JPH0829358A - Product inspection method by image processing - Google Patents

Product inspection method by image processing

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Publication number
JPH0829358A
JPH0829358A JP16656394A JP16656394A JPH0829358A JP H0829358 A JPH0829358 A JP H0829358A JP 16656394 A JP16656394 A JP 16656394A JP 16656394 A JP16656394 A JP 16656394A JP H0829358 A JPH0829358 A JP H0829358A
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product
inspection
dimensional coordinates
image
test
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Japanese (ja)
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Mikio Ikuta
幹雄 生田
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Meidensha Corp
株式会社明電舎
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Abstract

PURPOSE:To detect a three-dimensional defect by processing an image obtained by photographing an inspection product with one single-lens camera and detecting the three-dimensional shape of the inspection product. CONSTITUTION:The image of an inspection product 1 carried by a belt conveyor 2 is shot by one single-lens camera 3. An image processing part 6 obtains the three-dimensional shape of the inspection product 1 by processing an image at a time (t) and that at a time (t+1). Then, the three-dimensional defect of the inspection product is detected by comparing the three-dimensional shape of the inspection product 1 with that of a conforming product.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【産業上の利用分野】本発明は画像処理による製品検査方法に関し、一台の単眼カメラにより得た画像を処理して製品検査を行う方法において、三次元の欠陥を検出できるように工夫したものである。 The present invention relates to an product inspection method by the image processing, which in the process of performing processing to product inspection image obtained by a single monocular camera, devised so as to detect a three-dimensional defect it is.

【0002】 [0002]

【従来の技術】ラインに載って流れてくる製品の検査を行うために、画像処理装置が利用されている。 Tests to perform product BACKGROUND OF THE INVENTION flowing rests line, the image processing apparatus is utilized. この画像処理装置では、カメラにより製品を撮影し、撮影して得た画像信号をA/Dコンバータにより量子化し、量子化した画像情報(デジタル画像情報)をメモリに記憶する。 In this image processing apparatus, photographing the product by the camera, an image signal obtained by photographing quantized by A / D converter, storing the quantized image information (digital image data) in the memory. そしてコンピュータは、メモリに記憶されているデジタル画像情報を読み出し、信号処理(後述)をして製品の欠陥検出をする。 The computer reads out the digital image information stored in the memory, the defect detection product by signal processing (to be described later).

【0003】製品の欠陥検出のためコンピュータで行う信号処理手順は次のようにして行う。 [0003] The signal processing procedure performed by the computer for product defect detection is performed as follows. なお、ここでは画像信号は一台の単眼カメラで撮影して得た画像信号である。 Here, the image signal is an image signal obtained by photographing by a single monocular camera.

【0004】 まず検査製品を撮影し・デジタル化し・メモリしたデジタル画像情報から、製品の輪郭(エッジ)を求める。 [0004] First test digital image information products and memory and photographed, digitized, obtaining the product of the outline (edge). 輪郭は、デジタル画像情報に対して、差分フィルタ処理と閾値処理をすることによって得られる。 Contour, the digital image information is obtained by the differential filtering and thresholding. また画像の輪郭を追跡していくことにより、製品に対応する閉領域が得られる。 Further, by going to track the contour of the image, it closed regions corresponding to the product is obtained. 予め、正常な製品を撮影し画像処理して得た輪郭(これを「基準輪郭」と称す)をメモリしておく。 Advance to the memory the outline obtained by the image processing by photographing a normal product (this is referred to as "reference contour"). この基準輪郭と、検査製品の輪郭(これを「検査輪郭」と称す)とのマッチング(比較検査)をとる。 And the reference contour, matching a contour of the test product (which will be called a "test profile") (Comparative test) taken. マッチングの結果、基準輪郭と検査輪郭との差が無ければ合検品と判定し、差があるときには欠陥品と判定する。 As a result of the matching, if there is no difference between the reference contour and the test contour is determined that if the inspection, the judges that defective when there is a difference.

【0005】 [0005]

【発明が解決しようとする課題】ところで一台の単眼カメラで撮影した画像信号を画像処理をすることにより製品欠陥を検出する従来技術では、基準輪郭と検査輪郭とのマッチングをとるだけで欠陥検出をしているため、製品の「へこみ」や「出っぱり」等の三次元の欠陥を検出することができなかった。 In the prior art of detecting a product defect by image processing the way the image signal captured by a single monocular camera [0005], defect detection only taking matching between the reference contour and the inspection contour because you are the, it was not possible to detect the three-dimensional defects of the "dent" or "bulge" of products.

【0006】本発明は、上記従来技術に鑑み、一台の単眼カメラで撮影して得た画像信号を画像処理して製品検査を行う方法において、三次元の欠陥を検出することのできる画像処理による製品検査方法を提供することを目的とする。 [0006] The present invention is the view of the prior art, a method of performing image processing to the product inspection image signal obtained by photographing by a single monocular camera, image processing capable of detecting a three-dimensional defect an object of the present invention is to provide a product inspection method according to.

【0007】 [0007]

【課題を解決するための手段】上記課題を解決する本発明の構成は、一方向に移動している検査製品を、一台の単眼のカメラで撮影し、撮影して前記カメラの投影面上に形成された画像を処理することにより検査製品の良否を判定する画像処理による製品検査方法であって、時刻 Configuration of the present invention to solve the above problems SUMMARY OF THE INVENTION are tested products moving in one direction, taken by a single monocular camera, captured by the projection plane of the camera a product inspection method according determining image processing quality inspection product by processing the formed image to the time
(t) における検査製品の投影面上の検査製品画像と、時刻(t+1) における検査製品の投影面上の検査製品画像とから求めた動きベクトルと、時刻(t) における検査製品の三次元座標と、検査製品画像の投影面上での二次元座標との関係式と、時刻(t) における検査製品の三次元座標と、時刻(t+1) における検査製品の三次元座標との関係式と、時刻(t+1) における検査製品の三次元座標と、 Inspection product image on the projection plane of the test products in (t), the time (t + 1) and the motion vector obtained from the inspection product image on the projection plane of the test products in, tertiary test product at time (t) the original coordinates, the relation between the two-dimensional coordinates on the projection plane of the test product image, time and three-dimensional coordinates of the inspection product in (t), the time of the three-dimensional coordinates of the inspection product in (t + 1) and equation, the three-dimensional coordinates of the inspection product at time (t + 1),
検査製品画像の投影面上での二次元座標との関係式とから、検査製品の三次元座標を求め、この求めた三次元座標の値と、あらかじめ設定した三次元座標値とを比較することにより検査製品の良否を判定することを特徴とする。 Be from a relational expression between the two-dimensional coordinates on the projection plane of the test product image, obtains a three-dimensional coordinates of the inspection product, compares the value of the obtained three-dimensional coordinates, a three-dimensional coordinate value set in advance and judging the quality of the test product by.

【0008】また上記課題を解決する本発明の構成は、 [0008] configuration of the present invention for solving the above-
水平面内にx,yを鉛直方向にz軸を規定した三次元座標内で、x軸方向に速度vで移動している検査製品を、 x in a horizontal plane, the inside of a three-dimensional coordinates that define the z-axis in the vertical direction y, the test product that is moving at a velocity v in the x-axis direction,
前記x,y軸に合わせて水平面内にX,Y軸を規定し、 Wherein x, to define X, the Y-axis in accordance with a horizontal plane in the y-axis,
光軸をz軸に投影面をX,Y軸に合わせた一台の単眼カメラで撮影し、撮影した画像を処理することにより検査製品の良否を判定する画像処理による製品検査装置であって、時刻(t) における検査製品の投影面上の検査製品画像と、時刻(t+1) における検査製品の投影面上の検査製品画像とから求めた動きベクトルV mと、時刻(t) における検査製品の三次元座標と、検査製品画像の投影面上での二次元座標との関係式(1)と、時刻(t) における検査製品の三次元座標と、時刻(t+1) における検査製品の三次元座標との関係式(3)(4)(5)と、時刻 The projection plane of the optical axis to the z axis X, taken by a single monocular camera to match the Y-axis, a product inspection device according to determining image processing the quality of the test product by treating the captured image, inspection product image on the projection plane of the test product at time (t), the motion vector V m obtained from the inspection product image on the projection plane of the test product at time (t + 1), the inspection at time (t) and three-dimensional coordinates of product inspection relational expression between the two-dimensional coordinates on the projection plane of the test product image (1), and the three-dimensional coordinates of the inspection product at time (t), at time (t + 1) product relationship between the three-dimensional coordinates of the (3) (4) (5), the time
(t+1) における検査製品の三次元座標と、検査製品画像の投影面上での二次元座標との関係式(8)(9)とから、関係式(10)(11)(12)で示す検査製品の三次元座標x i (t) ,y i (t) ,z i (t) を求め、この求めた三次元座標の値と、あらかじめ設定した三次元座標値とを比較することにより検査製品の良否を判定することを特徴とする。 Since the three-dimensional coordinates of the inspection product in (t + 1), relationship between the two-dimensional coordinates on the projection plane of the test product image (8) (9), equation (10) (11) (12) three-dimensional coordinates of the inspection product represented by x i (t), y i (t), determine the z i (t), comparing the value of the obtained three-dimensional coordinates, a three-dimensional coordinate value set in advance and judging the quality of the test product by.

【数2】 [Number 2]

【0009】 [0009]

【作用】本発明では1台の単眼カメラで撮影して得た、 The [action] The present invention is acquired by shooting by a single monocular camera,
時刻(t) の検査製品画像と時刻(t+1) の検査製品画像を画像処理することにより、検査製品の三次元形状を検出でき、検査製品の三次元形状と良品の三次元形状を比較することにより、検査製品の三次元欠陥の検出ができる。 By the image processing inspection product image of the inspection product image and time at time (t) (t + 1), it can be detected three-dimensional shape of the test product, comparing the three-dimensional shape of the three-dimensional shape and good inspection product by it can detect a three-dimensional defect inspection product.

【0010】 [0010]

【実施例】以下に本発明の実施例を図面に基づき詳細に説明する。 EXAMPLES Based embodiments of the present invention with reference to the drawings will be described below in detail.

【0011】図1は本発明の実施例のシステム構成を示す。 [0011] Figure 1 shows a system configuration of an embodiment of the present invention. 同図に示すように検査製品1はベルトコンベア2に載せられて、矢印A方向に搬送される。 Test product 1 as shown in the figure is placed on belt conveyor 2 is conveyed in the arrow A direction. 単眼の一台のカメラ3は、一定速度vで動くベルトコンベア2の上方に配置されており、検査製品1を上方から撮影して画像信号Eを出力する。 One camera 3 monocular is disposed above the belt conveyor 2 moves at a constant speed v, by photographing the test product 1 from above to output the image signal E. 画像信号Eは、A/Dコンバータ4により量子化されてデジタル画像信号eとなり、このデジタル画像信号eはメモリ5に記憶される。 Image signal E is quantized by the A / D converter 4 digital image signal, e, with the digital image signal e is stored in the memory 5. 画像信号処理部6は、記憶されたデジタル画像信号eを読み出し、次に述べる信号処理をして、検査製品1の欠陥(二次元欠陥のみならず三次元欠陥も含む)を検出する。 The image signal processing unit 6 reads out the stored digital image signals e, and then describe the signal processing to detect a defect of inspection product 1 (including three-dimensional defects not only two-dimensional defects). そして処理画像はモニタ7に映し出される。 The processed image is displayed on the monitor 7.

【0012】なお三次元の座標軸x,y,zは、図1中に示す方向にとった。 [0012] Note that the three-dimensional coordinate axes x, y, z is taken in the direction indicated in FIG. つまり検査製品1の搬送方向Aとx方向とを同じにし、水平面内でx方向と直交する方向をy方向とし、カメラ3の光軸方向(鉛直方向)をz方向とした。 That test product 1 in the conveying direction A of the x-direction and the same west, the direction orthogonal to the x-direction in a horizontal plane and the y-direction, the camera 3 in the optical axis direction (vertical direction) and the z-direction.

【0013】次に画像信号処理部6による信号処理手順を、図2〜図3を参照して説明する。 [0013] Then the signal processing procedure by the image signal processing unit 6 will be described with reference to FIGS. 2-3. 図2及び図3は処理画像を示し、両図の中で示す投影面(Image Plan 2 and 3 show the processed image, the projection plane (Image Plan shown in both FIG.
e)S e) S Iとは図4に示すように、カメラの焦点Fから焦点距離fだけ離れた位置にあり、xy面に対し平行な面である。 The I as shown in FIG. 4, there from the focus F of the camera in a position spaced a focal length f, a plane parallel to the xy plane. なお、三次元の座標軸は小文字のx,y,zで示し、投影面S I上の座標軸を大文字のX,Yで示す。 Incidentally, the three-dimensional coordinate axes represents lowercase x, y, with z, X uppercase coordinate axes on the projection plane S I, indicated by Y.

【0014】図2及び図3において、1(t) は時刻tにおける検査製品、1(t+1) は時刻(t+1) における検査製品、Fはカメラ3の焦点、fは焦点距離を、それぞれ示す。 [0014] In FIGS. 2 and 3, 1 (t) is examined at time t the product, 1 (t + 1) is inspected products at time (t + 1), F is the focus of the camera 3, f is the focal length , respectively.

【0015】画像信号処理部6では、まず、時刻tにおける画像と、時刻t+1における画像から動きベクトルV mを求める。 [0015] In the image signal processing unit 6 first determines the motion vector V m and the image at time t, from the image at time t + 1. つまり図2に示すように、時刻tにおいて検査製品1(t) の任意の点qが投影面S I上に投影された点をQ(t) 、時刻t+1において検査製品1(t+1) That is, as shown in FIG. 2, an arbitrary point q is the point projected onto the projection surface S I Q of the test product 1 (t) at time t (t), the inspection product 1 at time t + 1 (t + 1)
の任意の点qが投影面S I上に投影された点をQ(t+1) Arbitrary point q is a point projected onto the projection surface S I of the Q (t + 1)
とすると、点Q(t) を始点とし点Q(t+1) を終点とするベクトルが動きベクトルV mとなる。 When, vector points to the starting point Q (t) Q (t + 1) and the end point is the motion vector V m. この動きベクトルV mは、時刻tでの画像と、時刻t+1での画像との間で、対応する多数の各点について求める。 The motion vector V m is the image at time t, with the image at time t + 1, determined for the corresponding number of points.

【0016】次に時刻tと時刻t+1の画像に対し、差分フィルタ処理と閾値処理をすることにより、検査製品1(t) , 1(t+1) に対応する輪郭を得る。 [0016] For the next time t and time t + 1 of the image, by the difference filtering and thresholding, test product 1 (t), to obtain a contour that corresponds to 1 (t + 1). そして検査製品画像を示す輪郭で囲まれた閉領域からスタートする動きベクトル(検査製品1の特徴点から得た動きベクトル)は残し、この閉領域の外側からスタートする動きベクトル(ベルトコンベア2の特徴点から得た動きベクトル)を消去する。 The (motion vector obtained from the feature points of the examination product 1) test product motion vector starting image from the closed region surrounded by the contour indicating the leaves, characterized in motion vector (belt conveyor 2 that starts from the outside of the closed area erasing motion vector) obtained from the point.

【0017】図3に示すように、検査製品1のx軸方向、y軸方向、z軸方向の移動量をT As shown in FIG. 3, x-axis direction of the test product 1, y-axis direction, the movement amount of the z-axis direction T x ,T y ,T zとし、カメラ3の焦点距離をfとし、時刻tにおける検査製品1(t) 内の特徴点q i (t) の三次元座標を(x x, T y, T z and the focal length of the camera 3 and f, (x three-dimensional coordinates of the inspection product 1 at time t characteristic point in the (t) q i (t)
i (t) ,y i (t) ,z i (t) )とし、点q i (t) の投影面S I上の点Q i (t) の座標を(X i (t) ,Y i (t) ) i (t), y i ( t), z i and (t)), the point q i (t a projection plane S coordinate of a point on the I Q i (t) of) (X i (t), Y i (t))
とすると、点q i (t) と点Q i (t) との間には次式(1)の関係が成立する。 When the relationship expressed by Equation 1 is established between the points q i (t) and the point Q i (t). なお特徴点は多数あり、その1つを代表してq i (t) で示している。 Incidentally there are many feature points is indicated by q i (t) on behalf of one of them.

【0018】 [0018]

【数3】 [Number 3]

【0019】更に時刻t+1における検査製品1(t+1) [0019] The test product 1 in a further time t + 1 (t + 1)
内の特徴点q i (t+1) の三次元座標をx i (t+1) ,y i The three-dimensional coordinates of the characteristic points of the inner q i (t + 1) x i (t + 1), y i
(t+1) ,z i (t+1) とすると、点q i (t) と点q i (t+ (t + 1), when the z i (t + 1), the point q i (t) and the point q i (t +
1) との間には次式(2)の関係が成立する。 The following relation (2) is established between the 1).

【0020】 [0020]

【数4】 [Number 4]

【0021】ベルトコンベア1の移動速度はvであり、 [0021] The moving speed of the belt conveyor 1 is v,
また図1に示すようにx軸,y軸,z軸の方向を決めたのでT x =v,T y =0,T z =0となる。 The x-axis as shown in FIG. 1, y-axis, so decided direction of the z-axis T x = v, the T y = 0, T z = 0. したがって次式(3)〜(5)が成立する。 Therefore, the following equation (3) to (5) is established.

【0022】 [0022]

【数5】 [Number 5]

【0023】上述した式(2)〜(5)から次式(6) [0023] The above-mentioned formula (2) to (5) the following equation (6)
〜(9)で示す連立方程式が得られる。 Simultaneous equations shown to (9) is obtained.

【0024】 [0024]

【数6】 [6]

【0025】上式(6)〜(9)で示す連立方程式を解くことによって特徴点q i (t) の三次元座標x i (t) , The above equation (6) to the three-dimensional coordinates x i (t) of the feature point q i by solving the simultaneous equations shown in (9) (t),
i (t) ,z i (t) を、次式(10)〜(12)で示すように得ることができる。 y i (t), z i a (t), it can be obtained as shown in the following equation (10) to (12).

【0026】 [0026]

【数7】 [Equation 7]

【0027】なお式(10)(11)(12)においてX i (t+1) −X i (t) は、前述した動きベクトルV mである。 It should be noted equation (10) (11) In (12) X i (t + 1) -X i (t) is the motion vector V m described above.

【0028】このようにして検査製品1の各特徴点q i [0028] Each feature points q i of the test product 1 In this way
の三次元座標を計算してこれを検査三次元座標とする。 To calculate the three-dimensional coordinates of the inspection three-dimensional coordinates it.

【0029】一方、欠陥のない正常な検査製品に対しても、上述した処理をして各特徴点の三次元座標を予め求めておく。 On the other hand, even for the normal test products without defects, it is obtained in advance three-dimensional coordinates of each feature point by the process described above. この三次元座標を基準三次元座標として記憶しておく。 Stored as a reference three-dimensional coordinates of the three-dimensional coordinates.

【0030】そして基準三次元座標と検査三次元座標とを比較し、両者の差がなければ良品であると判定し、両者に差があるときには欠陥があると判定する。 [0030] Then determines that compares the inspection three-dimensional coordinates with reference three-dimensional coordinates, is determined as non-defective if there is no difference between the two, when there is a difference between the two is defective.

【0031】 [0031]

【発明の効果】以上実施例と共に具体的に説明したように本発明によれば、一台の単眼カメラにより得た異なる時刻の画像を処理して、検査製品の各点の三次元座標を求めることができるので、検査製品の各点の三次元座標と、正常な製品の各点の三次元座標を比較することにより、検査製品の三次元欠陥も検出することができる。 According to the present invention as specifically described with above embodiments according to the present invention, by processing the images of different times, obtained by a single monocular camera, obtaining the three-dimensional coordinates of each point of the test product it is possible, by comparing the three-dimensional coordinates of each point of the test product, the three-dimensional coordinates of each point of the normal product, it is also possible to detect the three-dimensional defect inspection product.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】本発明の実施例を示すシステム構成図。 System configuration diagram showing an embodiment of the present invention; FIG.

【図2】本発明の画像処理状態を示す説明図。 Explanatory view showing an image processing condition of the present invention; FIG.

【図3】本発明の画像処理状態を示す説明図。 Figure 3 is an explanatory diagram showing an image processing condition of the present invention.

【図4】実施例の配置状態を示す構成図。 Figure 4 is a configuration diagram showing the arrangement of the embodiment.

【符号の説明】 DESCRIPTION OF SYMBOLS

1 検査製品 2 ベルトコンベア 3 カメラ 4 A/Dコンバータ 5 メモリ 6 画像信号処理部 7 モニタ 1 test product 2 conveyor belt 3 camera 4 A / D converter 5 the memory 6 the image signal processing unit 7 monitors

Claims (2)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】 一方向に移動している検査製品を、一台の単眼のカメラで撮影し、撮影して前記カメラの投影面上に形成された画像を処理することにより検査製品の良否を判定する画像処理による製品検査方法であって、 時刻(t) における検査製品の投影面上の検査製品画像と、時刻(t+1) における検査製品の投影面上の検査製品画像とから求めた動きベクトルと、 時刻(t) における検査製品の三次元座標と、検査製品画像の投影面上での二次元座標との関係式と、 時刻(t) における検査製品の三次元座標と、時刻(t+1) The test products 1. A moving in one direction, taken by a single monocular camera, the quality of the test product by shooting processing the image formed on the projection plane of the camera a product inspection method according determining image processing was determined from the inspection product image on the projection plane of the test product at time (t), the time the inspection product image on the projection plane of the test products in (t + 1) a motion vector, and the three-dimensional coordinates of the inspection product at time (t), and relationship between the two-dimensional coordinates on the projection plane of the test product images, and three-dimensional coordinates of the inspection product at time (t), the time ( t + 1)
    における検査製品の三次元座標との関係式と、 時刻(t+1) における検査製品の三次元座標と、検査製品画像の投影面上での二次元座標との関係式とから、検査製品の三次元座標を求め、この求めた三次元座標の値と、あらかじめ設定した三次元座標値とを比較することにより検査製品の良否を判定することを特徴とする画像処理による製品検査方法。 From the relationship between the three-dimensional coordinates of the inspection product, the three-dimensional coordinates of the inspection product at time (t + 1), and relationship between the two-dimensional coordinates on the projection plane of the test product image in, the test product calculated three-dimensional coordinates, the value of the three-dimensional coordinates obtained, the product inspection method using image processing and judging the quality of the test product by comparing the three-dimensional coordinate value preset.
  2. 【請求項2】 水平面内にx,yを鉛直方向にz軸を規定した三次元座標内で、x軸方向に速度vで移動している検査製品を、 前記x,y軸に合わせて水平面内にX,Y軸を規定し、 Wherein x in a horizontal plane, the inside of a three-dimensional coordinates that define the z-axis in the vertical direction y, the test product that is moving at a velocity v in the x-axis direction, to match the x, the y-axis the horizontal plane X, and Y axis is defined within,
    光軸をz軸に投影面をX,Y軸に合わせた一台の単眼カメラで撮影し、 撮影した画像を処理することにより検査製品の良否を判定する画像処理による製品検査装置であって、 時刻(t) における検査製品の投影面上の検査製品画像と、時刻(t+1) における検査製品の投影面上の検査製品画像とから求めた動きベクトルV mと、 時刻(t) における検査製品の三次元座標と、検査製品画像の投影面上での二次元座標との関係式(1)と、 時刻(t) における検査製品の三次元座標と、時刻(t+1) The projection plane of the optical axis to the z axis X, taken by a single monocular camera to match the Y-axis, a product inspection device according to determining image processing the quality of the test product by treating the captured image, inspection product image on the projection plane of the test product at time (t), the motion vector V m obtained from the inspection product image on the projection plane of the test product at time (t + 1), the inspection at time (t) and three-dimensional coordinates of product, the relationship between the two-dimensional coordinates on the projection plane of the test product image (1), and the three-dimensional coordinates of the inspection product at time (t), the time (t + 1)
    における検査製品の三次元座標との関係式(3)(4) Relationship between the three-dimensional coordinates of the inspection product in (3) (4)
    (5)と、 時刻(t+1) における検査製品の三次元座標と、検査製品画像の投影面上での二次元座標との関係式(8)(9) And (5), the time (t + 1) and the three-dimensional coordinates of the inspection product in relation expression between the two-dimensional coordinates on the projection plane of the test product image (8) (9)
    とから、関係式(10)(11)(12)で示す検査製品の三次元座標x i (t) ,y i (t) ,z i (t) を求め、 From, it obtains a relational expression (10) (11) three-dimensional coordinates x i of the test product indicated by (12) (t), y i (t), z i (t),
    この求めた三次元座標の値と、あらかじめ設定した三次元座標値とを比較することにより検査製品の良否を判定することを特徴とする画像処理による製品検査方法。 The value of the three-dimensional coordinates obtained, the product inspection method using image processing and judging the quality of the test product by comparing the three-dimensional coordinate value preset. 【数1】 [Number 1]
JP16656394A 1994-07-19 1994-07-19 Product inspection method by image processing Pending JPH0829358A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16656394A JPH0829358A (en) 1994-07-19 1994-07-19 Product inspection method by image processing

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Application Number Priority Date Filing Date Title
JP16656394A JPH0829358A (en) 1994-07-19 1994-07-19 Product inspection method by image processing

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JPH0829358A true true JPH0829358A (en) 1996-02-02

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7021107B2 (en) 2002-12-17 2006-04-04 Usui Kokusai Sangyo Kaisha Limited Bending processor of pipe
US7104100B2 (en) 2003-12-15 2006-09-12 Usui Kokusai Sangyo Kaisha Limited Bending device for tube
US9934251B2 (en) 2008-08-08 2018-04-03 Nikon Corporation Search supporting system, search supporting method and search supporting program

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7021107B2 (en) 2002-12-17 2006-04-04 Usui Kokusai Sangyo Kaisha Limited Bending processor of pipe
US7104100B2 (en) 2003-12-15 2006-09-12 Usui Kokusai Sangyo Kaisha Limited Bending device for tube
US9934251B2 (en) 2008-08-08 2018-04-03 Nikon Corporation Search supporting system, search supporting method and search supporting program

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