JPH10143641A - Image pickup method and image pickup device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To excellently pick up an image even with a part surface coated with oil and to improve check efficiency by sinking a part into an oil reservoir into which oil is poured and photographing with the part irradiated. SOLUTION: A part 1 whose surface is coated with oil for rustproof is taken out from a prescribed position by a part supply device and sunk into oil 3 of an oil reservoir 2. Next, a camera 4 and illuminators 5 are set to their prescribed position and the image of the part 1 is picked up. The image of the part 1 that is picked up by the camera 4 is processed by an image processing unit 6, e.g. it is compared with a template that fetches a variable density pattern of a part surface in advance and processing such as a variable density matching, etc., which detects the position and phase of the part 1 is carried out. In this way, by photographing the part 1 with the part 1 sunk into the oil, the irregularity of the part 1 surface disappears, an excellent pickup image is acquired and normal image processing can be performed. Because there is no need to wipe the oil from the part 1, check efficiency is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to imaging for detecting the position and orientation and phase of a component to which oil is attached (especially a sliding component such as a bearing) for the purpose of rust prevention or the like. It is about the method.

[0002]

2. Description of the Related Art Generally, a method for detecting the position and orientation of a component is to detect the position and orientation and phase by imaging a target component and performing image processing such as light and shade pattern matching on the captured image. However, in imaging when performing image processing,
It is assumed that foreign matter, especially liquid such as oil, does not adhere to the surface of the part to be photographed. Therefore, when parts are delivered from the manufacturer, parts that have oil attached for the purpose of rust prevention (particularly bearings, etc.) Sliding parts) wiped off foreign substances such as oil or blown off with air.

[0003]

Since the conventional imaging method is performed as described above, even if the oil on the surface of the component is wiped off, it may not be completely wiped off, and the oil may be partially adhered. When image processing such as light and shade pattern matching is performed on a captured image, there is a problem that a light and dark pattern changes due to the effect, and normal processing cannot be performed.

[0004] In the case of sliding parts, oil is often applied to the parts when the parts are finally assembled, and the oil applied when delivered from the manufacturer is used only for image processing. The operation of wiping and applying the oil again has to be performed, which is very troublesome and inefficient.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and provides an imaging method and an imaging apparatus which can perform good imaging even when oil is applied to the surface of a part and which has high inspection efficiency. The purpose is to do.

[0006]

An imaging method according to the present invention is a method in which a part is immersed in an oil sump filled with oil, and an image is taken by an imaging means while irradiating the part with an illumination means.

Further, the oil level of the oil reservoir is controlled so that surface tension does not act between the component and the oil level.

Further, a polarizing filter is used for the imaging means.

In addition, a transparent plate having a transparent portion partially or entirely is placed on the oil surface of the oil reservoir, and the component is illuminated from the transparent portion by illumination means and imaged by imaging means.

Further, a side plate for connecting the transparent plate and the image pickup means is provided and integrated.

Further, a part or the whole of the imaging means is immersed in oil in an oil reservoir.

Further, a part or the whole of the lighting means is immersed in the oil of the oil reservoir.

Further, a transparent portion is provided on a part or the entirety of the oil reservoir side wall, and the component is irradiated from below the oil level of the transparent portion by the illumination means.

Further, a transparent portion is provided on a part or the whole of the bottom surface of the oil reservoir, and the parts are illuminated by the illuminating means from the transparent part and imaged by the imaging means.

Further, the oil level of the oil reservoir is made lower than the upper surface of the component.

An image pickup apparatus according to the present invention comprises an oil reservoir in which oil is injected, on which a component is placed, illumination means for irradiating the component with a light beam, and an image formed by receiving reflected light of the light beam applied to the component. And an imaging means for obtaining.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiment 1 Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an imaging method and an imaging apparatus according to Embodiment 1 of the present invention. In the figure, 1
Is a component to be imaged, and is, for example, a slider which is a component necessary for realizing the swinging motion of the orbiting scroll in the scroll compressor. The slider must be incorporated in phase with the main shaft, and the upper and lower parts must not be mistakenly incorporated for forming the lubricating oil flow path. In addition, since the sliding parts are used, they are assembled to the compressor in a state where oil is applied to the whole. 2 is an oil sump, 3 is oil injected into the oil sump 2, and the component 1 is submerged in the oil 3. Reference numeral 4 denotes an imaging unit (hereinafter referred to as a camera) for imaging the component 1;
Is an illuminating means for irradiating the component 1 and is, for example, a ring illumination (hereinafter referred to as an illuminating device). Reference numeral 6 denotes an image processing unit that performs image processing such as light and shade pattern matching on an image captured by the camera 4.

Next, an imaging method using the imaging apparatus of the present embodiment will be described. First, the part 1 is supplied with oil from a part maker to the surface thereof for rust prevention, but is put into the line without wiping off the oil on the surface or washing it off by washing. Part 1
Is placed in the oil reservoir 2 from a predetermined position by a component supply mechanism (not shown). At this time, the camera 4 and the lighting device 5
Are retracted by a moving means (not shown) so as not to interfere with the component supply mechanism. Next, the camera 4 and the lighting device 5
Comes to a predetermined position, and images the component 1. The image of the component 1 captured by the camera 4 is
For example, processing such as light-and-dark pattern matching for detecting the position and phase of the component is performed by comparing the light-and-light pattern on the surface of the component with a template that has been previously captured. The component 1 for which imaging has been completed is again taken out of the oil reservoir 2 by the component supply mechanism, and is assembled to, for example, a scroll compressor. Needless to say, when the component 1 is taken out of the oil sump 2, the camera 4 and the lighting device 5 are retracted so as not to interfere.

As described above, if the component 1 is submerged in oil and imaged, the surface of the component 1 is not uneven, a good captured image can be obtained, and normal image processing can be performed. Therefore, even if the parts are supplied while the oil is applied from the manufacturer, it is not necessary to wipe off the oil, so that the inspection efficiency is improved.

Embodiment 2 In the present embodiment, in order to obtain a better captured image than in the first embodiment,
An oil level control mechanism is provided to stabilize the oil level and suppress irregular reflection and irregular refraction due to unevenness of the oil level.

Here, the effect of the reflected light on the oil surface on the captured image when the illumination device 5 irradiates the component 1 will be described. FIG. 2 is a schematic diagram showing a state of irregular reflection and irregular refraction on the oil surface. In the figure, 31 is an oil surface, 7 is a light beam emitted from the illumination device 5 and is incident light incident on the oil surface 31, 8
Is the transmitted light transmitted through the oil surface of the incident light 7, and 9 is the incident light 7
Is the reflected light reflected on the oil surface.

Part of the incident light 7 on the oil 3 is transmitted through the oil surface 31 to become transmitted light 8, and part of the light is reflected to become reflected light 9. At this time, it is known that the reflected light 9 is close to polarized light. Also, the oil surface 31 of the oil 3 as a liquid has delicate irregularities as shown in the figure and is not completely flat, so that the reflected light 9 is irregularly reflected by the irregularities of the oil surface 31 and the transmitted light 8 is irregularly refracted. Due to the effects of irregular reflection and irregular refraction on the oil surface 31, the oil 3
It becomes difficult to image the component 1 inside.

The present embodiment is designed to eliminate the unevenness of the oil surface which causes irregular reflection and irregular refraction as described above. As the part 1 is moved in and out of the oil reservoir 2, the amount of oil decreases, and when the distance between the oil surface and the upper surface of the component 1 decreases, a concave portion is formed on the oil surface due to the surface tension between the oil surface and the upper surface of the component 1. The concave portions cause irregular reflection and irregular refraction.
In order to prevent this, in the present embodiment, an oil amount control mechanism (not shown) is provided to control the oil amount so that the oil level is maintained within a predetermined range. Suppresses the occurrence of unevenness on the oil surface that causes turbulent refraction.

If a polarizing filter is attached to the lens of the camera 4, the above-mentioned polarized light component of the reflected light 9 can be removed, and a better imaged image can be obtained.

If the oil reservoir 2 is made sufficiently large with respect to the imaging field of view, the oil 3 near the oil reservoir 2 side wall rises due to the surface tension between the side wall of the oil reservoir 2 and the oil 3 (the oil reservoir 2 is raised). Depression depending on the material) can be suppressed, and irregular reflection due to the swelling can be prevented.

Embodiment 3 FIG. FIG. 3 shows the third embodiment.
FIG. 2 is a diagram showing an imaging method according to the first embodiment. In the figure, reference numeral 10 denotes a transparent plate having a transparent portion placed on the oil surface, and 11 denotes a transparent plate 1
0, a side plate connecting the camera 4 and the lighting device 5. Since the component 1 is imaged by the camera 4 from the transparent portion of the transparent plate 7 placed on the oil surface, the transparent plate 10 suppresses the occurrence of unevenness on the oil surface which causes irregular reflection and irregular refraction. Obtainable.

Embodiment 4 FIG. 4 shows the fourth embodiment.
FIG. 2 is a diagram showing an imaging method according to the first embodiment. As shown in the figure, the illumination device 5 has a larger diameter than the ring illumination used in the first and second embodiments. By setting the light emission point of the illumination at a position away from the camera 4 on a plane perpendicular to the lens optical axis of the camera 4, the configuration is such that reflected light on the oil surface is hardly taken into the camera 4. Can be obtained.

Embodiment 5 FIG. 5 shows the fifth embodiment.
FIG. 2 is a diagram showing an imaging method according to the first embodiment. In the figure, 21 is a transparent part provided on the side wall of the oil reservoir 2. As shown in the figure, the lighting device 5 is installed below the oil level on the outer periphery of the oil reservoir 2 and irradiates the component 1 through the transparent portion 21. By adopting such a method, a light beam falls below the oil surface, so that a good captured image can be obtained without being affected by light reflected on the oil surface.

In the fifth embodiment, the transparent portion 21 is provided on a part of the side wall of the oil reservoir 2, but it goes without saying that the same effect can be obtained even if the entire oil reservoir side wall is transparent. . Further, when the camera 4 captures an image from above the transparent plate 10 as in the third embodiment, the occurrence of unevenness on the oil surface can be suppressed.

Embodiment 6 FIG. FIG. 6 shows the sixth embodiment.
FIG. 2 is a diagram showing an imaging method according to the first embodiment. As shown in the figure, by immersing the illumination device 5 in the oil 3, the component 1 is illuminated from the oil, and an image can be taken without being affected by the reflected light on the oil surface.

In the sixth embodiment, the lighting device 5
Is immersed in the oil 3, but the same effect can be obtained by immersing the camera 4 or both the lighting device 5 and the camera 4. Further, if the illuminating device 5 and the transparent plate used in the third embodiment are integrally immersed in the oil 3, the occurrence of unevenness on the oil surface can be suppressed.

Embodiment 7 FIG. 7 shows Embodiment 7
FIG. 2 is a diagram showing an imaging method according to the first embodiment. In the figure, reference numeral 22 denotes a transparent portion provided on the bottom surface of the oil reservoir 2. As shown in the figure, the lighting device 5 is installed below the oil reservoir 2 and irradiates the component 1 from below through the transparent portion 22. When such a method is employed, when the component 1 is supplied to the oil reservoir 2 by a component supply mechanism (not shown), it is not necessary to retract the camera 4 and the illumination device 5, and the efficiency is improved. Further, since the image is taken from under the oil reservoir, it is not necessary to completely immerse the component 1 in the oil 3, and the amount of the oil 3 used can be reduced.

In the first to seventh embodiments, the illuminating device uses the ring illumination. However, the present invention is not limited to this.

In Embodiments 1 to 7, the moving means for retracting the camera 4 and the lighting device 5 is provided. However, the camera 4 and the lighting device 5 are installed in a component supply mechanism for supplying the component 1. You may do it.

[0035]

As described above, according to the first aspect of the present invention, since the imaging is performed by immersing the component in the oil reservoir, the imaging can be performed well even when oil is applied to the surface of the component, and the inspection efficiency can be improved. Is obtained.

According to the second aspect of the present invention, the oil level of the oil reservoir is controlled so that surface tension does not act between the component and the oil level. Thus, the effect of suppressing the occurrence of unevenness on the oil surface and improving imaging can be obtained.

According to the third aspect of the present invention, since a polarizing filter is used for the image pickup means, the reflected light on the oil surface can be cut, and an effect of good image pickup can be obtained.

According to the fourth aspect of the present invention, a transparent plate having a transparent portion is disposed partially or entirely on the oil surface of the oil reservoir, and the component is illuminated from the transparent portion by the illumination means and is illuminated by the imaging means. Since the imaging is performed, the occurrence of unevenness on the oil surface which causes irregular reflection and irregular refraction is suppressed, and an effect of good imaging can be obtained.

According to the fifth aspect of the present invention, the side plate connecting the transparent plate and the image pickup means is provided and integrated, so that the occurrence of unevenness on the oil surface which causes irregular reflection and irregular refraction is suppressed. The effect of good imaging can be obtained.

According to the sixth aspect of the present invention, part or all of the imaging means is immersed in the oil in the oil reservoir, so that the imaging can be performed well without being affected by the reflected light on the oil surface. The effect is obtained.

According to the seventh aspect of the present invention, a part or all of the illuminating means is immersed in the oil of the oil reservoir, so that the illumination light does not reflect on the oil surface and the irregular refraction is reduced. The effect of good imaging can be obtained.

According to the eighth aspect of the present invention, the transparent portion is provided on a part or the whole of the oil reservoir side wall, and the component is irradiated from below the oil level of the transparent portion by the illumination means.
The effect of good imaging can be obtained without being affected by the reflected light on the oil surface.

According to the ninth aspect of the present invention, a transparent portion is provided on a part or all of the bottom surface of the oil reservoir, and the component is illuminated from the transparent portion by the illumination means and imaged by the imaging means. When supplied to the oil sump, there is no need to retract the camera and the lighting device, and the effect of improving efficiency can be obtained.

According to the tenth aspect of the present invention, since the oil level of the oil reservoir is lower than the upper surface of the component, the effect of reducing the amount of oil used can be obtained.

According to the eleventh aspect of the present invention, there is provided an oil reservoir in which oil is injected and a component is placed, illumination means for irradiating the component with a light beam, and receiving the reflected light of the light beam applied to the component. Since an imaging means for obtaining an image is provided, good imaging can be performed even when oil is applied to the surface of the component, and an imaging device with high inspection efficiency can be obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating an imaging device according to a first embodiment of the present invention.

FIG. 2 is a diagram for describing Embodiment 2 of the present invention.

FIG. 3 is a diagram showing an imaging method according to a third embodiment of the present invention.

FIG. 4 is a diagram showing an imaging method according to a fourth embodiment of the present invention.

FIG. 5 is a diagram showing an imaging method according to a fifth embodiment of the present invention.

FIG. 6 is a diagram illustrating an imaging method according to a sixth embodiment of the present invention.

FIG. 7 is a diagram showing an imaging method according to a seventh embodiment of the present invention.

[Description of Signs] 1 part, 2 oil sumps, 3 oils, 4 cameras, 5 lighting devices, 6 image processing units, 10 transparent plates, 11 side plates

Claims (11)

[Claims] 1. An imaging method comprising: sinking a part in an oil reservoir filled with oil; and imaging the part with an imaging unit while irradiating the part with an illumination unit. 2. The imaging method according to claim 1, wherein the oil level of the oil sump is controlled so that surface tension does not act between the component and the oil level. 3. The imaging method according to claim 1, wherein a polarizing filter is used as the imaging means. 4. A transparent plate partially or wholly having a transparent portion is placed on the oil surface of the oil sump, and the component is illuminated from the transparent portion by illumination means and imaged by imaging means. 3. The imaging method according to any one of 1 and 2. 5. The imaging method according to claim 4, wherein a side plate connecting the transparent plate and the imaging means is provided and integrated. 6. The imaging method according to claim 1, wherein a part or all of the imaging means is immersed in oil in a sump. 7. The imaging method according to claim 1, wherein a part or all of the illuminating means is immersed in oil in a sump. 8. A component according to claim 1, wherein a transparent portion is provided on a part or the whole of the oil reservoir side wall, and the component is illuminated from below the oil level of the transparent portion by an illuminating means. The imaging method described in the paragraph. 9. The imaging method according to claim 1, wherein a transparent portion is provided on a part or the whole of the bottom surface of the oil reservoir, and the component is illuminated from the transparent portion by illumination means and imaged by imaging means. 10. The imaging method according to claim 9, wherein the oil level of the oil sump is lower than the upper surface of the component. 11. An oil sump in which oil is injected and on which parts are placed,
An image pickup apparatus, comprising: an illuminating unit that irradiates the component with a light beam; and an imaging unit that receives reflected light of the light beam applied to the component to obtain an image. [0001]