JPH1137724A - Method for detecting applied state of sealant - Google Patents
Method for detecting applied state of sealantInfo
- Publication number
- JPH1137724A JPH1137724A JP9194299A JP19429997A JPH1137724A JP H1137724 A JPH1137724 A JP H1137724A JP 9194299 A JP9194299 A JP 9194299A JP 19429997 A JP19429997 A JP 19429997A JP H1137724 A JPH1137724 A JP H1137724A
- Authority
- JP
- Japan
- Prior art keywords
- sealant
- image
- cross
- coordinates
- sectional area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、トランスミッショ
ンのオイルパン等の合わせ面に線状に塗布されたシール
剤の塗布状態の良否を検出する方法に関するものであ
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting whether or not a sealant applied linearly to a mating surface of an oil pan or the like of a transmission is applied.
【０００２】[0002]
【従来の技術】自動車の生産工程中、トランスミッショ
ンのオイルパンやエクステンションハウジング等を合わ
せ面同士、衝合して一体的に組み付けて封着する工程が
ある。その際、図４（ａ）（ｄ）に示すように、オイル
パン（１）やエクステンションハウジング（２）の合わ
せ面（１ａ）（２ａ）の縁部全周に亘りネジ孔（１ｂ）
…（２ｂ）…等をよけて形成された曲折状凹部（１ｃ）
｛図４（ｂ）を参照｝にシール剤｛液状ガスケット（Fo
rmed In Place Gasket）｝（３）を塗布した後、合わ
せ面（１ａ）（２ａ）同士、衝合してネジ止め固定す
る。そうすると、合わせ面（１ａ）（２ａ）がネジ止め
固定によりシール剤（３）を圧潰して凹部（１ｃ）を埋
めつつ衝合され、隙間なく封着される。尚、図４（ｂ）
（ｃ）は図４（ａ）のｂ−ｂ線断面図とｃ部詳細図、図
４（ｅ）は図４（ｄ）のｅ部詳細図である。2. Description of the Related Art During the production process of an automobile, there is a step of joining an oil pan, an extension housing, and the like of a transmission with a mating surface, abutting and integrally assembling and sealing. At this time, as shown in FIGS. 4 (a) and 4 (d), the screw hole (1b) is formed over the entire periphery of the mating surfaces (1a) and (2a) of the oil pan (1) and the extension housing (2).
... (2b) ... bent concave part (1c) formed avoiding etc.
｝ See FIG. 4 (b)｝ Sealant ｛Liquid gasket (Fo
rmed In Place Gasket) et (3) is applied, and the mating surfaces (1a) and (2a) are abutted to each other and screwed and fixed. Then, the mating surfaces (1a) and (2a) are crushed by screwing and fixing the sealant (3) to abut while filling the recess (1c) and sealed without gaps. FIG. 4 (b)
4C is a cross-sectional view taken along the line bb of FIG. 4A and a detailed view of a part c, and FIG. 4E is a detailed view of a part e of FIG. 4D.
【０００３】この時、シール剤（３）の塗布量が多すぎ
ると、余分なシール剤（３）がオイルパン（１）に落ち
てオイルに混入することにより油路詰まりを生じ、この
反対に少なすぎると、シール剤（３）の切れた部分から
油漏れを生じるため、塗布状態を検出する必要があり、
その検出手段の一例を図５及び図６を参照して次に示
す。図５において（４）はワーク（５）を真上から撮像
するＣＣＤカメラ等の固定の撮像手段、（６）は撮像手
段（４）に接続された画像処理装置、（７）は照明装
置、（８）は画像モニターである。At this time, if the amount of the sealant (3) applied is too large, the excess sealant (3) falls into the oil pan (1) and mixes with the oil, causing clogging of the oil passage. If the amount is too small, oil leaks from the cut portion of the sealant (3), so it is necessary to detect the application state,
An example of the detection means will be described below with reference to FIGS. In FIG. 5, (4) is a fixed imaging means such as a CCD camera for imaging the work (5) from directly above, (6) is an image processing device connected to the imaging means (4), (7) is a lighting device, (8) is an image monitor.
【０００４】上記構成によれば、オイルパン等に塗布し
たシール剤（３）を撮像して図６（ａ）に示すシール剤
画像（Ｑａ）を得ると、図６（ｂ）に示すように、検査
ライン（Ｌａ）におけるシール剤画像（Ｑａ）の明暗部
の明度差（Ｈａ）からシール剤（３）のエッジを検出す
る。そして、塗布幅（Ｄａ）、塗布位置、塗布切れ等を
全周に亘って検出して重回帰式により塗布状態の良否を
検出する。この時、シール剤画像（Ｑａ）の撮像した画
像の全てを一括して計測すると、一画面に映っているシ
ール剤（３）の部分的な細かい状態、太さ等は計測出来
ない。そこで、細かく計測するためにシール剤（３）を
大きく撮像すると、撮像画像の枚数が多くなるため、処
理時間が長くなる。According to the above configuration, when the sealant (3) applied to an oil pan or the like is imaged to obtain a sealant image (Qa) shown in FIG. 6A, as shown in FIG. Then, the edge of the sealant (3) is detected from the lightness difference (Ha) between the light and dark portions of the sealant image (Qa) on the inspection line (La). Then, the application width (Da), application position, application breakage, and the like are detected over the entire circumference, and the quality of the application state is detected by a multiple regression equation. At this time, if all the captured images of the sealant image (Qa) are collectively measured, it is not possible to measure the partial fine state, thickness, etc. of the sealant (3) reflected on one screen. Therefore, if a large image of the sealant (3) is taken for fine measurement, the number of captured images increases and the processing time increases.
【０００５】そこで、予め設定されたウィンドウをシー
ル剤画像（Ｑａ）に被せて撮像画像を分割し、ウィンド
ウ内の画像を計測すれば、細かく計測出来る。[0005] Therefore, fine measurement can be performed by covering a preset window with the sealant image (Qa), dividing the captured image, and measuring the image in the window.
【０００６】[0006]
【発明が解決しようとする課題】上述の検出手段によれ
ば、シール剤（３）の平面的撮像画像から塗布状態を検
出しているため、立体的な断面厚み形状まで検出出来
ず、塗布量の良否を検出出来ないという不具合がある。
又、設定されたウィンドウをシール剤画像（Ｑａ）に被
せて細かく計測する場合、シール剤（３）は曲がってい
るため、ウィンドウの設定がシール剤（３）の曲がり等
の形状変化に対応出来ず、シール剤画像（Ｑａ）の検出
対応部分がウィンドウ内に収まり切れないことがある。According to the above-mentioned detecting means, since the state of application is detected from a two-dimensional image of the sealant (3), it is not possible to detect even a three-dimensional cross-sectional thickness profile, There is a problem that the pass / fail cannot be detected.
When the set window is covered with the sealant image (Qa) and measured finely, since the sealant (3) is bent, the window setting can cope with a shape change such as a bend of the sealant (3). In some cases, the portion corresponding to the detection of the sealant image (Qa) may not be completely contained in the window.
【０００７】本発明の目的は、塗布されたシール剤の断
面積を推定し、長さと断面積とで塗布量を判定出来、且
つ、シール剤の形状変化に対応してウィンドウを容易に
設定して細かく計測出来るシール剤の塗布状態検出方法
を提供することである。SUMMARY OF THE INVENTION It is an object of the present invention to estimate a cross-sectional area of a applied sealant, determine a coating amount based on a length and a cross-sectional area, and easily set a window corresponding to a change in shape of the sealant. It is an object of the present invention to provide a method for detecting the application state of a sealant that can be measured finely and precisely.
【０００８】[0008]
【課題を解決するための手段】本発明は、被塗布面に線
状に塗布されたシール剤の所定領域を真上から撮像する
工程と、前記撮像で得られた画像のシール剤の両側輪郭
線を一時的に折線近似する工程と、前記画像内における
前記折線の各エッジの座標に基づいて、画像内のシール
剤を複数のシール剤部分に等分する工程と、前記各シー
ル剤部分の各エッジの座標から前記各シール剤部分をそ
れぞれウィンドウ中央に位置させる複数のウィンドウの
中心座標を設定する工程と、前記折線近似を解除すると
共に、前記中心座標で設定した各ウィンドウ内のシール
剤部分の幅や位置などの塗布状態を検出する工程とを有
することを特徴とし、又、被塗布面に線状に塗布された
所定領域のシール剤に対して、前記シール剤の長手方向
に向かって左右両側斜め上方から左右対称に照明光を照
射することにより、前記シール剤の断面形状に対応した
陰影を前記シール剤の両側の前記被塗布面上に形成し、
前記陰影を２値化処理して明部と暗部のパターン画像を
形成し、前記パターン画像上の特徴量とシール剤の断面
積との対応関係を求め、計測されたパターン画像の特徴
量を測定して上記対応関係により所定領域のシール剤の
断面積を演算するようにしたことを特徴とする。SUMMARY OF THE INVENTION According to the present invention, there is provided a method of imaging a predetermined region of a sealant linearly applied to a surface to be coated from directly above, Temporarily approximating the line with a broken line, dividing the sealant in the image into a plurality of sealant portions based on the coordinates of each edge of the broken line in the image; and Setting the center coordinates of a plurality of windows that respectively position each of the sealant portions at the center of the window from the coordinates of each edge; and canceling the folded line approximation and the sealant portions in each window set with the center coordinates. A step of detecting the application state such as the width or position of the sealant, the sealant in a predetermined area linearly applied to the surface to be applied, in the longitudinal direction of the sealant Left and right By irradiating the illumination light obliquely from above symmetrically, to form a shade that corresponds to the cross-sectional shape of the sealing agent to the coated surface on both sides of the sealant,
The shade is binarized to form a pattern image of a light portion and a dark portion, a correspondence between a feature amount on the pattern image and a cross-sectional area of the sealant is obtained, and the feature amount of the measured pattern image is measured. The cross-sectional area of the sealant in a predetermined area is calculated based on the correspondence.
【０００９】[0009]
【発明の実施の形態】本発明に係るシール剤の塗布状態
検出方法の実施の形態を図１〜図３を参照して以下に説
明する。まず図１は本発明方法を実施するための装置を
示し、図において（１０）は下向きのＣＣＤカメラや照
明を含み、移動用直交ロボット（１１）に取り付けられ
てワーク（１２）、例えばオイルパンに塗布されたシー
ル剤（３）を真上から撮像する撮像ユニット、（１３）
は撮像ユニット（１０）に接続された画像処理装置、
（１４）（１５）は画像処理装置（１３）に接続された
パソコンと画像モニター、（１６）は撮像ユニット（１
０）及びパソコン（１４）に接続された照明用電源であ
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method for detecting the application state of a sealant according to the present invention will be described below with reference to FIGS. First, FIG. 1 shows an apparatus for carrying out the method of the present invention, in which (10) includes a downward-facing CCD camera and illumination, and is attached to a moving orthogonal robot (11) to work (12), for example, an oil pan. An image pickup unit for picking up an image of the sealant (3) applied to the device from directly above, (13)
Is an image processing device connected to the imaging unit (10),
(14) and (15) are a personal computer and an image monitor connected to the image processing device (13), and (16) is an imaging unit (1).
0) and a lighting power supply connected to the personal computer (14).
【００１０】上記構成に基づき本発明の動作（方法）を
次に説明する。まず、図２（ａ）に示すように、例えば
オイルパンに塗布された線状のシール剤（３）に撮像ユ
ニット（１０）の円環状照明（Ｕａ）（Ｕｂ）によりシ
ール剤（３）の長手方向に向かって左右両側斜め上方か
ら左右対称に照明光を照射し、且つ、撮像ユニット（１
０）のＣＣＤカメラ（Ｃａ）で真上からシール剤（３）
を撮像する。そうすると、被塗布面上にシール剤（３）
の断面厚み形状に対応した陰影が形成され、図２（ｂ）
〜（ｆ）に示すように、陰影により所定形状の明部と暗
部のパターン画像（Ｐｂ）〜（Ｐｆ）が生じる。そのパ
ターン画像（Ｐｂ）〜（Ｐｆ）はシール剤（３ｂ）〜
（３ｆ）の平面（幅）及び断面（厚み）形状に応じて変
化し、断面形状を反映したものになる。尚、パターン画
像（Ｐｂ）（Ｐｃ）（Ｐｄ）及び（Ｐｅ）（Ｐｆ）はそ
れぞれ照明（Ｕａ）及び（Ｕｂ）によるものである。The operation (method) of the present invention based on the above configuration will be described below. First, as shown in FIG. 2A, for example, a sealant (3) applied to a linear sealant (3) applied to an oil pan by the annular illumination (Ua) (Ub) of the imaging unit (10). The illumination light is radiated symmetrically from the upper left and right sides in the longitudinal direction, and the imaging unit (1
0) Sealing agent (3) from directly above with a CCD camera (Ca)
Is imaged. Then, the sealant (3) is applied on the surface to be coated.
A shadow corresponding to the cross-sectional thickness shape of FIG.
As shown in (f) to (f), pattern images (Pb) to (Pf) of a light portion and a dark portion having a predetermined shape are generated by shading. The pattern images (Pb) to (Pf) are sealants (3b) to
It changes according to the plane (width) and cross-section (thickness) shape of (3f), and reflects the cross-section shape. The pattern images (Pb), (Pc), (Pd) and (Pe) (Pf) are based on the illuminations (Ua) and (Ub), respectively.
【００１１】次に、パターン画像（Ｐｂ）〜（Ｐｆ）の
左右暗部の最外縁（Ｍｂ）（Ｎｂ）〜（Ｍｆ）（Ｎｆ）
を輪郭として例えば図３（ａ）に示すシール剤画像（Ｑ
ｂ）を得ると、図３（ｂ）に示すように、図２の輪郭
（Ｍｂ）（Ｎｂ）〜（Ｍｆ）（Ｎｆ）を一時的に折線
（Ｌｂ）に近似化する。そして、画像（Ｑｂ）内におけ
る折線（Ｌｂ）の各エッジの座標に基づいて画像（Ｑ
ｂ）内のシール剤を複数のシール剤部分に等分し、上記
各エッジの座標から上記各シール剤部分をそれぞれウィ
ンドウ中央に位置させる複数のウィンドウ（Ｗａ）〜
（Ｗｅ）｛図３（ｃ）を参照｝の中心座標を設定する。Next, the outermost edges (Mb) (Nb)-(Mf) (Nf) of the left and right dark portions of the pattern images (Pb)-(Pf).
The sealant image (Q) shown in FIG.
When b) is obtained, as shown in FIG. 3B, the contours (Mb) (Nb) to (Mf) (Nf) in FIG. 2 are temporarily approximated to a broken line (Lb). Then, based on the coordinates of each edge of the fold line (Lb) in the image (Qb), the image (Q
The sealant in b) is equally divided into a plurality of sealant portions, and the plurality of windows (Wa) to (c) position each sealant portion at the center of the window from the coordinates of each edge.
(We) Set the center coordinates of {see FIG. 3 (c)}.
【００１２】例えば、より長い方の輪郭の各エッジ座標
（Ｔａ）（Ｔｂ）…を計測して、エッジ間距離を輪郭に
沿って計測する。そして、計測したエッジ間距離が設定
値を超えた時、例えば（Ｔｂ）〜（Ｔｄ）間で設定値を
越えて、（Ｔｂ）〜（Ｔｄ）間の中間位置（Ａ）が（Ｔ
ｃ）〜（Ｔｄ）間にあるとすると、中間位置（Ａ）を通
る、直線（Ｔｃ）〜（Ｔｄ）の垂線（Ｂ）がシール剤の
幅方向の中心と交わる点（Ｚ）をウィンドウの中心とし
てウィンドウ（Ｗａ）〜（Ｗｅ）を設定する。尚、シー
ル剤の幅方向の中心は上記陰影によるパターン画像（Ｐ
ｂ）〜（Ｐｆ）の左右暗部の最外縁（Ｍｂ）（Ｎｂ）間
〜（Ｍｆ）（Ｎｆ）間の幅方向の中間位置である。For example, the edge coordinates (Ta), (Tb)... Of the longer contour are measured, and the distance between edges is measured along the contour. Then, when the measured distance between edges exceeds the set value, for example, exceeds the set value between (Tb) and (Td), and the intermediate position (A) between (Tb) and (Td) becomes (T).
c) to (Td), the point (Z) at which the perpendicular (B) of the straight line (Tc) to (Td) passing through the intermediate position (A) intersects the center of the sealant in the width direction is defined as a window. Windows (Wa) to (We) are set as centers. The center of the sealant in the width direction is the pattern image (P
These are intermediate positions in the width direction between the outermost edges (Mb) and (Nb) to (Mf) and (Nf) of the left and right dark portions b) to (Pf).
【００１３】そして、図３（ｃ）に示すように、各中心
座標毎に複数のウィンドウ（Ｗａ）〜（Ｗｅ）をその縦
方向（Ｘ）の隣接端部をオーバラップさせつつシール剤
画像（Ｑｂ）に被せる。そうすると、ウィンドウ（Ｗ
ａ）〜（Ｗｅ）内にシール剤画像（Ｑｂ）が全て収ま
り、しかも各ウィンドウ内のシール剤部分の長さが略均
一になる。As shown in FIG. 3 (c), a plurality of windows (Wa) to (We) are overlapped with their adjacent ends in the vertical direction (X) for each center coordinate while the sealant image ( Qb). Then, the window (W
The sealant images (Qb) all fit within a) to (We), and the length of the sealant portion in each window becomes substantially uniform.
【００１４】そこで、図２（ｂ）〜（ｆ）に示すよう
に、パターン画像（Ｐｂ）〜（Ｐｆ）を２値化処理し、
パターン画像（Ｐｂ）〜（Ｐｆ）の２値化画像から明部
又は暗部の位置、面積及び数をウィンドウ毎に一度に計
測する。その計測データは上述のようにシール剤（３）
の幅及び断面形状に応じて変化し、断面形状を反映す
る。例えば照明（Ｕａ）の照射時、図２（ｂ）に示すよ
うに、シール剤（３ｂ）断面が円形の場合、シール剤頂
部が最も明るくなり、その隣接部が暗くなってパターン
画像（Ｐｂ）を得る。又、図２（ｃ）に示すように、シ
ール剤（３ｃ）断面が横長楕円の場合、シール剤頂部の
明部が断面円形時より幅広になってパターン画像（Ｐ
ｃ）を得、更に断面偏平になる程、明部が幅広になる。
又、図２（ｄ）に示すように、シール剤（３ｄ）上面中
央部がやや凹んで二つの頂部が生じた場合、二つの明部
が生じてパターン画像（Ｐｄ）を得る。同様に、照明
（Ｕｂ）の照射時、円形及び半円の各シール剤（３ｅ）
（３ｆ）断面に応じてそれぞれパターン画像（Ｐｅ）
（Ｐｆ）を得る。従って、パターン画像（Ｐａ）〜（Ｐ
ｆ）よりシール剤断面積を推定出来る。Therefore, as shown in FIGS. 2B to 2F, the pattern images (Pb) to (Pf) are binarized,
From the binarized images of the pattern images (Pb) to (Pf), the position, area, and number of bright or dark portions are measured at once for each window. As described above, the measurement data is used for the sealant (3).
Changes according to the width and the cross-sectional shape of the light source, and reflects the cross-sectional shape. For example, when the illumination (Ua) is irradiated, as shown in FIG. 2B, when the cross section of the sealing agent (3b) is circular, the top of the sealing agent is brightest, and the adjacent portion is dark and the pattern image (Pb) Get. Further, as shown in FIG. 2C, when the cross section of the sealant (3c) is a horizontally long ellipse, the bright portion at the top of the sealant becomes wider than when the cross section is circular and the pattern image (P
As c) is obtained and the cross section becomes flatter, the bright portion becomes wider.
In addition, as shown in FIG. 2D, when the central portion of the upper surface of the sealant (3d) is slightly recessed to generate two peaks, two bright portions are generated to obtain a pattern image (Pd). Similarly, at the time of irradiation of the illumination (Ub), each of the circular and semicircular sealants (3e)
(3f) Pattern image (Pe) according to cross section
(Pf) is obtained. Therefore, the pattern images (Pa) to (P
The sealant cross-sectional area can be estimated from f).
【００１５】一方、ウインドウ内におけるパターン画像
（Ｐｂ）〜（Ｐｆ）の輪郭に沿った長さに上記断面積を
乗じてシール剤（３）の塗布量（体積）を算出出来る。On the other hand, the application amount (volume) of the sealant (3) can be calculated by multiplying the length along the contour of the pattern images (Pb) to (Pf) in the window by the above-mentioned cross-sectional area.
【００１６】そこで、予めシール剤断面積に応じて表れ
る明暗のパターン画像の画像上の特徴量（例えば明部の
幅と面積、暗部の幅と面積）とシール剤の断面積との対
応関係を求める。例えば上記特徴量を説明変数、シール
剤の断面積を目的変数とする重回帰式を予め求めてお
く。そして、計測された明暗パターン画像の各ウィンド
ウ毎の特徴量を測定し、上記重回帰式よりシール剤の断
面積を演算する。更に、この断面積に画像上のシール剤
の長さを乗じて塗布量（体積）を算出する。Therefore, the correspondence between the feature amounts (for example, the width and area of the bright part, the width and the area of the dark part) of the light and dark pattern image which appears in advance according to the cross-sectional area of the sealant and the cross-sectional area of the sealant is described. Ask. For example, a multiple regression equation using the above-described feature amount as an explanatory variable and the cross-sectional area of the sealant as an objective variable is obtained in advance. Then, the feature amount of each window of the measured light-dark pattern image is measured, and the cross-sectional area of the sealant is calculated from the multiple regression equation. Further, the application amount (volume) is calculated by multiplying the cross-sectional area by the length of the sealant on the image.
【００１７】又は、明暗パターンに応じた断面積と長さ
と量とを標準データとして作成しておき、計測された明
暗のパターン画像と標準パターン画像とをマッチング対
比し、ウィンドウ毎にシール剤平面（長さ）及び断面形
状（断面積）を推定してシール剤塗布量を検出する。こ
の時、塗布されたシール剤の平面及び断面形状は様々で
あるが、実質的にはある限定された種類数に限られ、表
れる形状の種類は限られるため、用意すべき標準データ
数も或る範囲内に収まる。もし、計測された明暗パター
ン画像に正確に一致する標準データがなければ、最も近
い標準データに近似すれば良い。Alternatively, a cross-sectional area, a length, and an amount corresponding to the light-dark pattern are created as standard data, and the measured light-dark pattern image and the standard pattern image are matched and compared. The length) and the cross-sectional shape (cross-sectional area) are estimated to detect the sealant application amount. At this time, the plane and cross-sectional shapes of the applied sealant are various, but are practically limited to a limited number of types, and the types of shapes that appear are limited. Within the range. If there is no standard data that exactly matches the measured light-dark pattern image, it may be approximated to the closest standard data.
【００１８】尚、この最も近い標準データの決定にあた
っては、ファジィ推論を応用することが出来る。In determining the closest standard data, fuzzy inference can be applied.
【００１９】[0019]
【発明の効果】本発明によれば、オイルパンの合わせ面
等の被塗布面上に塗布されたシール剤の塗布状態を検出
するにあたり、シール剤に斜め上方から照明光を左右対
称に照射して断面形状を反映した陰影を被塗布面上に形
成し、且つ、シール剤を真上から撮像してシール剤画像
の輪郭線を一時的に折線近似化し、上記折線のエッジの
座標に基づいてシール剤を複数のシール剤部分に等分
し、上記エッジの座標からシール剤部分をウィンドウ中
央に位置させる複数のウィンドウの中心座標を設定し、
シール剤の平面及び断面形状に応じて変化する所定形状
の陰影をウィンドウ毎に２値化処理して明部と暗部のパ
ターン画像を形成し、上記パターン画像の特徴量とシー
ル剤の断面積との対応関係を求め、計測されたパターン
画像の各ウィンドウ毎の特徴量を測定して上記対応関係
によりシール剤の断面積を演算したから、シール剤断面
積を推定してシール剤の長さとで塗布量を検出出来、油
路詰まり等の発生を防止出来る。又、細かく計測する場
合、シール剤が如何なる形状でもシール剤形状に合わせ
て容易にウィンドウを設定出来、処理時間が短縮され
る。According to the present invention, when detecting the state of application of the sealant applied on the surface to be applied such as the mating surface of the oil pan, the sealant is irradiated with illumination light symmetrically from diagonally above from above. A shadow reflecting the cross-sectional shape is formed on the surface to be coated, and the contour of the sealant image is temporarily approximated by taking an image of the sealant from directly above, based on the coordinates of the edge of the polygonal line. Dividing the sealant into a plurality of sealant portions equally, setting the center coordinates of a plurality of windows that position the sealant portion at the center of the window from the coordinates of the edge,
The shading of a predetermined shape that changes according to the plane and cross-sectional shape of the sealant is binarized for each window to form a pattern image of a bright portion and a dark portion, and the feature amount of the pattern image and the cross-sectional area of the sealant are calculated. The corresponding relationship of the sealant is obtained, the characteristic amount of each window of the measured pattern image is measured, and the cross-sectional area of the sealant is calculated based on the above-described corresponding relationship. The application amount can be detected, and occurrence of clogging of the oil passage and the like can be prevented. In the case of fine measurement, the window can be easily set according to the shape of the sealant regardless of the shape of the sealant, and the processing time is shortened.
【図１】本発明方法を実施する装置の概略側面図。FIG. 1 is a schematic side view of an apparatus for performing the method of the present invention.
【図２】（ａ）はシール剤撮像時の断面図。（ｂ）〜
（ｆ）はシール剤の各断面形状及び明暗パターンを示す
図。FIG. 2A is a cross-sectional view when a sealant is imaged. (B) ~
(F) is a figure which shows each cross-sectional shape and light-dark pattern of a sealing compound.
【図３】（ａ）はシール剤画像の正面図。（ｂ）は
（ａ）の画像を折線近似した正面図。（ｃ）は（ｂ）の
折線のエッジ座標からウィンドウ中心を導出する説明
図。（ｄ）はウィンドウを被せたシール剤画像の正面
図。FIG. 3A is a front view of a sealant image. FIG. 2B is a front view of the image of FIG. (C) is an explanatory diagram for deriving a window center from the edge coordinates of the broken line in (b). (D) is a front view of the sealant image covering the window.
【図４】（ａ）はオイルパン合わせ面の正面図。（ｂ）
は（ａ）のｂ−ｂ線断面図。（ｃ）は（ａ）のｃ部詳細
図。（ｄ）はエクステンションハウジング合わせ面の正
面図。（ｅ）は（ｄ）のｅ部詳細図。FIG. 4A is a front view of an oil pan mating surface. (B)
3A is a sectional view taken along line bb in FIG. (C) is a detailed view of a part c in (a). (D) is a front view of the extension housing mating surface. (E) is a detailed view of an e part of (d).
【図５】従来のシール剤の塗布状態検出装置の一例を示
す概略側面図。FIG. 5 is a schematic side view showing an example of a conventional sealant application state detecting device.
【図６】（ａ）は図５の装置によって撮像したシール剤
画像の正面図。（ｂ）は図６（ａ）のシール剤画像の明
度を示すグラフ。FIG. 6A is a front view of a sealant image captured by the apparatus of FIG. 5; 7B is a graph showing the lightness of the sealant image of FIG.
３ シール剤 Ｃａ カメラ Ｕａ、Ｕｂ 照明 Ｐｂ〜Ｐｆ パターン画像 3 Sealant Ca Camera Ua, Ub Lighting Pb-Pf Pattern image
Claims (2)
定領域を真上から撮像する工程と、前記撮像で得られた
画像のシール剤の両側輪郭線を一時的に折線近似する工
程と、前記画像内における前記折線の各エッジの座標に
基づいて、画像内のシール剤を複数のシール剤部分に等
分する工程と、前記各シール剤部分の各エッジの座標か
ら前記各シール剤部分をそれぞれウィンドウ中央に位置
させる複数のウィンドウの中心座標を設定する工程と、
前記折線近似を解除すると共に、前記中心座標で設定し
た各ウィンドウ内のシール剤部分の幅や位置などの塗布
状態を検出する工程とを有することを特徴とするシール
剤の塗布状態検出方法。An image of a predetermined area of a sealant applied linearly on a surface to be applied is imaged from directly above, and both side contours of the sealant in an image obtained by the imaging are temporarily approximated by broken lines. A step of equally dividing the sealant in the image into a plurality of sealant portions based on the coordinates of each edge of the fold line in the image; and each sealant based on the coordinates of each edge of each sealant portion. A step of setting the center coordinates of a plurality of windows that respectively position the agent portion at the center of the window,
Canceling the folded line approximation and detecting an application state such as a width and a position of a sealant portion in each window set by the center coordinates.
ール剤に対して、前記シール剤の長手方向に向かって左
右両側斜め上方から左右対称に照明光を照射することに
より、前記シール剤の断面形状に対応した陰影を前記シ
ール剤の両側の前記被塗布面上に形成し、前記陰影を２
値化処理して明部と暗部のパターン画像を形成し、前記
パターン画像上の特徴量とシール剤の断面積との対応関
係を求め、計測されたパターン画像の特徴量を測定して
上記対応関係により所定領域のシール剤の断面積を演算
するようにしたことを特徴とする請求項１記載のシール
剤の塗布状態検出方法。2. The method according to claim 1, wherein the illuminating light is applied to a predetermined area of the sealant linearly applied to the surface to be coated from left and right diagonally above the left and right sides in the longitudinal direction of the sealant. A shadow corresponding to the cross-sectional shape of the sealant is formed on the surface to be coated on both sides of the sealant, and
Value processing is performed to form a pattern image of a bright portion and a dark portion, a correspondence relationship between a feature amount on the pattern image and a cross-sectional area of the sealant is determined, and the feature amount of the measured pattern image is measured to determine the correspondence. 2. The method according to claim 1, wherein a sectional area of the sealant in a predetermined area is calculated based on the relationship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19429997A JP3305987B2 (en) | 1997-07-18 | 1997-07-18 | Sealing agent application state detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19429997A JP3305987B2 (en) | 1997-07-18 | 1997-07-18 | Sealing agent application state detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1137724A true JPH1137724A (en) | 1999-02-12 |
| JP3305987B2 JP3305987B2 (en) | 2002-07-24 |
Family
ID=16322300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19429997A Expired - Fee Related JP3305987B2 (en) | 1997-07-18 | 1997-07-18 | Sealing agent application state detection method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3305987B2 (en) |
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|---|---|---|---|---|
| JP2002071314A (en) * | 2000-09-04 | 2002-03-08 | Daihatsu Motor Co Ltd | Method for measuring amount of application displacement |
| JP2002090119A (en) * | 2000-09-12 | 2002-03-27 | Daihatsu Motor Co Ltd | Application width measuring method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002071314A (en) * | 2000-09-04 | 2002-03-08 | Daihatsu Motor Co Ltd | Method for measuring amount of application displacement |
| JP2002090119A (en) * | 2000-09-12 | 2002-03-27 | Daihatsu Motor Co Ltd | Application width measuring method |
| JP2002096018A (en) * | 2000-09-22 | 2002-04-02 | Daihatsu Motor Co Ltd | Method of inspecting coating crack and method of measuring width of coating crack |
| JP2003004660A (en) * | 2001-06-25 | 2003-01-08 | Matsushita Electric Ind Co Ltd | Inspection method for bonding state |
| JP2003004661A (en) * | 2001-06-25 | 2003-01-08 | Matsushita Electric Ind Co Ltd | Coating-state inspection method |
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| JP2005114708A (en) * | 2003-09-19 | 2005-04-28 | Keyence Corp | Optical displacement meter and method for measuring applied cross section area of viscous fluid using same |
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