JPH07159143A - Confirmation of inspection range in surface inspection equipment - Google Patents

Abstract

PURPOSE:To carry out the proper setting so that no inspection omission is generated at each inspection position, when the surface of a work is inspected by successively shifting an optical inspection unit equipped with an image pick-up means which receives the reflected light from the surface of the work, to each inspection position by the operation of a robot. CONSTITUTION:The position data of a robot at each inspection position and the position data of the effective image part in the image of an image pick-up means are transmitted to a computer (S3 and S4). The coordinates of the effective inspection range on the surface of a work at each inspection position are calculated (S5). The effective inspection ranges H1, H2,...Hn at each inspection position are synthesized and displayed on a display means (S8), and the mutual position relation between the effective inspection ranges can be confirmed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for confirming an inspection range in a surface inspection equipment for inspecting surface defects and smoothness of a painted surface of a work.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 3, a light projecting means 1 including a light source 10 and a condensing optical system 11 such as a convex lens for irradiating a work surface A with a detection light, and a work surface A are used. An optical detector composed of an image pickup means 2 composed of a CCD camera for receiving reflected light is used, and the detector is sequentially moved to each inspection position along the surface of the work by the operation of the robot to inspect the work surface. Surface inspection equipment to be used is known (see Japanese Patent Application Laid-Open No. 5-164700).

If there is a defective portion B having irregularities due to dust or the like on the work surface A, the reflected light from the defective portion B will not be received by the image pickup means 2, and the image of the image pickup means 2 will have a defective portion B.
A dark portion corresponding to appears, whereby the defective portion B can be detected. However, the defective part that can be detected from the image of the imaging means is
The imaging means is only within the effective inspection range of the work surface that can receive the reflected light.Therefore, conventionally, when teaching a robot equipped with an optical detector, a masking tape was attached to the work and The robot is moved while checking how the image is picked up by the image pickup means with a raw image, and each inspection position is taught so that a gap is not formed between the effective inspection ranges at each inspection position and inspection leakage does not occur. .

[0004]

By the way, when the surface of the work is a curved surface, the reflected light is diffused and the effective inspection range is narrowed. Therefore, the pitch between the respective inspection positions is inevitably narrowed and teaching is performed. The number of inspection positions that should be
In the conventional teaching method that relies on the operator's perception, an inspection error is likely to occur due to a work error, and there is a tendency to increase the mutual lap amount of the effective inspection range for safety, resulting in waste. In view of the above points, the present invention is
It is an object of the present invention to provide a method capable of easily confirming the mutual positional relationship of the effective inspection ranges at each inspection position and appropriately setting each inspection position.

[0005]

[Means for Solving the Problems] In order to achieve the above object,
The present invention uses an optical detector composed of a light projecting means for irradiating a work surface with detection light and an imaging means for receiving reflected light from the work surface, and the detector is operated by a robot to operate the work surface. A method for checking an inspection range in a surface inspection equipment that sequentially moves to each detection position along a line and inspects the surface of a workpiece, wherein position data of a robot at each inspection position and an image at each inspection position imaged by an imaging unit The step of calculating the coordinates of the effective inspection range of the work surface at each inspection position from the position data of the effective image portion in the inside, and the effective inspection range at each inspection position are combined and displayed on the display means to display the effective inspection range. And the step of confirming the mutual positional relationship of.

[0006]

In the image of the image pickup means, the effective image portion corresponding to the effective inspection range of the work surface where the image pickup means can receive the reflected light appears as a bright portion, and the position data of the robot at each inspection position and the inspection position at each inspection position. The coordinates of the effective inspection range on the work surface at each inspection position can be determined from the position data of the effective image portion in the image. Then, by combining and displaying the effective inspection range at each inspection position, teaching can be performed while confirming the amount of overlap between the effective inspection ranges, and each inspection position can be set appropriately. Confirmation of omission of inspection can be easily obtained.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a surface inspection facility for inspecting a painted surface of a work composed of an automobile body. An optical detector is mounted on an operating end of a robot 3, and the detector is pre-teached at each inspection position. The robot 3 is moved sequentially to inspect the work surface A.

The optical detector is composed of a light projecting means 1 and an image pickup means 2 composed of a CDD camera similarly to the one shown in FIG. 3, and the light from the light source 10 of the light projecting means 1 is fed to a fiber 12. Through the light-collecting optical system 11 to irradiate the work surface A from the light-collecting optical system 11, and the reflected light of the irradiated detection light from the work surface A is received by the imaging means 2.
The image data of the image pickup means 2 is transmitted to the image processing device 4,
The dark part in the image, which appears due to a defective part having unevenness due to dust on the work surface, is detected.

In the figure, 5 is a robot controller, 6 is an operation panel for teaching, 7 is a computer, and 8 is a monitor. When the teaching operation of the robot 3 is performed using the operation panel 6, the computer 7 is provided with the robot controller 5
To transmit position data of the robot 3 and position data of an effective image portion (a portion where the reflected light from the work surface A is imaged to become a bright portion) in the image of the image pickup unit 2 from the image processing device 4, Workpiece surface A on which the image pickup means 2 can receive reflected light
The computer 7 calculates the coordinates of the effective inspection range and the effective inspection range is displayed on the monitor 8.

The details are as shown in FIG. 2. First, the operation panel 6 operates the robot 3 to move the optical detector to a desired detection position (S1), and then the operation panel 6 is not shown. The display switch is turned on (S2). At this time, the current position data of the robot 3 is transmitted to the computer 7 (S3), and the image processing device 4 further causes the image pickup device 2 to perform the image pickup.
The current image is captured, the position of the effective image portion a in the image is measured, for example, by detecting the coordinates of the four corners, and this position data is transmitted to the computer 7 (S4).

Position data of the robot 3 and effective image portion a
When the position data of the work 3 is transmitted, the computer 7 calculates which part of the work surface A the image pickup means 2 is in the visual field based on the position data of the robot 3, and the calculation result and the effective image part a. The coordinates of the effective inspection range of the work surface A are calculated from the position data of (S5), and the position of the effective inspection range on the work surface A is displayed on the monitor 8 (S6).

The operator looks at the monitor 8 to determine whether or not the current position of the optical detector is appropriate as the detection position, and if so, turns on a confirmation switch (not shown) on the operation panel 6 (S7). ). According to this, the current position of the robot 3 is taught as the detection position, and the effective inspection range of the current position is continuously displayed on the monitor 8 (S8).

The above operation is repeated until the teaching at all inspection positions is completed (S9). In this case, monitor 8
To the effective inspection range H1, H2 ... Hn at each inspection position
Will be combined and displayed, and each inspection position can be appropriately set by confirming the mutual positional relationship of the effective inspection ranges.

When the robot 3 is operated in accordance with the teaching data after teaching, the position data of the robot 3 and the position data of the effective image portion in the image are transmitted to the computer 7 at each detection position, and the monitor 8 detects each detection position. It is also possible to confirm the presence or absence of inspection omission by combining and displaying the effective inspection range in. Further, in the above embodiment, the contour line of the effective inspection range is displayed on the monitor 8, but the effective inspection range may be filled and displayed.

[0015]

As is apparent from the above description, according to the present invention, it is possible to accurately know the mutual positional relationship of the effective inspection ranges at each inspection position, and to prevent each inspection position from being overlooked. Can be set appropriately.

[Brief description of drawings]

FIG. 1 is a system diagram showing a surface inspection facility to which the method of the present invention is applied.

FIG. 2 is a flowchart showing a processing procedure according to the present invention.

FIG. 3 is a diagram showing a configuration of an optical detector.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Light emitting means 2 Imaging means 3 Robot 4 Image processing device 5 Robot controller 7 Computer 8 Monitor (display means)

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Yasuhiro Kawai 1-10-1 Shin-Sayama, Sayama-shi, Saitama Prefecture Honda Engineering Co., Ltd.

Claims (1)

[Claims] 1. An optical detector comprising a light projecting means for irradiating a work surface with detection light and an imaging means for receiving reflected light from the work surface is used, and the detector is operated by a robot. A method for checking an inspection range in a surface inspection equipment that sequentially moves to each detection position along the surface and inspects the surface of a work, including position data of a robot at each inspection position and each inspection position imaged by an imaging unit. The step of calculating the coordinates of the effective inspection range of the work surface at each inspection position from the position data of the effective image portion in the image, and the effective inspection range at each inspection position are combined and displayed on the display means to perform the effective inspection. A method for confirming an inspection range in surface inspection equipment, comprising the steps of confirming the mutual positional relationship of the ranges.