KR101110066B1 - Visual measurement system for inspecting poor quality of auto molding surface - Google Patents

Abstract

The present invention has a surface of a variety of colors and textures by the material characteristics or the painting method that varies depending on the type of the product, such as the outer molding of the vehicle, and the surface of the product is made of curved surfaces of various curvatures The present invention provides an image measuring system for inspecting surface defects of automobile moldings to determine whether a product is defective. Such an image measuring system includes a robot 20, an image capturing unit 30, a control unit 200, and a reading unit 300, and acquires and analyzes an image of the surface of the product 1 so that the product 1 is defective. Determine whether or not. At this time, the robot 20 is installed to enable the three-dimensional movement of the head 22 in the measurement region 14 of the product 1, the image capturing unit 30 to the head 22 of the robot 20 It has an illumination 6 and a camera 8 which are coupled to enable adjustment of the position. In addition, the control unit 200 controls the operation of the robot 20, the lighting 6, and the camera 8, and the reading unit 300 analyzes the surface image of the product 1 photographed through the camera 8. To determine whether the product 1 is defective. According to the image measuring system for inspecting the surface defects of such automobile moldings, since the lighting 6 and the camera 8 are installed in the head 22 of the robot 20 capable of three-dimensional movement, the position is changed through the modification of the program. It is possible to control and easily apply to products having various curved surfaces. In addition, the fixing unit 32 and the link blocks 40 and 40 'are provided in the image capturing unit 30 installed in the head 22 so that the illumination 6 freely adjusts the distance and angle of the camera 8. Therefore, there is an advantage that the position of the light (6) and the camera (8) can be adjusted according to the product having a surface of various colors and textures by the material properties or painting method. In addition, since external light is blocked by the dark compartment 70, the measurement area may acquire a more stable image of the product surface. In addition, since the antistatic device 50 is provided in the image capturing unit 30 to remove dust on the surface of the product, defects on the surface of the object can be determined with higher reliability and stability by eliminating determination errors due to various dusts. You can expect the effect to work.

Description

VISUAL MEASUREMENT SYSTEM FOR INSPECTING POOR QUALITY OF AUTO MOLDING SURFACE

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an image measuring system for inspecting surface defects of automobile moldings. The present invention relates to an image measuring system for inspecting surface defects of automobile moldings, which has a surface of a texture and photographs the surface of a product having a curved surface of various curvatures to determine whether the product is defective.

Various products manufactured in various industrial fields may have various defects including scratches or foreign substances on the surface due to defects in materials or errors or mistakes in the manufacturing process. As it damages the appearance, it is desirable to identify and remove products with defects on the surface during the manufacturing process.

For this purpose, the inspector may use a separate inspection mechanism or visually inspect the surface of an object such as a product by hand, but there is a problem that requires a lot of manpower and time, so that an object is automatically equipped with a separate inspection equipment for surface inspection. It is common for the surface inspection of to be carried out.

In particular, the development of computer equipment includes an image measuring system for detecting defects on the surface of an object by including a photographing device for photographing an object surface and a controller having an analysis algorithm for analyzing a surface image of a predetermined size obtained by photographing the object. Nowadays, it is being used as a standard by the popularization of video and video boards.

Regarding the image inspection method using such an image measuring system, the Republic of Korea Patent Publication No. 10-0484812 "surface inspection method and inspection device using a line-type image sensor" is irradiated with light on the surface of the inspection object to be inspected Becoming; Detecting light reflected from the surface to be inspected through the plurality of image sensors; Representing the light detected by each image sensor as an image; Identifying and comparing brightness differences with respect to the same position of each image; And it proposes a technique comprising the step of determining whether or not by comparing the brightness difference between the brightness difference and the steady state obtained.

On the other hand, outer molding, such as a side protector attached to the side door of the vehicle, is a product that decorates the exterior of a vehicle by painting with fine particles of paint sprayed onto the surface, thereby making it a surface in the manufacturing process. It is important to find out the defects and to remove the defective products.

However, the exterior molding may have a variety of colors and textures depending on the material characteristics or the painting method that varies depending on the type of the product, and as the surface is formed with curved surfaces of various curvatures rather than flat surfaces, Even if the light was uniformly irradiated and there was no defect on the surface, the image brightness was difficult because of the uneven surface brightness distribution and the tendency of diffuse reflection.

Accordingly, the present invention has been proposed to solve the problems of the prior art, and has a surface of various colors and textures, such as automotive exterior molding, the surface of the product is made of curved surfaces of various curvature rather than flat An object of the present invention is to provide an image measuring system for inspecting a surface defect of a new type of automobile moldings, which enables a more stable image acquisition of a product surface.

In particular, the present invention by installing the illumination and the camera on the head of the robot capable of three-dimensional movement to adjust the position of the illumination and the camera according to the product having a variety of shapes and shapes, thereby obtaining a more stable image of the product surface It is an object of the present invention to provide an image measuring system for inspecting surface defects of automobile moldings.

In addition, the present invention is to position the imaging area in the dark room, when the image of the surface of the product, by minimizing the change in the image conditions due to the external light, a new type of automobile moldings to obtain a high quality image Another object is to provide an image metrology system for inspecting surface defects.

In addition, the present invention is a new type of automobile moldings that can be automatically supplied to the inspection target product to the imaging area, and to take out the inspection target product is automatically taken, so that the imaging process is automatically performed It is yet another object to provide an image metrology system for inspecting surface defects.

According to a feature of the present invention for achieving the above object, the present invention is an image measuring system for inspecting the surface defects of automotive moldings for analyzing the image of the surface of the product (1) to determine whether the product is defective, A robot 20 installed to enable three-dimensional movement of the head 22 in the measurement region 14 of the product 1; An image capturing unit 30 having an illumination 6 and a camera 8 coupled to the head 22 of the robot 20 so as to adjust a position thereof; A controller (200) for controlling the operation of the robot (20), illumination (6) and camera (8); And a reading unit 300 for determining whether the product 1 is defective by analyzing the surface image of the product 1 photographed by the camera 8.

In the image measurement system for inspecting the surface defects of automobile moldings according to the present invention, the dark room partition 70 may be further provided to block external light in the measurement area 14.

In the image measuring system for inspecting surface defects of automobile moldings according to the present invention, a measuring table 90 on which the product 1 is placed is installed in the measuring region 14, and a front end of the measuring table 90 is provided. The product 1 is placed on the jig 82 at the outside of the dark compartment 70 by a conveyor 84 in which the jig 82 in which the product 1 is placed is coupled at a predetermined interval. A product loading unit (80) for transporting into the measuring area (14) and for placing the product (1) on the measuring table (90) by a handler (86); The measuring unit 90 may further include a carrying out unit for unloading the finished product from the measuring stand 90 to the outside.

In the image measuring system for inspecting the surface defects of automobile moldings according to the present invention, the image capturing unit 30 is located between the illumination 6 and the camera 6 and is installed through the generation of static electricity. (1) An antistatic device 50 may be further provided to adsorb dust on the surface.

The image capturing unit 30 is coupled to the head 22 of the robot 20 in the image measuring system for inspecting the surface of the automotive moldings according to the present invention, the long holes (34, 36) having a predetermined length The fixing plate 32 and the long holes 34 and 36 of the fixing plate 32 are formed to be detachably coupled to each other, and are formed to be angle-adjustable to the illumination 6 and the camera 8, respectively. It may further comprise a link block (40, 40 ') coupled.

According to the image measuring system for inspecting the surface defects of automobile moldings according to the present invention, since the illumination 6 and the camera 8 are installed in the head 22 of the robot 20 capable of three-dimensional movement, the program can be modified. Through the position control is possible, it can be easily applied to products having various curved surfaces. In addition, the fixing unit 32 and the link blocks 40 and 40 'are provided in the image capturing unit 30 installed in the head 22 so that the illumination 6 freely adjusts the distance and angle of the camera 8. As such, the position of the light 6 and the camera 8 may be adjusted according to a product having a surface of various colors and textures by a material characteristic or a painting method. In addition, since external light is blocked by the dark compartment 70, the measurement area may acquire a more stable image of the product surface. In addition, since the antistatic device 50 is provided in the image capturing unit 30 to remove dust on the surface of the product, defects on the surface of the object can be determined with higher reliability and stability by eliminating determination errors due to various dusts. You can expect the effect to work.

1 is a view for explaining an image measuring system for inspecting the surface defects of automotive moldings according to the technical idea of the present invention.

Referring to FIG. 1, an image measuring system 10 for inspecting a surface defect of automobile moldings according to the present invention includes a robot 20, an image photographing unit 30, a control unit 200, and a reading unit 300. In addition, the image of the surface of the product 1 is acquired and analyzed to determine whether the product 1 is defective. At this time, the robot 20 is installed to enable the three-dimensional movement of the head 22 in the measurement region 14 of the product 1, the image capturing unit 30 to the head 22 of the robot 20 It has an illumination 6 and a camera 8 which are coupled to enable adjustment of the position. In addition, the control unit 200 controls the operation of the robot 20, the lighting 6, and the camera 8, and the reading unit 300 analyzes the surface image of the product 1 photographed through the camera 8. To determine whether the product 1 is defective.

At this time, in the present invention, the robot 20 uses a form that enables the head 20 to be transported and rotated in the X, Y, and Z-axis directions. Of course, such a robot 20 can be selectively applied to a form that is already provided in a variety of forms.

In addition, the controller 200 causes the image capturing unit 30 to move the robot 20 to capture an image of the surface of the product 1, and the product 1 is supplied to the measurement area 14. At the same time, it controls the device to take out the measured product to the outside. Of course, such a control unit 200 is a concept including a variety of sensors, controllers, etc. that are usually installed to operate the automation device, the technology associated with the control unit 200 can be easily from a variety of technologies applied in the automation device Since it is applicable, detailed description is abbreviate | omitted.

In addition, the reader 300 receives an image acquired through the camera 8 of the image capturing unit 30, and determines whether the product is defective through a program for interpreting the image. Of course, a method of determining whether a product is defective by analyzing the photographed image is proposed through various studies and developments in this field, and thus a detailed description thereof will be omitted.

On the other hand, the image measuring system 10 for inspecting the surface of the automotive moldings according to the present invention, as in the preferred embodiment of the present invention, by adding the product loading unit 80 and the export unit to supply and take out products automatically It is preferable to make, but the configuration for supply and export of such products can be configured by incorporating a variety of techniques widely known in the automation device according to the needs of designers and users.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, FIGS. 2 to 6E, and like reference numerals denote like elements for performing the same functions in FIGS. 1 to 6E. On the other hand, in each drawing in general, the details of the technology easily applied by those in this field, such as the configuration and operation of the control unit for the transport and export of the product in the automation technology, and the technology for determining the defect of the product surface by imaging Description is omitted. In addition, although the size ratio between elements is somewhat different in the drawings of the drawings, or the size between the parts that are coupled to each other is expressed differently, the representation differences in such drawings are easily understood by those skilled in the art. The descriptions are omitted since they are possible parts.

2 is a schematic front view of an image measuring system for inspecting automotive molding surface defects according to a preferred embodiment of the present invention, and FIG. 3 is an image measuring system for inspecting automotive molding surface defects according to a preferred embodiment of the present invention. A schematic top view of the.

2 and 3, the image measuring system 10 for inspecting a surface defect of automobile moldings according to an exemplary embodiment of the present invention includes a robot 20, an image capturing unit 30, and a product loading unit 80. And a carrying out unit. Of course, as shown in FIG. 1, the image measuring system 10 according to the present embodiment includes a control unit 200 and a camera 8 for controlling operations of the robot 20, the lighting 6, and the camera 8. The reading unit 300 is basically installed to determine whether the product 1 is defective by analyzing the surface image of the product 1 photographed through). In the image measuring system 10, the product loading unit 80, the carrying unit, and the measuring table 90 on which the product is placed during measurement have a structure supported by the frame 11. Of course, although the frame 11 is not specifically illustrated in the present embodiment, the frame 11 may be configured in various forms for supporting each component of the image measuring system.

In the present embodiment, the robot 20 is capable of three-dimensional movement of the head 22 in the measurement region 14 of the product 1, and applied to the robot sold under the model number HA202 in Hyundai. In addition, since the illumination 6 and the camera 8 are installed in the head 22 of the robot 20 capable of three-dimensional movement as described above, the image measurement system 10 according to the present embodiment is positioned by modifying the program. It is possible to control and easily apply to products having various curved surfaces.

In the image measuring system 10 according to the present exemplary embodiment, external light is blocked in the measurement area 14 by the dark room partition 70. Of course, such a dark room divider 70 is not shown separately, but can be configured by covering the cover, such as light is blocked in a frame forming a certain space. In the image measuring system 10 according to the present exemplary embodiment, since external light is blocked by the dark room partition 70, the measurement area 14 may acquire a more stable image of the product surface.

In addition, the image measuring system 10 according to the present embodiment allows the product loading unit 80 and the carrying unit to automatically supply and take out the product 1. That is, the measuring table 90 in which the product 1 is placed is provided in the measuring region 14, and the product loading unit 80 is installed at the front end of the measuring table 90. Such a product loading unit 80 is a product (1) to the jig 82 on the outside of the dark compartment partition 70 by the conveyor 84, the jig 82 on which the product 1 is placed is coupled at a predetermined interval. Placed on the part indicated by "loading" in FIG. 2 (of course, a feeder or the like for automatically performing such a process) may place the product 1} transfer into the measurement area 14 The workpiece 1 is placed on the measuring table 90 by the handler 86.

In addition, the unloading unit unloads the finished product from the measuring stand 90 to the outside of the measuring stand 90 (in the part marked as "unloading" in FIG. 2), the worker collects or separates the product 1 Collection device is placed}. Such a carrying unit includes a lower transfer 100, a marking unit 110, a lower conveyor 120, an upward transfer 130, an unloader 140, and an unloading conveyor 150. At this time, the falling transfer 100 transfers the finished product from the measuring table 90 to the lower side. In this embodiment, the dummy measuring table 92 is placed on the rear side of the measuring table 90 so that the finished product is temporarily placed and then transferred by the lower transfer 100. In addition, the marking unit 110 marks the defective product when the determination of whether or not the defective product is transferred by the lower transfer 100 is completed. In addition, the lower conveyor 120 allows the product conveyed to the lower side through the lower transfer 100 to be transferred to the outside of the measurement area 14, and the rising transfer 130 may transfer the product conveyed to the lower conveyor 120. The product, which has been raised and conveyed upward through the lift transfer 130, is transported to the unloading conveyor 150 by the unloader 140 and then transported to the outside. Of course, such a carrying unit and the above-described product loading unit 80 can be applied to various types of product transfer technology widely used in the automation field, a detailed description thereof will be omitted.

Figure 4 is a view for explaining the configuration for installing the lighting and the camera on the head of the robot in the image measuring system for inspecting the surface of the automotive moldings according to a preferred embodiment of the present invention, Figures 5a and 5b The perspective view of the configuration for installing the lighting and the camera shown in the head of the robot.

4 to 5B, the image measuring system 10 for inspecting a surface defect of automobile moldings according to an exemplary embodiment of the present invention is a fixing plate 32 in the image capturing unit 30 installed in the head 22. ) And the link blocks 40 and 40 'so that the illumination 6 can freely adjust the distance and angle of the camera 8 so that the surface of various colors and textures can be changed by material properties or painting methods. The position of the illumination 6 and the camera 8 can be adjusted according to the product which has.

More specifically, in the image measuring system 10 according to the present exemplary embodiment, the image capturing unit 30 includes a fixing plate 32 and link blocks 40 and 40 '. At this time, the fixing plate 32 is coupled to the head 22 of the robot 20, the long holes 34, 36 having a predetermined length is formed. The link blocks 40 and 40 'are detachably coupled to the long holes 34 and 36 of the fixing plate 32, respectively, and are formed to be angle-adjustable and coupled to the illumination 6 and the camera 8, respectively. do. In this case, the link blocks 40 and 40 'may be made through various forms of configuration to enable pivot operation. In the present embodiment, each of the link blocks 40 and 40 'includes a first link bar 42 and 42', a first fixing block 44 and 44 ', a hinge block 46 and 46' and a second fixing block ( 48, 48 '). At this time, the first link bars 42 and 42 'are fixed to the fixing plate 32 so as to be detachable by bolts or the like, and a long hole is formed. In addition, the first fixing blocks 44 and 44 'are detachably coupled to the first link bars 42 and 42', thereby adjusting and fixing their positions on the long holes of the first link bars 42 and 42 '. To help. The second fixing blocks 48, 48 ′ are then coupled to the illumination 6 and the camera 8, respectively. In addition, the hinge blocks 46 and 46 'may have holes formed at both sides thereof, and may be fixed while adjusting angles with the first fixing blocks 44 and 44' and the second fixing blocks 48 and 48 '.

As described above, in the image measuring system 10 according to the present exemplary embodiment, the image capturing unit 30 has the position (length) of the illumination 6 and the camera 8 by the fixing plate 32 and the link blocks 40 and 40 '. And angle) so that the illumination 6 and the camera 8 can be freely adjusted to a position where an optimal image can be secured according to the shape and shape of the product.

On the other hand, the image measuring system 10 according to the preferred embodiment of the present invention to install the antistatic device 50 in the image capturing unit 30 to remove the dust on the surface of the product, eliminating the determination error according to various dust It allows for the determination of defects on the surface of the object with higher reliability and stability. The antistatic device 50 is coupled to the above-mentioned fixing plate 32 by the bracket 52 so as to be located between the illumination 6 and the camera 6, the dust on the surface of the product (1) through the generation of static electricity To be adsorbed.

6A to 6E are photographic diagrams for explaining the operation of a lighting and a camera in an image measuring system for inspecting a surface defect of automobile moldings according to a preferred embodiment of the present invention.

6A to 6E, the image measuring system 10 according to the preferred embodiment of the present invention, as described above, the illumination 6 and the head 22 of the robot 20 capable of three-dimensional movement and Since the camera 8 is installed, the position control is possible through the modification of the program so that the camera 8 can be easily applied to a product having various curved surfaces.

The image measuring system 10 according to the present exemplary embodiment allows the position control of the head 22 to be performed through a control program of the resettable robot 20 according to the product 1 to be measured. In addition, the operator sets the positions of the lights 6 and the camera 8 through repeated tests to ensure the most effective image through repeated shooting.

When the preparation is completed, as shown in Figure 6a, the operator proceeds to the measurement work while loading the product on the jig 82 of the product loading unit 80. When the product 1 is placed on the measuring table 90 (refer to FIG. 2) (not shown, but detected by a sensor or the like), the control unit 200 (refer to FIG. 1), as shown in FIG. 6B, illuminates ( 6) turn on the power supply, and operate the robot 20 to move the camera 8 while moving the image photographing unit 30 along the measurement surface (surface) of the product 1 as shown in FIGS. 6C to 6E. Through this, an image of the product surface is acquired.

As described above, an image measuring system for inspecting a surface defect of automobile moldings according to a preferred embodiment of the present invention has been shown according to the above description and drawings, but this is merely an example, and does not depart from the technical spirit of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the scope of the present invention.

1 is a view for explaining an image measuring system for inspecting a surface defect of automobile moldings according to the technical idea of the present invention;

2 is a schematic front view of an image measuring system for inspecting automotive molding surface defects according to a preferred embodiment of the present invention;

3 is a schematic plan view of an image metrology system for inspecting automotive molding surface defects in accordance with a preferred embodiment of the present invention;

4 is a view for explaining the configuration for installing the lighting and the camera on the head of the robot in the image measuring system for inspecting the surface defects of automobile moldings according to an embodiment of the present invention;

5A and 5B are perspective views of a configuration for installing the illumination and camera shown in FIG. 4 to the head of the robot;

6A to 6E are photographic diagrams for explaining the operation of a lighting and a camera in an image measuring system for inspecting a surface defect of automobile moldings according to a preferred embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

1: (measured) Product 6: lighting

8: camera

10: Image measurement system (to inspect surface defects of automobile moldings)

14: measuring area 20: robot

22: head 30: video recording unit

32: fixed plate 34, 36: long hole

40, 40 ': link block 70: static eliminator

70: dark compartment partition 80: product loading unit

82: jig 84: conveyor

86: handler 90: measuring table

200: control unit 300: reading unit

Claims (5)

In the image measuring system for inspecting the surface defects of automobile moldings by analyzing the image of the surface of the product (1) to determine whether the product is defective, A robot 20 installed in the measurement region 14 of the product 1 to enable three-dimensional movement of the head 22; An image capturing unit 30 having an illumination 6 and a camera 8 coupled to the head 22 of the robot 20 so as to adjust a position thereof; A controller (200) for controlling the operation of the robot (20), illumination (6) and camera (8); A reading unit (300) for analyzing a surface image of the product (1) taken by the camera (8) to determine whether the product (1) is defective; Includes; dark compartment partition 70 is installed so that the external light is blocked in the measurement area 14, In the measuring area 14, a measuring table 90 on which the product 1 is placed is installed, The product 1 is installed on the outside of the dark compartment partition 70 by a conveyor 84 installed at a front end of the measuring table 90 and having a jig 82 on which the product 1 is placed at a predetermined interval. A product loading unit (80) placed on the jig (82) to be conveyed into the measuring area (14) and by the handler (86) to place the product (1) on the measuring table (90); In order to unload the finished product from the measuring table 90 from the measuring table 90, the lower transfer 100 for transferring the finished product from the measuring table 90 to the lower side, and When the determination of whether or not defective for the product conveyed by the falling transfer 100 is completed, the marking unit 110 for marking the defective product and the product transferred to the lower side through the falling transfer 100 is placed in the measurement area It comprises a lower conveyor 120 to be transported to the outside of the 14, and a lift transfer 130 for lifting the product transported to the lower conveyor 120, the upward transfer 130 to the upper side The transported product further includes a carrying-out unit which is transported to the carrying-out conveyor 150 by the unloader 140 and taken out to the outside. The image capturing unit 30 is disposed between the illumination 6 and the camera 6 and further includes an antistatic device 50 for adsorbing dust on the surface of the product 1 through generation of static electricity. and, The image capturing unit 30 is coupled to the head 22 of the robot 20, the fixing plate 32 is formed with a long hole (34, 36) having a predetermined length, Link blocks 40 and 40 'which are detachably coupled to the long holes 34 and 36 of the fixing plate 32 and are formed to be angle-adjustable and coupled to the illumination 6 and the camera 8, respectively. With more Each of the link blocks 40 and 40 'of the image capturing unit 30 includes first link bars 42 and 42', first fixing blocks 44 and 44 ', hinge blocks 46 and 46', 2, the first link bar (42, 42 ') is separably fixed to the fixing plate 32, a long hole is formed, the first fixing block (44, 44 'is detachably coupled to the first link bars 42 and 42' so that the position thereof can be adjusted and fixed on the long hole of the first link bars 42 and 42 ', and the second fixing block 48 and 48 'are coupled to the illumination 6 and the camera 8, respectively, and the hinge blocks 46 and 46' have holes formed at both sides thereof so that the first fixing blocks 44 and 44 'and the second are fixed. Imaging system for inspecting surface defects of automobile moldings, characterized in that the fixing block (48, 48 ') and the angle to be fixed while adjusting. delete delete delete delete

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