JPH1194530A - Method and device for judging applied state of paint - Google Patents

Abstract

PROBLEM TO BE SOLVED: To judge with precision applied state of a paint without being affected by light present in environment. SOLUTION: A colored laser slit light 12a of specified wavelength band is so projected as to cross a to-be-measured painted matter 4, such light of colored laser slit light 12a as reflected from the painted matter 4 is taken with a color image input means 13, the reflection light only of the colored laser slit light 12a is extracted from the image data outputted from the color image input means 13 based on a pre-registered color data, such image data as corresponding to the extracted reflection light of colored laser slit light 12a is outputted, and based on the image data, an applied state of the pained matter 4 is judged. Here, a color extracting means 22 wherein the reflection light only of the colored laser slit light 12a is extracted based on the pre-registered color data, and such image data as corresponding to the extracted reflection light of colored laser slit light 12a is outputted, and an information processing means 23 wherein the applied state of the painted matter 4 is judged based on the image data from the color extracting means 22, preferred to be provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for judging a coated state of a coated object, for example, by irradiating a laser slit light from diagonally above the coated object,
The present invention relates to a method and an apparatus for determining a coating state by obtaining information on a cross section of a coating material.

[0002]

2. Description of the Related Art For example, when manufacturing a sealed container, various resins are used as a sealing material. FIG. 5 shows an example of the sealed container. A sealed container 53 is formed by attaching a lid 52 to a housing 51.
When manufacturing the sealed container 53, the flange 54 of the housing 51 is used.
Is applied, and then the lid 52 is attached, whereby the housing 51 and the lid 52 are sealed with a silicone resin to form the sealed container 53.

At this time, it is important to apply the coating material 55 in an appropriate state in order to obtain a good sealing state. In other words, in the case of the sealed container 53 as shown in FIG. 5, it is desirable that the cross-sectional area of the applied material 55 be the same regardless of the portion. Therefore, before the cover 52 is attached, the application state of the applied object 55 is inspected or determined.

Conventionally, as a method for judging the coating state of a coating material, there is, for example, a technique disclosed in Japanese Patent Application Laid-Open No. Hei 5-256609. This conventional technique is a method of determining the amount of cream solder to be applied, and the outline of the method is as follows. That is, light is applied to the applied cream solder, the size of a shadow generated by the solder is detected by a line sensor, and the volume of the solder is obtained based on the detection result.

[0005] When the sealed container is an oil pan used in an automobile, an inspection method as shown in FIG. 6 is used. This method uses the flange 6 of the oil pan 61.
A coating material 64 of a silicon-based resin which is squeezed out from the dispenser 63 and applied is taken in as an image by the image input device 65, and the image is processed and determined.

[0006]

However, the technique disclosed in Japanese Patent Application Laid-Open No. 5-256609 is affected by the secondary reflection from the light source because it uses a line sensor, and is accurate and stable. This technique is not suitable for those requiring detection.

Further, in the case of image processing as used in the inspection of the conventional oil pan 61, if the accuracy is to be improved, the image processing circuit becomes complicated and the price increases. In addition, since the oil pan 61 is made of metal, bright objects around the ceiling lighting and the like are regularly reflected by the oil pan and tend to cause processing errors during image processing. For this reason, in each automobile manufacturer, the coating material 6 applied to the oil pan 61 is
In the inspection of No. 4, the image input device 65 is not used and many places are visually inspected.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method and an apparatus for judging a coated state of a coated object which can determine the coated state of the coated object with high accuracy without being affected by light existing on the environment. And

[0009]

According to a first aspect of the present invention, there is provided a method for determining a coating state of a coated object, the method including irradiating a colored laser slit light in a specific wavelength range across the coated object to be measured. Then, the reflected light of the colored laser slit light by the coating material is captured by the color image input means, and the reflected light of only the colored laser slit light is determined based on the color data registered in advance from the image data output from the color image input means. Is extracted, image data corresponding to the extracted reflected light of the colored laser slit light is output, and the application state of the application object is determined based on the image data.

According to a second aspect of the present invention, in the method for determining a coated state of a coated material according to the first aspect, a color laser slit light is provided based on color data registered in advance from image data from a color image input means. The process of extracting only the reflected light is based on the color data of the colored laser slit light output from the color image input means. Information can be registered, and the reflected light of only the colored laser slit light is extracted based on the registered information on the color data in the predetermined range.

[0011] The invention according to claim 3 is based on claim 1.
Alternatively, in the method for determining a coating state of a coating material according to 2, the color image input means is a color camera, the colored laser slit light is red light, and the color data in a predetermined range is data in which the relative ratio of red light falls within the predetermined range. The calculation processing based on the light section method is performed as preprocessing for making the determination.

According to a fourth aspect of the present invention, there is provided an apparatus for determining a coating state of a coated object, comprising: a laser projector for irradiating the coated object with a colored laser slit light of a specific wavelength range obliquely from above and across the coated object; Color image input means for capturing the color laser slit light reflected by the as an image, and from the image data output from the color image input means,
Color extraction means for extracting reflected light of only the colored laser slit light based on the color data registered in advance, and outputting image data corresponding to the reflected light of the extracted colored laser slit light; and An information processing unit for performing a process of determining a coating state of the coating material based on the image data.

According to a fifth aspect of the present invention, in the application state determining apparatus of the fourth aspect, a dispenser for squeezing the application object is provided so as to be operable together with the laser projector and the color image input means, and the information processing means. And a mode setting means for selectively supplying either image data from the color image input means or color data from the information processing means to the color extracting means. .

According to the invention described in claim 6, according to claim 4,
In the apparatus for determining a coated state of a coated object according to the item 5, when the mode setting unit sets the color extracting unit to the color extraction mode, the reflected light of the colored laser slit light radiated across the coated object is reflected by the coated object. , The reflected light of only the colored laser slit light is extracted from the image data output from the color image input means based on the color data registered in advance, and the extracted colored laser slit light is The image data corresponding to the reflected light is output, the application state of the applied material is determined based on the image data, and when the color extraction unit is set to the color data registration mode by the mode setting unit, the image data is output from the color image input unit. With reference to the color data of the colored laser slit light to be used as a reference, the color data serving as the reference has a predetermined range approximating the color data. Sending information about the data to the color extraction unit from the information processing unit, the color extraction means, and registers information regarding the color data transmitted as the information regarding the color data within the allowable range of colored laser slit light.

Further, in the invention according to claim 7, in the apparatus for determining a coated state of a coated material according to claim 6, the predetermined range is changed by changing the relative ratio of the amount of the same color as the color of the laser slit light. Like that.

The present invention is applied to, for example, a case where the application state of a coating material such as a silicon resin applied in a rod shape having a circular cross section as a sealing material is determined. In order to realize this, the reflected light obtained by irradiating the colored laser slit light across the coated object is extracted based on the color data registered in advance, and the image data for the extracted reflected light is obtained. Based on the image data, the application state is determined by calculating the cross-sectional area and the like of the application object using, for example, a light-section method calculation process.

As described above, according to the present invention, by using the color laser slit light and comparing the color data for the color laser slit light output from the color image input means with the color data registered in advance, the laser light is emitted. Only slit light is taken out. Therefore, by selecting the color of the laser slit light that is unlikely to exist in the use environment such as the production line and taking in the color image input means, it is not affected by the secondary reflection due to the illumination on the production line. Only the laser slit light can be efficiently extracted, and the coating state can be determined with high accuracy.

Further, based on the color data of the image into which the colored laser slit light has been taken, information on a predetermined range of color data which is similar to the color data can be registered for the reference color data. Based on the information on the color data obtained, the reflected light of only the colored laser slit light is extracted. For example, when a red laser slit light is used, the characteristics of the color image input means and the state of the coated material are used. Accordingly, even if the color condition of the output image data is slightly different, if the color is similar, it can be regarded as the laser slit light and processed. Thus, it is possible to reliably extract only the laser slit light without being affected by the characteristics of the color image input means, the state of the applied material, and the like.

Furthermore, by changing the relative ratio of the amount of the same color as the color of the laser slit light to determine a predetermined range for determining the laser slit light, the similarity of the laser slit light can be determined more easily. This can be performed more accurately, and only the laser slit light can be reliably extracted as the processing target light.

[0020]

Embodiments of the present invention will be described below with reference to the drawings. Note that what is shown in this embodiment is directed to a case in which a coating material 4 is applied to an oil pan 1 as shown in FIG.

The oil pan 1 used in the present invention is mounted below the engine part of an automobile.
As shown in (1), after a coating material 4 made of a silicon-based resin is applied to the flange portion 3 of the housing 2 in a rod shape having a substantially circular cross section (see FIG. 3), it is pressed and fixed to the main body side.

FIG. 4 shows an outline of a method of applying the object 4 and a method of inspecting the applied state. That is, a laser projector 12 attached to a robot operable in the XYθ directions and moving together with the dispenser 11 in the advancing direction (arrow A direction) of the dispenser 11 for squeezing the coating material 4 and an image input device (CCD) serving as image input means A camera or the like 13 is provided, and irradiates the laser beam 12a at right angles to the application object 4 squeezed out from the dispenser 11 and applied.

Then, the reflected light of the laser slit light 12a is captured by the image input device 13, and a height value H related to the height of the coating material 4 and a width value W corresponding to the width are determined by a light cutting method.
Is measured to determine the application state, for example, by obtaining the area of the cross section of the application object 4. 4A is a side view, FIG. 4B is a plan view, FIG. 4C is a partially enlarged view of FIG. 4B, and the image input device 13 is omitted in the plan view of FIG. Have been.

In the method using the laser slit light 12a, it is usually not so difficult to extract only the laser slit light 12a from the image data output from the image input device 13. But oil pan 1
In the case of, since the housing 2 which is the object to be coated is made of metal, there is a risk that the light from the ceiling illumination is reflected on the metal surface and cannot be distinguished from the laser slit light 12a. We make various ingenuity.

In order to eliminate the above-mentioned danger, the colored laser slit light 12a is used and the laser slit light 1a is used.
It is conceivable to extract only the color data of the same color as 2a. To realize this, for example, a red transmission filter is provided in front of a black-and-white camera using a red laser slit light 12a to extract the red color of the laser. If this is attempted, the red color of the laser can be extracted, but the R (red) component also appears when white light, which is a composite color of RGB (red, green, blue), is input to the red transmission filter. This causes a problem that white light is also processed as the laser slit light 12a. Therefore, it cannot be dealt with by optical means combining a monochrome camera and a filter.

FIG. 1 is a block diagram for explaining an embodiment of the present invention in which such a danger is eliminated. As a schematic configuration, an image pick-up unit 20, a changeover switch unit 21,
It is composed of a color extracting unit 22 as a color extracting unit, an information processing unit (a personal computer or the like) 23 as an information processing unit, a monitor display unit 24, a keyboard 25, and the like. The information processing unit 23 incorporates a mode setting means for setting a mode described later.

As the image take-out section 20, the one shown in FIG. 4 described above is employed as it is, and a coating material 4 such as a silicone resin is placed on the flange 3 of the housing 2 (hereinafter referred to as a coating surface 3). ), A laser projector 12 that moves with the dispenser 11 rearward in the direction of travel of the dispenser 11 (direction of arrow A), and irradiates the application object 4 with the laser slit light 12a from diagonally above, and a color image input means. And an image input device 13 such as a CCD camera.

In this case, the laser slit light 12a emitted from the laser projector 12 is a colored laser slit light 12a having a specific wavelength range.
It is assumed that red laser light is used. The reason why the laser slit light 12a is set to red is that it is considered that there is not much red light on the production line of the factory, and that a diode that generates stable red light is available at a low price.

The coating material 4 squeezed out from the dispenser 11 and applied to the coating surface 3 is irradiated with laser slit light 12a from diagonally above the coating material 4 so as to cross the coating material 4 at right angles. The reflected light of the slit light 12a is captured by the image input device 13 and the image data is output.

The image data from the image input device 13 is input to one terminal t1 of the changeover switch unit 21 and is written to the color graphic board 26 of the information processing unit 23.

The changeover switch section 21 is a changeover switch having terminals t1 and t2. Under the control of the mode setting means of the information processing section 23, these terminals t
1 and t2, the color extraction unit 22 is set to the color extraction mode while the color extraction unit 22 is set to the color extraction mode. Mode. On the other hand, terminal t2
By setting a changeover switch on the side and setting the color extracting unit 22 to the registration mode, the operation mode of the application state determination device of the present invention is set to the color data registration mode. Normally, the terminal is set to the color extraction mode on the terminal t1 side.

The color extracting unit 22 converts the red laser slit light 12a (actually, the reflected light from the coating material 4 based on the color data registered in advance from the image data input through the changeover switch unit 21. However, hereinafter, “reflected light” is omitted and laser slit light is simply extracted). This color extraction compares the color data registered in advance with the color data in the image data from the image input device 13 such as a white image for the red laser slit light 12a and a black image for the other. Color extraction. That is, only a white image is output for the same image (or an image within a predetermined range) as the color data registered in advance, and the other image is output as a binary image of a black image. Thereby, only the laser slit light 12a can be extracted from the image data as the image data to be processed.

Further, the color extracting section 22 sets information on the color data in the predetermined range so as to allow color data similar to the reference color data in a predetermined range based on the color data. It has a function to register.
This will be described later.

The information processing section 23 is composed of a computer, has the above-described color graphic board 26 and a frame memory 27, and has various components required for performing information processing, such as a CPU and mode setting means. It is equipped with. However, illustration and description of these components will be omitted.

Next, the operation of the apparatus for judging the applied state of an applied material having such a configuration will be described.

In the normal application state determination process, the dispenser 11 moves in the traveling direction (the direction of the arrow A) while squeezing the coating material 4, and together with the movement of the dispenser 11, the laser provided behind the dispenser 11. The light projector 12 and the image input device 13 move. At this time, the laser projector 12 emits the red laser slit light 1
The image input device 13 moves while irradiating the coated object 4a with the laser slit light 12a.
a, and moves while outputting the image data.

The image data from the image input device 13 is sent to the color graphic board 26 of the information processing section 23.
And sent to the color extraction unit 22 via the changeover switch unit 21.

The color extracting section 22 outputs a monochrome binary image based on the color data from the transmitted image data. That is, if the color data of the image data is within the range of the color data registered in advance, the image data is output as a white image, and if it is other color data, the image data is output as a black image. The monochrome binary image data is stored in the frame memory 26 of the information processing unit 23.

Using the binary image data stored in the frame memory 26, the height and width of the coating material 4 are calculated using a method called a light section method, and the processing results such as the area of the cross section are obtained. Since the method of obtaining the height and width of the object by the light sectioning method is a generally well-known method, here, the method (calculation processing)
The description of is omitted.

The image data from the image input device 13 is also input to the color graphic board 26, and the application state calculation result based on the binary image data stored in the frame memory 27 (the result calculated by the light cutting method). ) And the display of the judgment result (pass, reject) are displayed on a color image (image input device 1) on the color graphic board 26.
3), and is displayed on the monitor display unit 24.

In this embodiment, the image input from the image input device 13 is performed 60 times per second, ie, a total of 2,000 points per oil pan 1. Then, the image determined to be rejected is stored in the information processing section 23. The person in charge of manufacturing the oil pan 1 appropriately reproduces the stored NG image on the monitor display unit 24 and
Check for defects that are too thick or too thin. If the defect condition is correctable, the oil pan 1 is repaired. If the defect condition is not correctable, the oil pan 1 is rejected, and the oil pan 1 is removed or discarded. It should be noted that other values can be appropriately adopted as the values such as the number of times of image capturing.

The above is the contents of the ordinary coating state determination processing. In the present invention, the following processing is performed by the color extraction unit 22 in order to accurately extract a white image indicating the laser slit light 12a. Do.

That is, in this embodiment, the red laser slit light 12a is used as the laser slit light, but the laser slit light is output from the image input device 13 depending on the characteristics of the image input device 13 and the state of the coating material 4. Image data may be slightly different color data from the red light emitted from the laser projector 12, such as the same reddish color, such as dark red or light red, or even a little red mixed with other color components. There are many.

To cope with this, the color extracting unit 22
If the color data is within a pre-registered allowable range, a process of learning that the color data is regarded as the laser slit light 12a to be processed is performed. This processing is performed in the above-described color data registration mode, and is performed by operating the mode setting means, setting the changeover switch of the changeover switch section 21 to the terminal t2 side, and setting the color extraction section 22 to the registration mode. . Hereinafter, the color data registration mode will be described.

First, with the changeover switch set to the terminal t1 side, the image input device 13 performs an operation of capturing the laser slit light 12a, and a color image of the captured laser slit light 12a is processed by the information processing section 23. The color data is taken into the color graphic board 26, and the color data is stored as reference color data.

Next, the changeover switch is switched to the terminal t2 side of the changeover switch section 21, and the reference color data stored in the color graphic board 26 of the information processing section 23 is transmitted to the color extracting section 22 through the changeover switch section 21. Forward.
The control such as the transfer timing of the color data and the setting of the color extracting unit 22 to the registration mode is performed by the information processing unit 23.

Then, the information processing section 23 determines, as color data similar to the reference color data, the amount of the same color as the color of the laser slit light 12a, that is, the relative ratio of red in the color data. Generates color data slightly different from each other, displays the color on the monitor display unit 24, sends the color data to the color extraction unit 22 via the changeover switch unit 21, and registers information on the color data in the color extraction unit 22.

That is, the user sets in advance the limit tint value of the allowable range with respect to the reference color data, so that color data having a tint value within the allowable range is automatically generated one after another. Let it. For example, assuming that the range of the limit hue value set by the user with respect to the hue of the reference color data is up to 5 tones in the plus direction and up to 5 tones in the minus direction, thereafter, the information processing unit 23 Color data having different hue values for each hue gradation is output with respect to the color data, and information relating to the hue color data is registered in the color extraction unit 22 and displayed on the monitor display unit 24.

The process of registering the information on the color data for each tone gradation in the color extracting unit 22 is automatically performed by the information processing unit 23 according to a control signal issued to the color extracting unit 22. By performing such a process, information relating to the color data having a predetermined range (permissible range) of the hue of the reference color data is registered in the color extraction unit 22.

Thus, the color extracting unit 22 determines whether or not the color data of the image data from the image input device 13 is within the registered range, and determines the color tone within the registered range. , Binary image data of a white image is output, otherwise, a black image is output.

The registration of the color data of the predetermined range of hues is performed only by setting the allowable range by the user, and thereafter, the information is automatically given to the color extracting unit 22 regarding the color data having different hues. Alternatively, the color data to be registered may be displayed on the monitor display unit 24 each time, and the user may register while viewing the data. Further, the hue to be registered in the color extracting unit 22 may be not limited to every gradation, but may be continuous or may be registered with discrete gradations.

As described above, the color data having an acceptable range of the color data with respect to the reference color data is registered in the color extracting section 22.

Thus, the registration of the color data is completed.
By again setting the changeover switch unit 21 and the color extraction unit 22 to the color extraction mode, the same application state determination processing as described above is performed. That is, while applying the laser slit light 12a (red) to the coating material 4 squeezed out from the dispenser 11, the reflected light is taken in by the image input device 13 and output as image data. To the color graphic board 26 and to the color extractor 22.

The color extraction unit 22 performs color extraction from the transmitted image data.
2, the color obtained as a result of the image input device 13 actually taking in the reference color data, that is, the red laser slit light 12a used in the device, is registered in advance as reference color data. Color data of an acceptable color range is registered.

Therefore, when performing color extraction from the actually transmitted image data, the color data in the image data is compared with some already registered color data or color data within a predetermined range. If the color data in the image data exists in some registered color data or is within the registered allowable range, the color data is not exactly the same as the reference color data. Laser slit light 12
a, and outputs the corresponding white image data to the information processing section 23. As a result, in the frame memory 27, of the image data from the image input device 13, only the portion corresponding to the laser slit light 12a is stored as a white image, and the other portions are stored as black image binary data.

Then, the information processing section 23 calculates the height and width of the coating material 4 by the light section method based on the binary image data stored in the frame memory 27, obtains the area of the cross section, and obtains a predetermined reference value. The application state is determined by comparing with.

As described above, according to this embodiment, the red laser slit light 12a is irradiated so as to traverse the coating material 4, and the reflected light is emitted when the relative ratio of the red color is within a predetermined range. Since the reflected light is extracted first, only the laser slit light 12a can be reliably extracted. That is, the red laser slit light 1 which is considered to be unlikely to exist in the usage environment such as a production line.
2a, and the reflected light is taken in by the color image input means, so that the laser slit light 1 can be efficiently emitted without being affected by the secondary reflection due to the illumination on the production line.
Only 2a can be extracted, which enables highly accurate coating state determination.

Although the above-described embodiment is an example of a preferred embodiment of the present invention, the present invention is not limited to this, and various modifications can be made without departing from the spirit of the present invention. is there. For example, in the above-described embodiment, the laser light is red, but the laser light is not limited to red and may be another color. However, when actually selecting a color, it is preferable to use a color that is unlikely to exist in a use environment, for example, on a production line of a factory.

Further, when setting the allowable range, if the allowable range is widened too much with respect to the hue of the reference color, the light other than the laser slit light 12a may be regarded as the laser slit light 12a. Therefore, considerations such as setting an appropriate allowable range according to the surrounding situation and the like are required.

Further, in the above-described embodiment, the color data for determining whether or not the laser slit light 12a is used is based on the relative ratio of the color to the reference color data (in this case, red). An example has been described in which color data having different hues are registered, and the laser beam is determined to be the laser slit light 12a if the relative ratio is within the predetermined density value range, but the density value of the reference color is changed. Not only that, for example, some color data considering the relative ratio (= density value) of other predetermined color components may be prepared, and registered as color data that is similar to the reference color data. .

In the above-described embodiment, a silicon resin material is used as the coating material 4, and the silicon resin material is squeezed out into a rod shape with a circular cross section to determine the coating state when the silicon resin material is applied to the oil pan 1. Has been described, but the present invention is not limited to such an example. For example, the thing to be coated may be a glass body such as a car door glass or a container made of resin, or the applied matter may be creamy solder for mounting electronic components, etc. The present invention can also be applied to the application state determination when the cream-like solder is applied in a straight line or a dot shape.

[0062]

According to the method for determining a coated state of a coated object according to the first aspect, a colored laser slit light is irradiated to traverse the coated object, and the reflected light is input by a color image input means. Since the application state is determined by extracting based on the color data of the reflected light and calculating the cross-sectional area and the like of the applied material from the image data for the extracted reflected light, a laser having a specific wavelength range is used. Only the slit light can be accurately extracted. Therefore, by selecting the color of the laser slit light that is unlikely to exist in the usage environment such as the production line, only the laser slit light can be efficiently used without being affected by the secondary reflection due to illumination on the production line. Can be extracted, and the coating state can be determined with high accuracy.

According to the second aspect of the present invention, based on the color data of the colored laser slit light, information on a predetermined range of color data similar to the color data is registered for the reference color data. Since it is possible to extract the reflected light of only the colored laser slit light based on the information on the registered color data, for example, when using the red laser slit light, the characteristics of the image input means and the coating material Even if the color of the output image data is slightly different depending on the state of the laser light, it can be regarded as laser slit light and processed as long as the color is similar. Laser slit light can be reliably extracted as light to be processed without being affected by subtle differences in color, characteristics of the image input means, and the state of the coated object. .

Further, according to the third aspect of the present invention, since the color camera is used as the color image input means and the red color laser slit light is used, only the reflected light of the laser slit light can be extracted with a simple configuration. It becomes possible. Moreover, since the color data in the predetermined range is data in which the relative ratio of the red light falls within the predetermined range, the color data is affected by the difference in the color of the reflected light of the laser slit light due to the coating material and the characteristics of the image input means. In addition, the laser slit light as the processing target light can be more reliably extracted.

According to the apparatus for determining a coated state of a coated object according to the fourth aspect, a laser projector for irradiating a colored laser slit light of a specific wavelength range across the coated object, and a colored light reflected by the coated object. Since the coating state determination device is composed of an image input unit that captures a laser slit light as an image, a color extraction unit, and an information processing unit that processes image data from the color extraction unit, a conventional secondary reflection or the like is used. As a result, it is possible to easily determine the quality of the applied material on a metal object such as an oil pan, for which the quality of the applied material cannot be determined.

Further, according to the fifth aspect of the present invention, since the laser projector, the color image input means, and the dispenser for squeezing the applied material are integrally driven, the state of the applied material can be determined quickly and continuously. It becomes possible. Also,
Since the image data once captured can be supplied to the color extracting means, it is possible to create reference data and the like based on the captured image data and register the reference data and the like in the color extracting means.

In addition, according to the present invention, if the mode setting means is set to the color data registration mode, the color data of the colored laser slit light output from the image input means is used as a reference for the reference color data. It is possible to register information about color data in a predetermined range to be approximated,
The laser slit light as the processing target light can be reliably extracted without being affected by the subtle difference in the color of the reflected light of the laser slit light due to the coating material and the characteristics of the image input device.

According to the seventh aspect of the present invention, the predetermined range value for determination is changed by changing the relative ratio of the amount of the same color as the color of the laser slit light. Thus, the laser slit light as the processing target light can be more reliably extracted without being affected by the difference in the color of the reflected light of the laser slit light, the characteristics of the image input means, and the like.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of an application state determination device for an application object according to an embodiment of the present invention.

FIG. 2 is a perspective view showing an oil pan as a target of the application state determination device of the application object in FIG. 1 and a state of the application object.

FIG. 3 is a partial sectional view taken along line III-III of FIG. 2;

4A and 4B are diagrams for explaining a coating state detection method by the coating state determination device of the coating material in FIG. 1, wherein FIG. 4A is a side view of an image capturing unit, FIG. 4B is a plan view thereof, and FIG. () Is a partially enlarged view of (B).

FIG. 5 is a perspective view showing an example of a sealed container to which a conventional application state determination device for an application object is applied.

FIG. 6 is a side view showing a conventional apparatus for determining a state of a coating material applied on an oil pan.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 oil pan 4 coating material 11 dispenser 12 laser projector 12 a laser slit light 13 image input device (color image input unit) 21 switch unit 22 color extraction unit (color extraction unit) 23 information processing unit (information processing unit) 24 monitor display Part 26 Color graphic board 27 Frame memory

Claims (7)

[Claims] 1. A colored laser slit light of a specific wavelength range is irradiated so as to traverse an object to be measured, and reflected light of the colored laser slit light by the object is captured by a color image input means. From the output image data, reflected light of only the colored laser slit light is extracted based on color data registered in advance, and image data corresponding to the extracted reflected light of the colored laser slit light is output. A method for determining an applied state of an applied object, wherein the applied state of the applied object is determined based on the following. 2. A process for extracting reflected light of only a color laser slit light from image data from the color image input means on the basis of color data registered in advance, comprising the steps of: With reference to the color data of light, information on a predetermined range of color data approximate to the color data can be registered with respect to the reference color data, and based on the information on the registered predetermined range of color data, 2. The method according to claim 1, wherein the reflected light of only the colored laser slit light is extracted. 3. The color image input means is a color camera, the colored laser slit light is red light, and the color data in the predetermined range is data in which a relative ratio of the red light is within a predetermined range. 3. The method according to claim 1, wherein a calculation process based on a light section method is performed as a pre-process for performing the process. 4. A laser projector for irradiating a colored slit laser beam of a specific wavelength range to the coated object obliquely from above and across the coated object, and capturing the colored laser slit light reflected by the coated object as an image. Color image input means, and from the image data output from the color image input means, the reflected light of only the colored laser slit light is extracted based on the color data registered in advance, and the reflected light of the extracted colored laser slit light is extracted. A color extracting unit that outputs image data corresponding to the image data, and an information processing unit that performs a process of determining a coating state of the coated object based on the image data from the color extracting unit. Application state determination device. 5. A dispenser for squeezing the coating material is provided so as to be operable together with the laser projector and the color image input means, and the information processing means is capable of generating color data of a plurality of colors. 5. The apparatus according to claim 4, further comprising a mode setting means for selectively supplying one of image data and color data from said information processing means to said color extraction means. . 6. When the color extraction unit is set to a color extraction mode by the mode setting unit, the reflected light of the colored laser slit light irradiated so as to traverse the coated object by the coated object is converted to the color image. From the image data output from the color image input means, the reflected light of only the colored laser slit light is extracted from the image data output from the color image input means, and the reflected light of the extracted colored laser slit light is converted to the reflected light of the extracted colored laser slit light. The corresponding image data is output, the application state of the application object is determined based on the image data, and when the color extraction unit is set to the color data registration mode by the mode setting unit, the output from the color image input unit is performed. With reference to the color data of the colored laser slit light to be used as a reference, the color data serving as the reference has a predetermined range approximating the color data. The information about the color data is sent from the information processing means to the color extracting means, and the color extracting means registers the information about the sent color data as information about the color data within the allowable range of the colored laser slit light. The apparatus according to claim 4 or 5, wherein the applied state is determined. 7. The apparatus according to claim 6, wherein the predetermined range is changed by changing a relative ratio of an amount of the same color as the color of the laser slit light. .