JPH11326235A - Visual inspection method and device for object to be inspected - Google Patents

Abstract

PROBLEM TO BE SOLVED: To speedily and economically pick up the images of both the front and rear surfaces of a plate-shaped body to be inspected, the entire surface of a polyhedron, or the appearance of a plurality of surfaces requiring inspection with less number of cameras. SOLUTION: This visual inspection method retains a target 1 with a carrying means 10 and moves it at an image pick-up region by a line sensor camera 2, picks up the images of a plurality of surfaces A of the inspection target 1 successively by the line sensor camera 2, and compares the image of the picked up inspection target 1 with a pre-registered reference image, thus judging to see if the surface A of the inspection target 1 is conforming or not.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention performs high-speed and automatic inspection by performing image processing with a reduced number of line sensor cameras for appearance defects on both front and back surfaces or the surface of a polyhedron of a plate-like object to be inspected. And a device for inspecting the appearance.

[0002]

2. Description of the Related Art Some industrial products produced in large quantities include:
Depending on the application of the product, 100% inspection of defects on the appearance (all outer surfaces or only necessary surfaces) may be required. For example, food containers, medicine containers, electronic components, and the like. These are mainly produced by assembling a resin molded product, a metal processed part, or a non-metal processed part, and often have a complex shape with a polyhedral outer shape. Conventionally, these visual inspections are performed by a manual visual inspection. Although it is possible in principle to automatically inspect such a polyhedron by image processing technology, in the conventional inspection method, for example, in the case of a hexahedron,
In order to obtain a full-plane image by completely capturing the entire surface, it is generally necessary to capture images from six directions using six line sensor cameras, which increases the inspection time and requires a large number of image processing circuits. Because of its use, the apparatus is extremely complicated, large and expensive, and is not realistic.

[0003] This is true even when the front and back surfaces are simultaneously inspected in one pass, such as a plate-like body (including a sheet-like body).
Conventionally, two line sensor cameras were installed above and below a horizontally flowing plate-like body, and both the front and back surfaces of the plate-like body were inspected.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to obtain an image of the external appearance of both front and back surfaces of a plate-shaped object to be inspected, the entire surface of a polyhedron, or a plurality of surfaces requiring inspection with a small number of cameras. To be economical at speed.

[0005]

Means for Solving the Problems In describing the means for solving the problems of the present invention, it can be said throughout the present specification that elements belonging to a lower concept of an object are denoted by alphabetical characters. Shall be represented.

According to the method of the present invention for inspecting the appearance according to the first aspect of the present invention (see FIG. 1), the object to be inspected (1) is particularly three-dimensional with a line sensor camera (2) without using a mirror (4). In the method of sequentially and directly inspecting multiple surfaces of a polyhedron as an object, the line sensor camera (2) holding the inspection object (1) by the transport means (10)
Move the imaging area by the
(A), (C)... Are sequentially imaged by the line sensor camera (2), and the image of the imaged inspection object (1) is compared with a pre-registered reference image, and the surface of the inspection object (1) ( A) (F) (C)...

In this case, when the inspection object (1) is a polyhedron (of course, a plate-like object), the inspection object (1) is held by the transport means (10), and the line sensor camera (2) Move the inspection target (1) to the imaging area with, slide or rotate at that position to inspect multiple inspection surfaces (A) (F)
(C) ... can be imaged.

The line sensor camera (2) may be arranged so as to be vertically opposed to the plane (A) of the inspection object (1) as shown in FIG. The image may be taken. In the former, the line sensor camera (2) is directly opposed to the inspection object (1), the inspection object (1) is slid in the linear visual field, and rotated at a position where the plane (A) is out of the visual field. surface
(F) appears, and in this state, when the surface (F) is moved so as to pass through the linear visual field (the same applies hereinafter), each surface of the inspection object (1) is sequentially shown in FIG. (A), (F), (C), and (E) appear in chronological order and are imaged. Although not shown in the drawing, the plane of the inspection target (1) is installed in a state where the side (B) is inclined with respect to the surface (A) of the inspection target (1).
(A) and one side (B) are directly imaged by the line sensor camera (2). This point is common throughout this specification.

Here, each surface (A), (F), (C),.
Line sensor camera to get enough resolution
It is necessary to use an object with a large depth of field (= focusing range) of (2). This point is common throughout the present invention, and is the same regardless of whether the image is taken directly by the line sensor camera (2) or through the mirror (4) as described later. ) (C)… should be used in principle.

When the inspection object (1) is a polyhedron, in principle, the entire surface (A), (B)... Are all imaged, but as shown in FIG. In case, holding part (11)
Cannot be imaged unless is composed of a transparent body. Therefore, in the case of a full inspection, as described in claim 4, the transport means (10)
When a plurality of the inspection objects (1) are used and the inspection object (1) is changed, it is also possible to image the holding unit (11). If there is a surface that does not need to be inspected, it is possible to set the surface so that it does not enter the field of view of the line sensor camera (2). It is not limited that the image is taken. Although one line sensor camera (2) is shown in FIGS. 1 to 8, a plurality of line sensor cameras may be installed.

Although the holding method can be said throughout the present specification, in the case of FIGS. 1 to 8, a method by suction (ie, pneumatic force) is employed, but is not limited to this, and is not limited to this. Alternatively, clamping, magnetic attachment (ie, magnetic force), adhesion (ie, adhesion), or any other holding means can be employed.

The inspection object (1) of the present invention includes a plate-like body and a polyhedron, and in the case of a polyhedron, a three-dimensional object consisting only of a plane, for example, a tetrahedron shown in FIGS. A three-dimensional object including a curved surface or a spherical surface, for example, as shown in FIGS.
It includes all shapes such as a face, a cylinder, a cone, a truncated cone, a surface having a projection or a leg, a recess, and a flange.

In the case of a plate-like body, since it is held and conveyed, it is inappropriate to use a flat body that flares at the time of conveyance, so that the shape can be maintained during conveyance. Rigid ones are preferred.

As can be said throughout the present invention,
On the inspection surface of the inspection object (1), characters or patterns are drawn by printing or engraving or other means. (Conversely, spots and dirt may cause defects on a surface without any stains or dirt.) In the case of a plate-shaped body, the shape is not only a rectangle or square, but also a shape like a box before assembly. Includes all shapes, such as complex ones and open windows.

The transport means (10) moves the inspection object (1) by sliding or rotating the imaging area by two or more surfaces.
(A), (B)... May be any as long as they can be imaged. Of course, it is not limited to this, but in the present embodiment, a reciprocating mechanism (13) having a rotating arm (12),
An articulated arm robot (14) is assumed. According to this, the inspection object (1) is held by the transporting means (10), and rotation, sliding, and other necessary operations are performed within the linear imaging field of view, so that a single line sensor camera (2) can be used widely. Surface (A) (B)
.. Can be imaged.

In the case of FIG. 1, when the object to be inspected (1) is a polyhedron and moves as a combination of slide and rotation in the imaging area as described above, the line sensor camera (2)
A plurality of outer surfaces (A), (F), (C),... Of the inspection object (1) are imaged, and as an example, an image as shown in FIG. 9 is taken into the image processing device (20). Predetermined image processing is performed. Then, the quality of the imaged surfaces (A), (F), (C)... Of the inspection object (1) is determined by comparing the captured image of the inspection object (1) with a pre-registered reference image, The quality is sorted on the downstream side. Although the sorting method is not particularly limited, since it is held by the transport means (10), the sorting is performed, for example, by changing the separation position of the inspection object (1) of the transport means (10).

In the drawing, one line sensor camera is used.
Although only (2) is described, it does not mean that a plurality of line sensor cameras (2) are not used.
This means that one line sensor camera (2) is used for one imaging region, and it is naturally possible to install a plurality of line sensor cameras (2) with one device. This point is common throughout this specification.

In the appearance inspection method according to the second aspect of the present invention (see FIGS. 4 and 5), an inspection object (1) is formed on a plurality of surfaces by using a line sensor camera (2) and a mirror (4). When performing inspections, especially in this case, the surface of the inspection object (1) is directly imaged by the line sensor camera (2) and the remaining surface is mirrored.
(4), the object to be inspected (1) is held by the transport means (10), the imaging area of the line sensor camera (2) is moved, and a plurality of inspection objects (1) are Surfaces (A), (F), (C) ... are imaged by one line sensor camera (2), and are not captured by the line sensor camera (2)
(1) The other surface (B) (D) ... is imaged by the line sensor camera (2) via the mirror (4), and the imaged inspection object (1)
The image of the inspection object is compared with the reference image registered in advance.
Judge the quality of the outer surfaces (A), (B), (C) ... of (1) ”.

When inspecting a plurality of surfaces of the inspection object (1), the line sensor cameras (2) have to be installed in accordance with the inspection surfaces. By moving the object to be inspected (1) in various manners by combining rotation and sliding as described above, it is possible to image a plurality of surfaces (A), (F), (C), etc. Surfaces (B), (D), etc. that cannot be made occur. In such a case, the surface
(A) (F) (C) ... side is directly imaged by the line sensor camera (2),
The sides (B), (D)... That cannot be imaged are imaged on a mirror (4), and by imaging this, a single line sensor camera (2) can image a wider area. Of course, it is also possible to inspect only a necessary surface of the inspection object (1).

A third aspect of the method of the present invention (see FIG. 6) is a case where the surfaces (A), (B),... Of the inspection object (1) are sequentially inspected by the line sensor camera (2) using only the mirror (4). `` Export the inspection object (1) held and moved by the transporting means (10) with the mirror (4), capture the image reflected on the mirror (4) with the line sensor camera (2), and The image of the inspection object (1) is compared with a reference image registered in advance to determine the quality of the outer surface of the inspection object. "

In the case of FIG. 6, half or more of the bottom surface (C) of the inspection object (1) and both side surfaces (B) and (D) are imaged by the mirror (4), and slide and move as described above. By combining the rotation operations, the surfaces (A), (F), (C), and (E) are projected by the upper mirror (4c), and the images reflected by the side mirrors (4a) (4b) are projected by the upper mirror (4c). , The entire outer surfaces (A), (B)... Of the inspection object (1) reflected on the upper mirror (4c) are imaged by the line sensor camera (2). Not only can one line sensor camera (2) capture images, but also the installation height of the line sensor camera (2) can be reduced. If there is a surface that does not require inspection, mirror (4a) (4
b) Mirror (4a) so that the unnecessary surface is not shown in (4c)
Any of (4b) and (4c) may be installed, and unnecessary mirrors (4a) and (4b) may be deleted.

As described above, claims 1 to 3 move the inspection object (1) within the linear visual field. Claim 4 of the method of the present invention (see FIG. 2) conversely relates to a line sensor camera. (2) is to be moved and the inspection object (1) is transported by the transport means (10).
, And move the line sensor camera (2) around the inspection target (1) to move the plurality of surfaces (A), (F), and (C) of the inspection target (1).
(E) is sequentially imaged by the line sensor camera (2), and the captured image of the inspection object (1) is compared with a pre-registered reference image to compare the outer surface (A) (F ) (C) (E) judge the pass or fail '', also in this case, the imaging of the outer surface (A) (F) (C) (E) of the inspection object (1) as described above. Pass / fail judgment becomes possible.

According to a fifth aspect of the present invention, there is provided a method for moving a mirror (4).
(10), the mirror (4) is moved around the inspection object (1), and the plurality of surfaces (A) (F) (C) (E) of the inspection object (1) are mirrored ( 4) sequentially imaged by the line sensor camera (2), and compare the captured image of the inspection object (1) with a pre-registered reference image to determine the quality of the outer surface of the inspection object (1). To do
The outer surface of the inspection object (1) as described above.
(A), (F), (C), and (E) imaging and pass / fail judgment can be performed.

According to a sixth aspect of the present invention, there is provided an inspection object (1).
The line sensor camera (2) and the mirror (4) that can move more surfaces of the mirror (4) The mirror (4) may be fixed type or movable type. Transport means
(10) and hold the line sensor camera (2) to the inspection object (1)
To move around the surface of the object (1) (A) (F)
(C) and (E) are sequentially imaged by the line sensor camera (2), and the other surfaces (B) and (D) of the inspection object (1) not captured by the line sensor camera (2) are mirrored (4a). ) (4b) through the line sensor camera (2), the image of the inspection object (1) is compared with a pre-registered reference image and the outer surface of the inspection object (1) A), (F), (C), (E), (B), and (D) are judged to be good or bad, and it is possible to take an image of almost the entire surface of the inspection object (1) and judge the quality.

Claim 7 of the method of the present invention is claim 5 or claim 6.
Regarding the relationship between the mirror (4) and the line sensor camera (2) in the visual inspection method described in any of
The line sensor camera (2) also rotates in synchronization with the mirror (4) that moves around the mirror and projects the outer surface of the inspection target (1), and the inspection target (1) reflected on the mirror (4) An image is captured by the line sensor camera (2). "

According to an eighth aspect of the present invention, the line sensor camera (2) is scanned to capture an image of one surface of the inspection object (1), and when the imaging is completed, the inspection object (1) is rotated intermittently to the next position. The object to be inspected (1) is held by the transporting means (10), and the object to be inspected is scanned with respect to the line sensor camera (2) in the imaging area of the line sensor camera (2). The object (1) is relatively moved, and the surface (A) of the inspection object (1) facing the line sensor camera (2) is imaged by the line sensor camera (2), and the surface (A) is imaged. When imaging is completed, the inspection object (1) is rotated and the other surface (F) is
In this state, the inspection object (1) is relatively moved with respect to the line sensor camera (2) toward the (2) side, and the inspection object (1) faces the line sensor camera (2) side. The plane (F) is imaged by the line sensor camera (2), and when the imaging of the required planes (A), (F) ... is completed, the image of the inspection object (1) is compared with a reference image registered in advance. (A) (F) (C)
Judge the quality of (E) ”.

Here, "moving the inspection object (1)" relatively "with respect to the line sensor camera (2)" means that the inspection object (1) is moved relative to the line sensor camera (2). It goes without saying that not only the case where the line sensor camera (2) moves but also the case where the line sensor camera (2) moves is included. This is true for the entire specification.

A ninth aspect of the method according to the present invention relates to a case where the mirror (4) is moved (for example, rotated by a certain angle) to scan the linear visual field. And hold the surface (A) of the inspection object (1) with a line sensor camera.
The mirror (4) is moved so that the linear visual field of (2) moves and the surface (A) can be imaged via the mirror (4), and when the imaging of the surface (A) is completed, the inspection object ( Rotate 1) to another face (F)
Is moved via the mirror (4) so that it can be imaged,
In this state, the mirror (4) is moved, and the surface (F) is imaged by the line sensor camera (2) via the mirror (4), and the necessary surfaces (A) (F)
(C) When the imaging of (E) is completed, the image of the inspection object (1) captured is compared with a pre-registered reference image to check the inspection object.
Judge the quality of the outer surfaces (A), (F), (C), and (E) of (1) ”.

According to a tenth aspect of the present invention, a conveying means (10) is provided.
Regarding the holding of the inspection object (1) by `` transportation means (10a) (10
b) are installed, and any one of the transport means (1
If the inspection object (1) is held in (0a), other transport means
(10b) ... do not hold the inspection object (1), and the non-holding portion is imaged by the line sensor camera (2). "

The part held by the conveying means (10)
Basically, imaging becomes impossible. However, when the inspection of the holding part is also required, it is possible to change the holding using a plurality of transporting means (10a) (10b) and to image the non-imageable part by imaging the non-holding part. I can do things. Note that imaging of the non-holding portion by the line sensor camera (2) may be direct or indirect imaging via the mirror (4).

An eleventh aspect of the present invention relates to an apparatus for carrying out the method of the first aspect, wherein "the surface (A) (F) of the inspection object (1)"
(C) A line sensor camera (2) that captures an image of the object to be inspected
While holding (1), the imaging area of the line sensor camera (2) is moved so that a plurality of inspection surfaces (A), (B),... Of the inspection object (1) can be imaged by the line sensor (2). Transport means (10), image processing means (20) for comparing the captured image of the inspection object (1) with a pre-registered reference image to determine the quality of the outer surface of the inspection object (1), And a sorting means (21) for sorting the inspection object (1) into pass / fail according to the determination made by the image processing means (20). " Note that the sorting means (21) is shared by the transport means (10) throughout the present specification, but a separate sorting mechanism (not shown) may be provided.

A twelfth aspect of the present invention relates to an apparatus for carrying out the method of the second aspect, wherein "the surface (A) (F) of the inspection object (1)"
(C) A line sensor camera (2) that captures an image of the object to be inspected
While holding (1), the line sensor camera (2) is moved within the imaging area, and the inspection surface (A) (F) (C) ... of the inspection object (1) is sequentially imaged by the line sensor (2). Transport means (10) for enabling;
A mirror (4) that projects the other surface (B) (D) of the inspection object (1) that was not directly captured by the line sensor camera (2) and that can be imaged by the line sensor camera (2); ,
Image processing means (20) for comparing the captured image of the inspection object (1) with a pre-registered reference image to determine the quality of the outer surface of the inspection object (1), and image processing means (20) And a sorting means (21) for sorting the inspection object (1) into good or bad according to the judgment made. "

A thirteenth aspect of the present invention relates to an apparatus for carrying out the method of the third aspect, wherein "the surface (A) (F) of the inspection object (1)"
(C) (B) (D) (E) ... mirror (4), and a line sensor camera (2) for capturing an image projected on the mirror (4)
Transport means (10) for holding and moving the inspection object (1) so that the inspection object (1) can be sequentially imaged by the line sensor camera (2) via the mirror (4); and Inspection object
An image for comparing the image of (1) with a pre-registered reference image to determine the quality of the inspection surface (A) (F) (C) (B) (D) (E) ... of the inspection object (1) Processing means (20), and sorting means (21) for sorting the inspection object (1) into pass / fail according to the judgment made by the image processing means (20). "

As described above, claims 11 to 13 are objects to be inspected.
(1) is moved within a linear visual field. In contrast, in the apparatus of the present invention, claim 14 is an apparatus for performing the method of claim 4 by moving the line sensor camera (2). Move around the object (1) and move on multiple surfaces (A) (F) of the inspection object (1)
(C) A line sensor camera (2) for sequentially imaging (E), a transport means (10) for holding and moving the inspection object (1), and an image of the inspection object (1) taken in advance. This is performed by an image processing means (20) which determines the quality of the outer surface (A) (F) (C) (E) of the inspection object (1) by comparing with the registered reference image, and an image processing means (20). And a sorting means (21) for sorting the inspection object (1) into good or bad according to the determination.

According to a fifteenth aspect of the present invention, there is provided an apparatus for moving the mirror (4) to carry out the method of the fifth aspect. Thing (1)
A mirror (4) for sequentially projecting a plurality of surfaces (A) (F) (C) (E),
A line sensor camera (2) that sequentially captures the planes (A), (F), (C), and (E) of the inspection object (1) via the mirror (4), and the inspection object (1) is held and moved. Transport means (10), and the quality of the outer surface (A) (F) (C) (E) of the inspection object is compared by comparing the captured image of the inspection object (1) with a pre-registered reference image. Image processing means (20) to be judged; and sorting means (2) for sorting the inspection object (1) into pass / fail according to the judgment made by the image processing means (20).
1) and that it is characterized.

A sixteenth aspect of the present invention is an apparatus for implementing the sixth aspect using a moving line sensor camera (2) and a fixed or movable mirror (4).
Moving around (1), multiple surfaces (A) (F) of inspection object (1)
(C) A line sensor camera (2) that sequentially captures images of (E), (B), and (D) directly and indirectly via a mirror (4), and an inspection target that is not directly captured by the line sensor camera (2) Thing (1)
A mirror (4) for projecting the other surfaces (B) and (D) by fixing or moving around the inspection object (1), and a transport means (10) for holding and moving the inspection object (1) And the inspection object imaged
Image processing means for comparing the image of (1) with a pre-registered reference image to determine the quality of the outer surface (A) (F) (C) (E) (B) (D) of the inspection object (1) (20) and sorting means (2) for sorting the inspection target into good or bad according to the determination made by the image processing means (20).
1) and that it is characterized.

[0037] Claim 17 of the present invention relates to the relationship between the mirror (4) and the line sensor camera (2) according to claim 15 or 16, "moving around the inspection object (1) and inspecting the object (1). The line sensor camera (2) also rotates in synchronization with the mirror (4) projecting the outer surface of (1), and the image of the inspection object (1) reflected on the mirror (4) is transmitted to the line sensor camera (2). To take an image ”.

Claim 18 of the apparatus of the present invention relates to another moving method of the line sensor camera (2) which is different from claim 14; "a conveying means (10) for holding and moving the inspection object (1);
With respect to the line sensor camera (2) for imaging the surfaces (A) (F) of the inspection object (1) in a linear visual field, and the line sensor camera (2) in the imaging area of the line sensor camera (2). By moving the inspection object (1) relatively, or by moving the line sensor camera (2) relatively to the inspection object (1), the inspection object (1)
The surface (A) facing the line sensor camera (2) side can be imaged by the line sensor camera (2), and when the imaging of the surface (A) is completed, the inspection object (1) is rotated to Face (F) toward the line sensor camera (2), and in that state, move the inspection object (1) relative to the line sensor camera (2), or move the inspection object (1) relative to the inspection object (1). Line sensor camera
(2) is relatively moved, and the surface (F) of the inspection object (1) facing the line sensor camera (2) side is line sensor camera.
A moving means (10c) that enables imaging in the required planes (A), (F), (C), and (E) so that imaging can be performed in (2), and an inspection object that has been imaged
Image processing means (20) for comparing the image of (1) with a pre-registered reference image to determine the quality of the outer surface (A) (F) (C) (E) of the inspection object (1); Sorting means (21) for sorting the inspection object (1) into good or bad according to the judgment made by the processing means (20)
It is characterized by the fact that it is composed of

A nineteenth aspect of the present invention relates to another method of moving the mirror (4) different from the fifteenth aspect.
Transport means (10) for rotating the inspection object (1) when the imaging of one surface (A) is completed so that the other surface (F) can be imaged by the line sensor camera (2). And inspection object (1)
Line sensor camera (2) that images the surface (A) (F) (C) (E) in a linear visual field, and the line sensor camera
A movable mirror (4) that allows the linear visual field of (2) to move and image the planes (A), (F), (C), and (E), and an image of the inspection object (1) Image processing means (20) for comparing the image of the inspection object (1) with the reference image registered in advance to determine the quality of the outer surface (A) (F) (C) (E); And a sorting means (21) for sorting the inspection object (1) into pass / fail according to the judgment made in (20).

According to a twentieth aspect of the apparatus of the present invention, the conveying means (10)
If you want to take an image of the part that is held and hidden in the `` Conveyance means (10) is installed plurally, and one of the conveyance means (10a) holds the inspection object (1) In this case, the other transport means (10b) does not hold the inspection object (1),
The non-holding portion is imaged by the line sensor camera (2). "

[0041]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Inspection object to which the present invention is applied
(1) includes a polyhedron and a plate-like body. As described above, the polyhedron includes a tetrahedron (1) shown in FIG. 12 and a hexahedron (1) shown in FIG.
As shown in FIG.
4, a part of which includes a curved surface portion (of course,
The entire surface may be formed as a curved surface), a projection as shown in FIG. 15, or any shape having a flange or the like as shown in FIG.

In the case of a plate-like body (not shown), it is preferable that the plate-like body is a slightly thick plate-like body that is held and does not flicker or deform during movement. However, as long as the above conditions are satisfied, there is almost no paper-like or sheet-like thing, or these are bent or folded,
The shape is not limited to a rectangular or square shape, but may be any shape such as a complicated shape such as a box shape before assembling or a window-free shape.

The inspection object (1) has necessary surfaces (front,
On the back surface, both side surfaces, the plane surface, and the bottom surface or all of them), characters or patterns are drawn by printing or engraving or other means. (Conversely, stains and stains may become defects on a surface without any stains or stains.) The present invention is intended to inspect at least a surface on which characters and patterns are drawn by a machine. Embodiments will be described in detail with reference to the drawings.

FIG. 1 shows a basic embodiment of the present invention (transporting means).
(10) is a perspective view for explaining a case where a single inspection object (1) is inspected by combining operations such as rotation and slide without holding the inspection object (1)). First, FIG. 1 will be described, and then FIG. However, in order to avoid repetition of description, only portions different from FIG. 1 will be described in principle. (1) is an example of a polyhedral inspection object. Here, a hexahedron will be described as a representative example, but it is needless to say that the invention is not limited to this. The six surfaces of this surface, up, down, left, right, front and back are (A), (C), (D), (B), (E), and (F), and characters A, B, C, D, E, and F are respectively drawn. It is assumed that

A line sensor camera (2) is attached to a support base (not shown) and picks up an image of the inspection object (1) from above. Imaging is a line sensor camera (2)
The linear visual field is performed by moving the inspection target surface from end to end, and the line sensor camera (2) may be moved, or the inspection target surface (1) may be moved, Alternatively, the mirror (4) may be moved. This point is common throughout the present invention. In the case of FIG.
In the case where the inspection object (1) is disposed vertically above the plane (A), the plane (A) is directly imaged. Of course, although not shown, the line sensor camera (2) is connected to the plane (A) of the inspection object (1).
May be arranged at an angle, in this case the plane (A) and the side
(B) is directly imaged. By the way, in the case of FIG.
(D) is a holding surface.

Reference numeral (20) denotes an image processing apparatus which passes a surface image of the inspection object (1) taken by the line sensor camera (2) [not shown. It is installed above the object to be inspected (1) (of course, it may be sideways or below), and detects the passage of the head of the object to be inspected (1) and sends a timing signal. And a function of detecting and determining a defect by pattern matching of a grayscale image (or pattern matching of a color image).

The pass / fail judgment is made by passing the non-defective inspection object (1) in advance and taking an image with the line sensor camera (2), and using this data as reference data (non-defective dark and light full-screen image).
(20) is stored in the storage device (not shown) and registered,
The entire screen image of the inspection object (1) captured by passing the imaging area under the same conditions is captured as data, and the reference data and the full screen image data of the inspection object (1) are compared by shading. Inspection is carried out, and an appearance inspection is performed based on the principle of judging that they are non-defective if they match within an allowable range, and judged to be defective if they do not match.

The transport means (10) in FIG. 1 is a reciprocating mechanism (13)
, Protruding from the reciprocating mechanism (13), and a holding portion (11) such as a suction disk is provided at the tip. Reciprocating mechanism (1
3) can reciprocate along the rail (15). When the transfer means (10) also serves as the sorting means (21), the stop position for placing a non-defective product is different from the stop position for placing a defective product, so that the stop positions are different. Is formed.

Conversely, when the sorting means (not shown) is constituted by another mechanism, or as described later, the rotating arm
If (12) expands or contracts, separate mechanism sorting means separates non-defective and non-defective products to receive them, or the rotating arm (12) expands and contracts and separates non-defective and non-defective products and loads them. For this reason, the stop position of the reciprocating mechanism (13) may be the same for non-defective products and defective products.

When the inspection object (1) before inspection is taken out, or when the non-defective and defective products which have been inspected are received, they are lifted or lowered one by one by a lift (not shown). Or so. When a lift is not used, the reciprocating mechanism (13) expands and contracts up and down to move the rotary arm (12) up and down, and the inspection object to be inspected is
(1) Take out or load non-defective or defective products into the specified positions.

The rotary arm (12) is rotatably attached to the reciprocating mechanism (13), and has a holding portion (11) such as a suction disk at its tip. Needless to say, the holding method is not limited to suction, and an appropriate method such as pinching, gripping, or magnetic attachment may be adopted according to the shape or material of the inspection object (1), as described above.

The rotary arm (12) is generally extendable in the axial direction as described above, and extends toward the inspection object (1) at the take-out position to extend the inspection object (1).
I'm going to get it. Of course, the rotating arm (12)
Instead of expanding and contracting, reciprocating mechanism (13) or rail (15)
May move in the axial direction of the rotary arm (12). Further, the reciprocating mechanism (13) may be formed so as to be rotatable around a vertical axis, and thus the degree of freedom is increased.

(6) is an illuminating device for illuminating a linear imaging field of view by the line sensor camera (2), and is constituted by, for example, a fluorescent lamp illumination or a linear illumination by an optical fiber guide. Generally, the line sensor camera
(2) is attached to a supporting member (not shown) to which it is attached.

According to the apparatus shown in FIG. 1, the rotating arm (1) is moved toward the loaded inspection object (1) at the uppermost stage.
2) is extended, and one side surface (D) of the inspection object (1) is held and taken out by an appropriate method such as suction or magnetic adhesion by the holding portion (11). Subsequently, with the inspection object (1) held, the reciprocating movement mechanism (1
3) is moved to pass through the linear visual field of the line sensor camera (2). Thereby, the plane (A) of the inspection object (1) is imaged.

Subsequently, the rotary arm (12) is rotated so that the front surface (E) of the inspection object (1) faces upward, and in this state, the reciprocating mechanism (13) is moved backward to pass through the linear visual field. And the front (E)
Is imaged.

When the front surface (E) has passed through the linear visual field, the rotary arm (12) is again rotated to turn the bottom surface (C) upward, and in this state, the reciprocating mechanism (13) is advanced to linearly move. Pass through the field of view and image the bottom (C).

Finally, when the bottom surface (C) has passed through the linear visual field, the rotating arm (12) is again rotated to turn the back surface (F) upward, and the reciprocating mechanism (13) is moved forward in that state. Then, the image is passed through the linear visual field, and the back surface (F) is imaged. In this way, the four surfaces of the inspection object (1) are imaged. In this case, both sides (B)
(D) inspection is unnecessary, and only one transport means (10) is sufficient.

It is to be noted that, instead of as described above, another method is to simply rotate the rotating arm (12) to change the linear visual field to the object to be inspected.
The entire circumference of the outer surface (A) (F) (C) (D) of (1) may be continuously imaged.

The image pickup timing by the line sensor camera (2) is based on a passage sensor (not shown) installed above the inspection object (1) (of course, it may be lateral or below). That is, the timing signal is transmitted by detecting when the head of the inspection object (1) passes through the passage sensor.

The line sensor camera (2) is a device having a function of taking in an imaged screen based on the timing signal obtained as described above and detecting and determining a defect by pattern matching of a gray image (or pattern matching of a color image). is there. When the imaging of the required inspection surface is completed as described above, the image captured by the image processing device (20) is compared with the reference image, and if they match within an allowable range,
The reciprocating mechanism (13) moves to the non-defective product placement position, releases the holding at the non-defective product placement position, and places the non-defective product on the non-defective product. Conversely, if the product is defective, the holding is released at the defective product placement position and the defective product is placed on the defective product.

The above-mentioned pass / fail judgment is made by passing a non-defective inspection object (1) in advance and taking an image with a line sensor camera (2).
This data is registered and stored as reference data (non-defective grayscale full screen image) in the storage device (not shown) of the image processing device (20), and the inspection object is imaged by passing the imaging region under the same conditions. The full screen image of (1) is captured as data, and the reference data and the full screen image data of the inspection object (1) are inspected by comparing the density with light and shade. In the case of a mismatch, an appearance inspection is performed based on the principle of determining a defective product.

FIG. 2 shows that the line sensor camera (2) moves around the inspection object (1) and the outer surfaces (A) and (F) of the inspection object (1).
This is the case where (C) and (D) are imaged. In this case, the inspection object (1)
Since does not need to rotate, it stops at the imaging position while being held by the rotating arm (12). The imaging method is the same as that of FIG. 1, and the line sensor camera (2) simply rotates around the inspection object (1) and the outer surface (A) (F) of the inspection object (1) in a linear visual field. (C) and (D) are continuously imaged, and when the line sensor camera (2) is moved in parallel to the outer surface (A) of the inspection object (1) and the imaging by the parallel movement is completed, the line sensor camera ( 2) is rotated by 90 ° and is moved parallel to the next plane (F) to take an image, and this is repeated to capture an image of the entire circumference or a necessary plane. In any case, when the imaging is completed, the images are sorted according to the quality judgment.

FIG. 3 shows a case where the mirror (4) moves on the outer periphery of the inspection object (1). The moving method is the same as described above, and after the end of imaging, the image is sorted in the same manner as described above. In this case, the line sensor camera (2) may be rotated in synchronization with the movement of the mirror (4). In this way, the outer surfaces (A), (F), (C), and (E) of the inspection object (1) are always imaged in a fixed direction even if the mirror (4) is rotated. In this case, the angle of the mirror (4) can be changed so that the linear visual field of the line sensor camera (2) moves from one end to the other of the outer surface (A) of the inspection object (1). Alternatively, the rotary arm (12) may be expanded and contracted so that the linear visual field moves from end to end on the outer surface (A) of the inspection object (1) via the mirror (4).

FIG. 4 shows an example in which two transfer means (10) of FIG. 1 are symmetrically installed and mirrors (4a) and (4b) are installed on both sides in accordance with a linear visual field. Since it is the same as the case of 1, the description of the structure is omitted to avoid duplication. In operation, the transporting means (10a) in front of FIG. 4 is operated to hold the inspection object (1) as described above, and the surface (A) is combined by passing and rotating in the linear visual field as described above. (E), (C) and (F) are directly imaged by the line sensor camera (2).

At this time, the non-holding surface (B) of the inspection object (1) is projected on the mirror (4b), and the surfaces (A), (E), (C), and (F) are displayed.
Is imaged at the same time as the image of. After that, the conveyance means on the opposite side
The rotating arm (12) of (10b) is extended, and the non-holding surface (B) of the inspection object (1) is held by the holding portion (11) of the rotating arm (12).

When the holding is completed, the conveying means (10
The holding of the holding section (11) of the rotating arm (12) in (a) is released, and the holding of the inspection object (1) is transferred from the conveying means (10a) on the near side to the conveying means (10b) on the other side.

Subsequently, when the conveying means (10b) on the other side is operated to pass through the linear visual field, the non-holding surface (D) on the near side of the inspection object (1) is reflected on the mirror (4a). Is done. As a result, the entire six surfaces of the inspection object (1) are imaged.

When the imaging of the entire surface is completed, a pass / fail judgment is made in the same manner as described above, and sorting is performed according to the judgment.

The mirror (4) may be simply installed at an angle to the side surface of the inspection object (1) so that the reflected light enters the line sensor camera (2). If the side shape of the object (1) is complicated, a plurality of mirrors (4) may be provided.

FIG. 5 shows a case where the transfer means (10) uses an articulated arm robot. The operation of the articulated arm robots (10a) and (10b) is input to a control unit (not shown), and the sequence is performed. The multi-joint arm robots (10a) and (10b) are operated in the same manner.

In other words, in the case of FIG. 5, the inspection object (1) of the kamaboko type is held by the holding part (11) of one of the articulated arm robots (10a).
Hold the side (D) with suction means or mechanical gripping means using aerodynamics, magnetic force, adhesive force, etc., and move it into the linear visual field of the line sensor camera (2), By operating, the curved surface (A), the bottom surface (C), and the non-holding surface (B) are imaged, and then the articulated arm robot (10
The holding is switched from the a) to the articulated arm robot (10b) on the other side, and the remaining side surface (D) of the inspection object (1) is projected and imaged by the mirror (4a). Then, a pass / fail judgment is made in the same manner as the previous time, and selection is made according to the judgment.

FIG. 6 shows an image of the entire surface (A), (B),... Of the inspection object (1) using mirrors (4a), (4b) and (4c). In this case as well, a plurality of transport means (10) are used for the entire surface imaging as described above, and the image is taken by switching. The transfer means (10) may be of a reciprocating movement mechanism type as shown in FIGS. 1 to 4 or may be of an articulated arm robot type. Further, each angle (θ1) (θ2) (θ) of the mirrors (4a) (4b) (4c)
The adjustment of 3) is possible according to the inspection object (1).

FIG. 7 shows a case where the line sensor camera (2) scans the line visual field along the planes (A), (F),... Of the inspection object (1) to capture an image. At this time, line sensor camera
The inspection object (1) may be moved relative to (2), or a line sensor camera may be moved with respect to the inspection object (1).
(2) may be relatively moved. "Relative movement"
Then, the surface (F) facing the line sensor camera (2) side can be imaged by the line sensor camera (2) so that the required surface (A)
(F) (C) (E) as a moving means (10c) that enables imaging,
The transporting means (10) for holding and moving the inspection object (1) may be shared, or may be prepared separately. FIG. 7 shows the case of dual use.

Next, the operation will be described. As in FIG. 1, the rotating arm (12) is extended toward the uppermost inspection object (1) loaded, and one side (D) of the inspection object (1) is extended.
Is held and taken out by an appropriate method such as adsorption or magnetic adhesion by the holding section (11). In this state or while holding the inspection object (1), the reciprocating movement mechanism (13) is moved, and stops at a position where the linear visual field of the line sensor camera (2) coincides with the end of the inspection object (1). .

Next, the line sensor camera (2) is moved in parallel with the plane (A) of the inspection object (1) to move the plane of the inspection object (1).
The linear visual field is scanned from end to end of (A), and the plane (A) is imaged.

When the imaging of the plane (A) is completed, the rotating arm (12) is rotated so that the front surface (E) of the inspection object (1) faces upward, and in this state, the line sensor camera (2) is moved. Move back and scan the linear field of view (E) from end to end
(E) is imaged.

When the imaging of the front surface (E) is completed, the rotating arm (12) is rotated again to turn the bottom surface (C) upward, and in this state, the line sensor camera (2) is advanced to obtain a linear visual field. Bottom (C)
And image the bottom surface (C).

Finally, when the linear visual field has passed through the bottom surface (C), the rotating arm (12) is again rotated to turn the back surface (F) upward, and in this state, the line sensor camera (2) is moved in the same manner as described above. Move forward and pass through the linear visual field, and image the back (F). Subsequently, a series of operations such as image processing and determination of the imaged inspection object (1), sorting, and sorting are performed as described above.

Here, moving the inspection object (1) "relatively" with respect to the line sensor camera (2) means that the inspection object (1) moves with respect to the line sensor camera (2). It goes without saying that not only the case but also the case where the line sensor camera (2) moves is included. This is true for the entire specification.

FIG. 8 shows a case where the mirror (4) is moved (for example, rotated by a certain angle) to scan a linear visual field. The rotation of the mirror (4) is performed, for example, by a stepping motor (not shown) with an encoder. It is performed accurately by such as. To explain the operation, as in FIG. 1, the rotating arm (12) is extended toward the loaded uppermost inspection object (1), and one side surface (D) of the inspection object (1) is held. In step (11), hold and take out by an appropriate method such as adsorption or magnetic adhesion. Reciprocating mechanism in that state or holding the inspection object (1)
(13) is moved and stopped at a position where the linear visual field of the line sensor camera (2) coincides with the end of the inspection object (1).

Next, the mirror (4) is rotated by a predetermined angle, and the plane (A) of the inspection object (1) is scanned from the end to the end to scan the linear visual field, and the plane (A) is imaged.

When the imaging of the plane (A) is completed, the rotating arm (12) is rotated so that the front surface (E) of the inspection object (1) faces upward, and in this state, the mirror (4) is turned at an angle. And flip the linear field of view across the front (E) to the front (E)
Is imaged.

When the imaging of the front surface (E) is completed, the rotary arm (12) is again rotated to turn the bottom surface (C) upward, and in this state, the mirror (4) is rotated forward by a certain angle to form a linear shape. Bottom view (C)
And image the bottom surface (C).

Finally, when the linear visual field has passed through the bottom surface (C), the rotating arm (12) is rotated again so that the back surface (F) faces upward. The image is inverted and passed through the linear visual field, and the back surface (F) is imaged. The following operation is the same as described above.

[0085]

As described above, in the present invention,
The entire surface of the object to be inspected, such as a polyhedron or plate, is imaged as one continuous image by a small number of line sensor cameras, and batch inspection is performed by pattern matching of grayscale images or color images. Visual inspection is now possible.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view of an apparatus according to the present invention, which is configured by one line sensor camera and one transport unit, and moves and rotates a multi-surface inspection object to inspect the object.

FIG. 2 is a schematic perspective view of the apparatus of the present invention, which is configured by one line sensor camera and one transport unit, and performs inspection by rotating the line sensor camera.

FIG. 3 is a schematic perspective view of the apparatus of the present invention in the case of inspecting by rotating the mirror, which is configured by one line sensor camera, one transport unit, and a mirror;

FIG. 4 is a schematic perspective view of the apparatus of the present invention, which is configured by one line sensor camera and two transport means, and moves and rotates the inspection object to inspect the object.

FIG. 5 is a schematic perspective view of the apparatus of the present invention, which is configured by one line sensor camera and two articulated arm robots, and moves and rotates an inspection object to inspect the object.

FIG. 6 is a schematic perspective view of the apparatus of the present invention when the entire surface of a multi-surface inspection object is inspected by one line sensor camera and a mirror.

FIGS. 7A to 7D are process explanatory diagrams in a case where a line sensor camera is scanned to capture an image.

FIGS. 8A to 8D are process explanatory diagrams in a case where a mirror is rotated to scan a linear visual field to capture an image.

FIG. 9 is an imaging drawing obtained by the apparatus of the present invention shown in FIGS.

10 is an imaging drawing obtained by the apparatus of the present invention in FIG. 5;

FIG. 11 is an imaging drawing obtained by the apparatus of the present invention in FIG. 6;

FIG. 12 is a perspective view of a tetrahedron which is an example of the inspection object of the present invention.

FIG. 13 is a perspective view of a hexahedron as an example of the inspection object of the present invention.

FIG. 14 is a perspective view of an inspection object having a curved surface which is one of the inspection objects of the present invention.

FIG. 15 is a perspective view of an inspection object, which is one of the inspection objects of the present invention and has a large number of pin-shaped legs protruding therefrom.

FIG. 16 is a perspective view of an inspection object having a plurality of flanges, which is one of the inspection objects of the present invention.

[Explanation of symbols]

 (1) Inspection object (2) Line sensor camera (4) (4a) (4b) (4c) Mirror (6) Illumination device (10) Transport means (20) Image processing device (21) … Sorting means

Claims (20)

[Claims] An image pickup area of a line sensor camera is moved while holding an object to be inspected by a transporting means, and a plurality of surfaces of the object to be inspected are sequentially imaged by a line sensor camera. A method of inspecting the appearance of an inspection object, wherein the quality of the outer surface of the inspection object is determined by comparing the image with a reference image registered in advance. 2. An inspection method in which an object to be inspected is held by a transporting means and an image pickup area of a line sensor camera is moved, and a plurality of surfaces of the object to be inspected are sequentially imaged by the line sensor camera, and an inspection not captured by the line sensor camera The other surface of the object is imaged by the line sensor camera via a mirror, and the quality of the outer surface of the inspection object is determined by comparing the image of the imaged inspection object with a reference image registered in advance. A method for inspecting the appearance of an object to be inspected. 3. The inspection object moving and held by the transport means is projected by a mirror, the image reflected on the mirror is sequentially captured by a line sensor camera, and the captured image of the inspection object is registered in advance. A visual inspection method for an inspection object, characterized in that the quality of an outer surface of the inspection object is determined by comparing with a reference image. 4. An inspection object is held by a transporting means, a line sensor camera is moved around the inspection object, and a plurality of surfaces of the inspection object are sequentially imaged by the line sensor camera. An appearance inspection method for an inspection object, wherein an image of the object is compared with a reference image registered in advance to determine the quality of an outer surface of the inspection object. 5. An inspection object is held by a transport means, a mirror is moved around the inspection object, and a plurality of surfaces of the inspection object are sequentially imaged by a line sensor camera via the mirror,
A method for inspecting the appearance of an inspection object, wherein the image of the inspection object is compared with a reference image registered in advance to determine the quality of the outer surface of the inspection object. 6. An inspection object is held by a transport means, and a line sensor camera is moved around the inspection object to sequentially image a plurality of surfaces of the inspection object by the line sensor camera and to be captured by the line sensor camera. The other surface of the inspection object that was not taken is imaged by the line sensor camera via a mirror, and the image of the imaged inspection object is compared with a pre-registered reference image to obtain an image of the outer surface of the inspection object. A method for inspecting the appearance of an inspection object, characterized by judging pass / fail. 7. The visual inspection method according to claim 5, wherein the line sensor camera is rotated in synchronization with a mirror which moves around the inspection object and projects an outer surface of the inspection object. An image of the inspection object reflected on a mirror is captured by the line sensor camera. 8. The inspection object is held by a transporting means, and the inspection object is relatively moved with respect to the line sensor camera in an imaging area of the line sensor camera, and the inspection object faces the line sensor camera side. The surface is imaged by the line sensor camera, and when the imaging of the surface is completed, the inspection object is rotated to turn the other surface toward the line sensor camera, and the inspection object is relatively moved with respect to the line sensor camera in that state. Move the surface of the inspection object facing the line sensor camera side with the line sensor camera, and compare the captured image of the inspection object with a pre-registered reference image when the imaging of the required surface is completed. A method for inspecting the appearance of an object to be inspected, comprising determining the quality of an outer surface of the object to be inspected. 9. The inspection object is held by a transport means, and a mirror is moved so that a linear visual field of a line sensor camera moves on the surface of the inspection object so that the surface can be imaged through the mirror. When the imaging of the object is completed, the inspection object is rotated to move the other surface so that the image can be imaged through the mirror, the mirror is moved in that state, and the surface is imaged by the line sensor camera through the mirror. A method for inspecting the appearance of the inspection object, wherein the image of the inspection object is compared with a pre-registered reference image to determine the quality of the outer surface of the inspection object when the imaging of the required surface is completed. 10. When a plurality of transport means are installed, and one of the transport means holds the inspection target, the other transport means does not hold the inspection target, and the non-holding portion is a line. The visual inspection method for an inspection object according to any one of claims 1 to 9, wherein an image is taken by a sensor camera. 11. A line sensor camera for imaging a surface of an inspection object, and a plurality of inspection surfaces of the inspection object are sequentially held by a line sensor while holding the inspection object and moving within an imaging area of the line sensor camera. Conveying means for enabling imaging, image processing means for comparing the captured image of the inspection object with a pre-registered reference image to determine the quality of the outer surface of the inspection object, and according to the determination made by the image processing means An appearance inspection apparatus for an inspection object, comprising: a sorting unit that sorts the inspection object into pass / fail. 12. A line sensor camera for picking up an image of a surface of an inspection object, and a line sensor for holding an inspection object and moving the imaging surface of the line sensor camera to sequentially image an inspection surface of the inspection object with a line sensor. A mirror that enables the line sensor camera to capture another image of the inspection object that is not directly captured by the line sensor camera and that can be imaged by the line sensor camera, and pre-registers the captured image of the inspection object. Image processing means for judging the quality of the outer surface of the inspection object by comparing with the reference image, and sorting means for sorting the inspection object into good or bad according to the judgment made by the image processing means. Inspection device for inspection objects to be inspected. 13. A mirror for projecting a surface of an inspection object,
A line sensor camera for picking up an image projected on the mirror, conveying means for holding and moving the inspection object via the mirror so that the inspection object can be sequentially imaged by the line sensor camera, and an imaged inspection Image processing means for comparing the image of the object with a pre-registered reference image to determine the quality of the outer surface of the inspection object, and sorting means for sorting the inspection object into good or bad according to the determination made by the image processing means. Apparatus for inspecting the appearance of an object to be inspected. 14. A line sensor camera that moves around the inspection object to sequentially image a plurality of surfaces of the inspection object, a transport unit that holds and moves the inspection object, Image processing means for comparing the image with a pre-registered reference image to determine the quality of the outer surface of the inspection object,
A visual inspection apparatus for inspecting the inspection object, comprising: a sorting unit that sorts the inspection object into good or bad according to the determination made by the image processing unit. 15. A mirror that moves around the inspection object to sequentially capture a plurality of surfaces of the inspection object, a line sensor camera that sequentially captures the surface of the inspection object via the mirror,
Transport means for holding and moving the inspection object, image processing means for comparing the captured image of the inspection object with a pre-registered reference image to determine the quality of the outer surface of the inspection object, and image processing means And a sorting means for sorting the inspection target into good or bad according to the determination made by the inspection device. 16. A line sensor camera that moves around the inspection object and sequentially captures a plurality of surfaces of the inspection object directly and via mirrors, and a line sensor camera that is not directly captured by the line sensor camera. A mirror that projects the surface of the inspection object by fixing or moving around the inspection object, a transporting unit that holds and moves the inspection object, and compares the captured image of the inspection object with a pre-registered reference image. An image processing means for judging the quality of the outer surface of the object to be inspected, and a sorting means for sorting the object to be inspected according to the judgment made by the image processing means. apparatus. 17. The visual inspection device according to claim 15, wherein the line sensor camera also rotates in synchronization with a mirror that moves around the inspection object and projects the outer surface of the inspection object. A visual inspection apparatus for inspecting the inspection object, wherein an image of the inspection object reflected on a mirror is captured by the line sensor camera. 18. A transport means for holding and moving an inspection object, a line sensor camera for imaging the surface of the inspection object in a linear visual field, and an inspection object for the line sensor camera in an imaging area of the line sensor camera. Move things relatively,
Alternatively, the line sensor camera is relatively moved with respect to the inspection target so that the surface of the inspection target facing the line sensor camera can be imaged by the line sensor camera,
When imaging of the surface is completed, the inspection object is rotated to turn the other surface toward the line sensor camera, and the inspection object is moved relative to the line sensor camera in that state, or the inspection object is Moving means for relatively moving the line sensor camera so that the surface of the object to be inspected facing the line sensor camera can be imaged by the line sensor camera, thereby enabling imaging of a required surface; Image processing means for comparing the image of the object with a pre-registered reference image to determine the quality of the outer surface of the inspection object, and sorting means for sorting the inspection object into good or bad according to the determination made by the image processing means. Apparatus for inspecting the appearance of an object to be inspected. 19. A transport means for holding an inspection object and rotating the inspection object when imaging of one surface is completed so that the other surface can be imaged by a line sensor camera, and a surface of the inspection object. Line sensor camera that captures an image of the object to be inspected in a linear visual field, a movable mirror that allows the linear visual field of the line sensor camera to move the surface of the inspection object so that the surface can be imaged, and an inspected object that is imaged An image processing unit that compares the image of the object with a reference image registered in advance to determine the quality of the outer surface of the inspection object; and a sorting unit that sorts the inspection object into the quality according to the determination made by the image processing unit. A visual inspection device for an inspection object, characterized in that: 20. When a plurality of transport means are provided and one of the transport means holds the inspection target, the other transport means does not hold the inspection target, and the non-holding portion is a line. 20. The visual inspection device for an inspection object according to claim 11, wherein the image is captured by a sensor camera.