JPH07111325B2 - Visual confirmation device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention mainly relates to a visual confirmation device for confirming a hole position formed in a large work such as an automobile body using a visual sensor.

(Prior Art) Conventionally, when confirming the hole position of a work using a visual sensor, the work is directly illuminated by an illuminator and the reflected light from the work is detected by the visual sensor.

(Problems to be solved by the invention) In the above, the place where the illuminator is installed is limited,
If you have no choice but to irradiate the workpiece obliquely,
Depending on each part of the work, the amount of reflected light toward the visual sensor changes significantly, and malfunctions are likely to occur.For a black work, the image of the illuminator and surrounding objects is reflected on the surface, and the hole position is confirmed. There is a problem that becomes difficult.

Further, it is conceivable to attach an illuminator to the visual sensor, but this causes a problem when the weight is increased and the visual sensor is movable, and the maintainability is deteriorated.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and provide an apparatus capable of surely performing visual confirmation even if the illuminator is arranged laterally of the visual sensor.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention provides a reflecting plate having a through hole facing the lens of the visual sensor formed in the center on the surface of the visual sensor facing the work, A surface of the reflection plate facing the work is formed as a scattering reflection surface, an illuminator for irradiating the scattering reflection surface is provided, and the work is illuminated by light reflected from the scattering reflection surface. To do.

(Operation) When confirming the hole position of the work by illuminating the work with a substantially uniform illuminance over a certain range concentric with the visual field center of the visual sensor by the reflected light scattered and reflected from the scattering reflection surface of the reflector. As a result, the change in brightness in the area other than the hole is reduced, and the image of the hole is clearly formed as a dark portion on the visual sensor, so that the hole position can be accurately confirmed.

Further, even when the work is black, the reflection plate appears bright on the work, so that the image of the surrounding objects is erased by the image of the reflection plate, and the hole position can be accurately confirmed.

(Embodiment) The drawings show an embodiment in which the device of the present invention is used as a constituent element of a positioning device for a vehicle body W which is a work, and
Is a machine base of the positioning device, and (2) and (3) are a pair of front and rear lifts provided on the machine base (1) so as to be able to move up and down. Cylinders are provided on both left and right sides of the front lifter (2). A first slide base (4) that is moved back and forth by (4a) and a second slide base (5) that is moved left and right by a cylinder (5a) are provided on the first slide base (4), and Provided on the second slide base (5) are locating pins (6) fitted into the pair of left and right reference holes Wa, Wa at the front part of the bottom surface of the vehicle body W, and a visual sensor (7) consisting of a CCD camera. A third slide table (8) which is moved back and forth by a cylinder (8a) on a rear lift table (2),
On the third slide base (8), there is provided a fourth slide base (9) which is horizontally movable via a flat bearing (not shown), and the vehicle body W is mounted on the fourth slide base (9).
A pair of left and right receivers (10) (10) for receiving the bottom surface of the was installed.

Then, when the vehicle body W is transported to a position above the machine base (1) by a hanger or the like, each visual sensor (7) causes each reference hole Wa to be conveyed.
Check the position of, and then the 1st and 2nd slide stand (4)
(5) is moved and controlled to move each locate pin (6) to a position directly below each reference hole Wa, and in this state, the first lifting platform (2) is raised to locate each locate pin (6) in each reference hole Wa. )
And the second lifting table (3) is raised to bring the receivers (10) (10) into contact with the bottom surface of the vehicle body W, and the locate pins (6) (6) and the receivers (10) ( 10) to lift the vehicle body W, and then move each locate pin (6) to a predetermined reference position that matches the position of each reference hole Wa when the vehicle body W is in the normal position to position the vehicle body W in the normal position. I decided to do it.

Here, when confirming the hole position by each visual sensor (7), it is necessary to illuminate the bottom surface of the vehicle body. Therefore, the visual field of each sensor (7) is provided on the upper surface of each visual sensor (7) facing the bottom surface of the vehicle body. A reflector (11) having a through hole (11a) formed in the center so as to face the lens of each sensor (7) so as not to cover it.
Was attached, and the light from the illuminator (12) was reflected by the reflector (11) to illuminate the bottom surface of the vehicle body.

In consideration of layout problems and maintainability, the illuminator (12) is mounted on the bracket (1b) on the column (1a) in front of the machine base (1) and on the upper surface of each visual sensor (7). A pair of left and right reflecting plates (11) are provided so as to irradiate from a diagonally front side, and each reflecting plate (11) has a certain surface roughness to scatter light, and is a pear-colored white plate. It is supposed to consist of.

According to the above configuration, the bottom surface of the vehicle body is illuminated with a substantially uniform illuminance over a certain range from below by the reflected light that is scattered and reflected from the scattering reflection surface of the pear-skin texture on the upper surface of the reflection plate (11). If it is black, the reflector (11) will appear white on the bottom of the vehicle,
Only the reference hole Wa becomes the dark part, and the hole position is detected by the visual sensor (7).
Can be confirmed accurately.

(Effects of the Invention) As described above, according to the present invention, even if the illuminator is not attached to the visual sensor or disposed in the vicinity thereof, the work is visually recognized by the reflected light scattered and reflected from the reflector attached to the visual sensor. Even with a black work that can be illuminated with a substantially uniform illuminance over a certain range concentric with the center of the field of view of the sensor, and it is possible to accurately confirm the hole position by the visual sensor even with a black work that easily captures the image of surrounding objects, Since only the reflector is attached to the visual sensor, there is an effect that the weight is increased when the illuminator is attached to the visual sensor, the maintainability is deteriorated, and no problem occurs.

[Brief description of drawings]

FIG. 1 is a side view of a vehicle body positioning device equipped with the device of the present invention, FIG. 2 is a front view thereof, and FIG. 3 is a plan view thereof. W: Car body (work) (7) Visual sensor (11) Reflector (12) Illuminator

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kyoyoshi Hoshino 1-10-1 Shin-Sayama, Sayama-shi, Saitama Prefecture Honda Engineering Co., Ltd. (72) Inventor Mikiya Ito 1-10-1 Shin-Sayama, Sayama-shi, Saitama Prefecture Honda Engineering Co., Ltd. (56) Reference JP-A-62-21007 (JP, A)

Claims (1)

[Claims] 1. A device comprising a visual sensor facing a work, wherein a reflective plate having a through hole facing a lens of the visual sensor formed in the center is provided on a surface of the visual sensor facing the work. A visual confirmation device characterized in that a surface facing the work is formed as a scattering reflection surface, an illuminator for irradiating the scattering reflection surface is provided, and the work is illuminated by light reflected from the scattering reflection surface. .