 13 Warp detection sensor (detection means) 14 Z-axis direction 16 CCD camera (imaging means) 17 XY plane 20 First air ejector ( (Classification means) 21 second air ejector (classification means) 23 element alignment means 33 operation means 38 image processing means 45 GSP (determination means)

Claims (6)

[Claims] 1. An image pickup means for picking up an XY plane of an article to be inspected, an image picked up by the image pickup means is converted into a numerical value, and the data is compared with preset reference data to obtain the object. The image processing means for determining the quality of the inspected article, the detecting means for detecting the change state of the inspected article in the Z-axis direction, and the inspected article by the discrimination result by the image processing means and the detection result by the detecting means. And an deciding means for deciding the final quality of the article. 2. An image pickup device for picking up an image of an article to be inspected, an image picked up by the image pickup means is numerically converted, and this data is compared with a plurality of preset reference data to obtain the item to be inspected. An article inspection device, comprising: an image processing unit that makes a stepwise determination. 3. An operation means for changing a reference for numerically converting an image picked up by the image pickup means or reference data set in advance in the image processing means. The article inspection device described. 4. A hopper for storing the articles to be inspected, an alignment pulley for supplying the articles to be inspected stored in the hopper, and a plurality of pallets placed on a conveyor for conveying the articles to be inspected. And an image pickup means for picking up an image of the XY plane of the conveyed article to be inspected, an image picked up by the image pickup means is converted into numerical values, and this data is compared with preset reference data. The image processing means for judging the quality of the inspected article, the detecting means for detecting the change state of the inspected article in the Z-axis direction, the judgment result by the image processing means and the detection result by the detecting means. It is provided with a deciding means for deciding the final quality of the inspected article, a categorizing means for categorizing the inspected article decided by the deciding means, and an operating means for operating and setting each operation. An article inspection device characterized by the above. 5. The article inspection apparatus according to claim 4, further comprising original aligning means for aligning and storing the articles to be inspected that have not been classified by the classifying means according to the difference in the position of the center of gravity. 6. The article inspection apparatus according to claim 4, wherein the classification unit is an air ejector that ejects an article to be inspected by air.