WO2017150268A1 - Inspection method and inspection device - Google Patents

Inspection method and inspection device Download PDF

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Publication number
WO2017150268A1
WO2017150268A1 PCT/JP2017/006328 JP2017006328W WO2017150268A1 WO 2017150268 A1 WO2017150268 A1 WO 2017150268A1 JP 2017006328 W JP2017006328 W JP 2017006328W WO 2017150268 A1 WO2017150268 A1 WO 2017150268A1
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WO
WIPO (PCT)
Prior art keywords
color information
inspection
region
terminal
electric wire
Prior art date
Application number
PCT/JP2017/006328
Other languages
French (fr)
Japanese (ja)
Inventor
悠一郎 森田
Original Assignee
住友電装株式会社
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Application filed by 住友電装株式会社 filed Critical 住友電装株式会社
Publication of WO2017150268A1 publication Critical patent/WO2017150268A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires

Definitions

  • This invention relates to a technique for inspecting the appearance of an electric wire with a terminal.
  • One technique for inspecting the state of an electric wire is to inspect the state of the part by imaging the part to be inspected and analyzing the obtained image data (so-called "" Visual inspection").
  • an electric wire is in a state in which a core portion is exposed by peeling off a covering portion (insulation covering portion) at an end thereof, and a terminal is connected to the peeled end portion. And using the imaging data obtained by imaging this electric wire with a terminal, for example, the terminal is connected to an appropriate position with respect to the electric wire from the boundary between the core wire portion and the covering portion and the terminal. May be inspected.
  • Patent Documents 1 and 2 Examples of prior art related to the present invention include those described in Patent Documents 1 and 2, for example.
  • the covering portion and the core portion having the decoration portion are detected by detecting the luminance of the decoration portion. May be difficult to identify based on luminance. In this case, it may be difficult to accurately specify the boundary position between the core wire portion and the covering portion.
  • an object of the present invention is to provide a technique for improving the accuracy of specifying the boundary position between the core wire portion and the covering portion.
  • the first aspect is an inspection method for inspecting the appearance of a terminal-attached electric wire whose terminal is connected to a core wire portion exposed from the covering portion at the end of the electric wire,
  • An imaging data preparation step of preparing imaging data obtained by imaging the connection portion of the electric wire, an inspection region setting step of setting an inspection region in the imaging data, and the core wire portion and the covering portion in the inspection region
  • a boundary position detection step of detecting a boundary position of the first color information a first color information acquisition step of acquiring first color information of the first region closer to the core portion than the boundary position in the inspection region, and the inspection region
  • a second color information acquisition step for acquiring second color information of the second region on the covering portion side of the boundary position, and corresponding to the covering portion outside the inspection region of the imaging data.
  • a 2nd aspect is an inspection method which concerns on a 1st aspect, Comprising: A said 3rd color information acquisition process differs in the position of the extension direction of the said electric wire outside the said test
  • a 3rd aspect is an inspection method which concerns on a 1st or 2nd aspect, Comprising: As for the said 3rd color information acquisition process, the position of the width direction of the said electric wire is outside the said test
  • a 4th aspect is an inspection method which concerns on a 3rd aspect, Comprising:
  • the said 3rd color information acquisition process is in the direction which inclines in the extending direction of the said electric wire outside the said test
  • the third color information is obtained from the lined pixel group.
  • a fifth aspect is an inspection method according to any one of the first to fourth aspects, wherein the determination step measures the ratio of the number of pixels with matching color information, It is a step of determining the degree of coincidence.
  • a 6th aspect is an inspection apparatus which inspects the external appearance of the electric wire with a terminal by which the terminal was connected to the core wire part exposed from a coating
  • the terminal and the connection part of an electric wire in an electric wire with a terminal are imaged An imaging area to be acquired, an inspection area setting section for setting an inspection area in the imaging data acquired by the imaging section, and a boundary position detection section for detecting a boundary position between the core line section and the covering section in the inspection area; In the inspection area, the first color information of the first area closer to the core part than the boundary position and the second color information of the second area closer to the covering part than the boundary position are acquired.
  • a color information acquisition unit that acquires third color information of a third region corresponding to the covering unit, the first color information, the third color information, and the first outside the inspection region of the imaging data; 2-color information And a determination unit for determining degree of matching of the third color information.
  • the degree of coincidence between the color information) and the color information (third color information) of the candidate area (third area R3) outside the inspection area is determined.
  • color information of the decorative part and the non-decorative part can be acquired even if the decorative part is provided unevenly in the extending direction of the electric wire.
  • the color information of the decorative portion and the non-decorative portion can be acquired even if the decorative portion is provided unevenly in the width direction of the electric wire.
  • the inspection method even if the decorative part is provided unevenly in both the extending direction and the width direction of the electric wire, the color information of the decorative part and the non-decorative part can be acquired.
  • the degree of coincidence between the color information can be accurately inspected by measuring the number of pixels with which the color information matches.
  • the degree of coincidence between the second color information) and the color information (third color information) of the candidate region (third region R3) outside the inspection region is determined.
  • the inspection apparatus 100 is an apparatus for inspecting the appearance of the electric wire 8 (for example, the terminal-attached electric wire 80 in which the terminal 9 is connected to the end portion). Before describing the inspection device 100, the terminal-attached electric wire 80 to be inspected by the inspection device 100 will be described with reference to FIGS. 1 and 2.
  • FIG. 1 is a side view schematically showing a terminal-attached electric wire 80 according to the embodiment.
  • Drawing 2 is a top view showing typically electric wire 80 with a terminal concerning an embodiment.
  • the terminal-attached electric wire 80 is formed by crimping and connecting the terminal 9 to the terminal portion of the electric wire 8.
  • the electric wire 8 includes a core wire portion 81 and a covering portion 82 that covers the outer periphery of the core wire portion 81.
  • the core wire portion 81 is constituted by, for example, a stranded wire or a single wire of a metal wire such as copper, a copper alloy, aluminum, or an aluminum alloy.
  • the covering portion 82 is formed by, for example, extrusion coating a resin material. The end portion of the electric wire 8 is stripped of the covering portion 82 and the core wire portion 81 is exposed.
  • the core wire portion 81 exposed at the end of the electric wire 8 is also referred to as an “exposed core wire portion”.
  • a ring mark 821 is attached to the covering portion 82.
  • the ring mark 821 is a decoration for identifying the type of the electric wire 8 and is a double mark here.
  • the ring mark 821 is attached to the electric wire 8 at a predetermined interval. For this reason, when the cutting position of the electric wire 8 does not correspond to the interval of the ring mark 821, the position of the ring mark 821 with respect to the terminal 9 is different for each electric wire 80 with a terminal.
  • the terminal 9 is, for example, a copper alloy member such as copper or brass, or a tin alloy in which silver (Ag), copper (Cu), bismuth (Bi) or the like is added to tin (Sn) plating or tin. It is a member of a conductor to which the plating is applied.
  • the terminal 9 includes, for example, a terminal connection part 91, a core wire part crimping part 92, a covering crimping part 93, and two connecting parts 94 and 95.
  • the terminal connection part 91 is a part connected to the other terminal.
  • the terminal connection part 91 is formed in, for example, a substantially cylindrical shape (so-called female terminal shape), and has a pin-like or tab-like connection part (so-called male terminal). Can be inserted and connected.
  • the terminal connecting portion 91 may be formed in a pin shape or a tab shape (so-called male terminal shape), and is formed in an annular shape that can be connected to a mating member by a screw or the like. It may be.
  • the core wire portion crimping portion 92 is a portion to be crimped to the core wire portion 81 (exposed core wire portion) of the electric wire 8.
  • the core wire crimping portion 92 is formed in, for example, a substantially U-shaped cross section before being crimped and connected to the electric wire 8, and is compressed and deformed so as to hold the core wire portion.
  • the partial crimping portion 92 is crimped and connected to the core wire portion 81.
  • the covering crimp portion 93 is a portion to be crimped to the covering portion 82 of the electric wire 8.
  • the cover crimping portion 93 is formed, for example, in a substantially U-shaped cross section before being crimped and connected to the electric wire 8, and is compressed and deformed so as to hold the covering portion 82.
  • the crimp part 93 is crimped and connected to the covering part 82.
  • the terminal 9 is firmly fixed to the electric wire 8 by the crimping connection of the covering crimping part 93 to the covering part 82.
  • one connecting portion 94 (first connecting portion) connects the terminal connecting portion 91 and the core wire portion crimping portion 92, and the other connecting portion 95 (second connecting portion). ) Connects the core wire crimping portion 92 and the covering crimping portion 93.
  • Each of the connecting portions 94 and 95 is a groove-like portion formed by a pair of upright pieces and a bottom portion.
  • the groove-like portion of the connecting portion 95 is located near the boundary position between the core wire portion 81 (exposed core wire portion) and the covering portion 82 in the electric wire 8. The part is accommodated. That is, the boundary position is visible from the opening end of the groove of the connecting portion 95 (hereinafter also referred to as “window portion 90”).
  • FIG. 3 is a block diagram illustrating a hardware configuration of the inspection apparatus 100 according to the embodiment.
  • the inspection apparatus 100 mainly includes an imaging unit 1 and an inspection processing unit 2.
  • the imaging part 1 images especially the connection part of the electric wire 8 and the terminal 9 among the electric wires 80 with a terminal used as inspection object.
  • the imaging unit 1 can be composed of, for example, a two-dimensional image sensor and an imaging lens.
  • the inspection processing unit 2 evaluates the state of the terminal-attached electric wire 80 by analyzing the imaging data acquired by the imaging unit 1.
  • the inspection processing unit 2 includes, for example, a general computer in which a CPU 201, a ROM 202, a RAM 203, a communication unit 204, a storage device 205, and the like are interconnected via a bus line 206.
  • the ROM 202 stores basic programs and the like
  • the RAM 203 serves as a work area when the CPU 201 performs predetermined processing.
  • the communication unit 204 has a data communication function via a communication line such as a LAN.
  • the storage device 205 is configured by a nonvolatile storage device such as a flash memory or a hard disk device.
  • the storage device 205 stores a program Pr.
  • the CPU 201 as the main control unit performs arithmetic processing according to the procedure described in the program Pr, so that various functions of the inspection apparatus 100 are realized.
  • the program Pr is normally stored and used in advance in a memory such as the storage device 205, but is recorded in a recording medium such as a CD-ROM or DVD-ROM or an external flash memory (program product). (Or provided by downloading from an external server via a network), and may be additionally or exchanged and stored in a memory such as the storage device 205.
  • some or all of the functions realized in the inspection processing unit 2 may be realized in hardware by a dedicated logic circuit or the like.
  • an input device 21 and a display device 22 are connected to the inspection processing unit 2.
  • the input device 21 is an input device including at least one of a keyboard, a mouse, various switches, a touch panel, and the like, for example, and accepts various operations (operations such as inputting commands and various data) from the operator.
  • the display device 22 includes a liquid crystal display device, a lamp, and the like, and displays various information under the control of the CPU 201.
  • FIG. 4 is a functional block diagram realized in the inspection processing unit 2 according to the embodiment.
  • FIG. 5 is a diagram illustrating an example of the imaging data acquired by the imaging unit 1 according to the embodiment and the inspection region M set here.
  • FIG. 6 is a diagram illustrating the imaging data acquired by the imaging unit 1 according to the embodiment and the first region R1 to the third region R3 set here.
  • the inspection processing unit 2 includes an imaging control unit 31, an inspection region setting unit 32, a boundary position detection unit 33, a color information acquisition unit 34, and a determination unit 35. As described above, these functional units are realized, for example, by the CPU 201 performing predetermined arithmetic processing according to the program Pr.
  • the imaging control unit 31 controls the imaging unit 1 to image the terminal-attached electric wire 80 to be inspected. That is, the imaging unit 1 and the imaging control unit 31 cooperate to configure an imaging data acquisition unit that images the terminal-attached electric wire 80 to be inspected and acquires imaging data.
  • the terminal-attached electric wire 80 to be inspected is placed in a posture in which the extending direction is along the determined axis, and is arranged with the window portion 90 facing directly upward, and the imaging unit 1 is The terminal-attached electric wire 80 arranged in such a posture is imaged from directly above.
  • the imaging data (see FIG. 5) acquired by the imaging unit 1 is appropriately displayed on the display device 22 under the control of the inspection processing unit 2, for example.
  • the inspection region setting unit 32 sets the inspection region M in the imaging data of the terminal-attached electric wire 80 acquired by the imaging unit 1.
  • the inspection area M is a rectangular area, and the extending direction of a pair of parallel sides (hereinafter also referred to as “Y direction”) substantially coincides with the extending direction of the terminal-attached electric wire 80.
  • Y direction the extending direction of a pair of parallel sides
  • X direction the extending direction of the other pair of sides
  • direction crossing the terminal-attached electric wire 80 is perpendicular to the extending direction of the terminal-attached electric wire 80 (hereinafter also referred to as “direction crossing the terminal-attached electric wire 80”). It will be set so that it will almost agree.
  • the inspection region M is a portion between the first portion M1 where the core wire crimping portion 92 is crimped and the second portion M2 where the covering crimping portion 93 is crimped.
  • the inspection region M is preferably as large as possible without including the core wire crimping portion 92 and the covering crimping portion 93.
  • the length along the Y direction of the inspection region M is set so that the end portion (base end portion 921) of the core wire portion crimping portion 92 on the covering crimping portion 93 side is covered.
  • an inspection area having an ideal dimension is set at an ideal position in the imaging data of the terminal-attached electric wire having the same shape type as the terminal-attached electric wire 80 to be inspected, and this terminal attachment is provided.
  • the specified location in the wire is defined as a representative location, and the relative positional relationship between the location of this representative location and the ideal inspection area (specifically, for example, each vertex position of the ideal inspection area) Processing to register is performed.
  • the inspection area setting unit 32 searches for a representative location from the imaging data and specifies the position thereof.
  • An area defined from each vertex position in the stored relative positional relationship is set as an inspection area M.
  • the representative location used for setting the inspection region M may be a location that is uniquely defined.
  • the edge (base end portion 931) of the core wire crimping portion 92 on the covering crimping portion 93 side is representative. It can be a place. Since this edge is a position where the luminance greatly changes with this as a boundary, the inspection area setting unit 32 can specify the position of the edge based on the change in the luminance.
  • the inspection region setting unit 32 may perform rotation correction on the imaging data as necessary.
  • the inspection region setting unit 32 When performing this rotation correction, the inspection region setting unit 32 first identifies the extending direction of the terminal-attached electric wire 80 in the imaging data by detecting, for example, the edge portion of the core wire crimping portion 92, and this extending direction. Is shifted from the intended direction, the imaging data is rotated so that the shift is reduced. Then, the inspection region M is set in the imaging data after the rotation correction is performed. If this rotation correction is performed, it is ensured that the Y-axis and the extending direction of the terminal-attached electric wire 80 are in good agreement.
  • the boundary position detection unit 33 detects the boundary position between the core part 81 (exposed core part) and the covering part 82 in the inspection region M. As shown in FIG. 5, when the inspection region M is set in the window portion 90, the boundary portion between the core wire portion 81 and the covering portion 82 is included. Generally, the boundary portion between the core wire portion 81 and the covering portion 82 is a portion where the luminance changes greatly. Therefore, the boundary position detection unit 33 detects the boundary position LB1 between the core wire portion 81 and the covering portion 82 by measuring the change in luminance in the Y direction for the inspection region M.
  • the inspection apparatus 100 is configured to evaluate whether the boundary position LB1 detected by the boundary position detection unit 33 is valid by causing the color information acquisition unit 34 and the determination unit 35 described below to function. Has been.
  • the color information acquisition unit 34 acquires color information of a specific area on the imaging data.
  • the color information refers to pixel values represented by RGB values, CMYK values, etc. possessed by each pixel in the specific area.
  • the color information acquisition unit 34 is the first color information indicating the color of the first region R1 inside the inspection region M and closer to the core portion 81 than the boundary position LB1, and the first color information on the covering unit 82 side from the boundary position LB1. 2nd color information which shows the color of 2 area
  • region R2 is acquired.
  • the core line portion 81 in the window 90 and the covering portion 82 can be set as a candidate area.
  • the first region R1 and the second region R2 are regions extending in the width direction (X direction) of the electric wire 8. Further, the first region R1 is a region narrower than the core wire portion 81, and the second region R2 is a region narrower than the covering portion 82.
  • region R2 may be preset based on the imaging data of the electric wire 80 with a terminal of an ideal state, it sets suitably according to the imaging data of each electric wire 80 with a terminal. You may be made to do.
  • the positions of the first region R1 and the second region R2 in the Y direction are respectively separated from the boundary position LB1 by a predetermined length on the + Y side or the ⁇ Y side.
  • the positions in the X direction of the first region R1 and the second region R2 are set so that, for example, both edges of the core part 81 and both edges of the covering part 82 are detected from the luminance information and fall between them. It is possible to do.
  • the color information acquisition unit 34 acquires the color information of the covering portion 82 in the third region R3 outside the inspection region M and on the ⁇ Y side (covering portion 82 side).
  • the third region R3 is a region extending in the combined direction (direction inclined with respect to the extending direction) of both the width direction (X direction) and the extending direction (Y direction) of the electric wire 8, It is set so as to fit inside the covering portion 82.
  • the decorative portion such as the ring mark 821 is provided unevenly in both the width direction and the extending direction of the electric wire 8.
  • the color information of the decorative part can be acquired more reliably.
  • region R3 may be preset based on the imaging data of the electric wire 80 with a terminal of an ideal state, you may set suitably according to the imaging data of each electric wire 80 with a terminal. In the latter case, a position separated from the ⁇ Y side end of the inspection region M by at least a length larger than the length of the covering crimping portion 93 or the covering crimping portion 93 detected when the inspection region M is set.
  • the + Y side end of the third region R3 is set at a position on the ⁇ Y side from the position of the base end 931.
  • the position in the X direction of the third region R3 may be set so that both edges of the core wire portion 81 are detected and within the both edges from the difference in luminance between the core wire portion 81 and the background.
  • the third region R3 is set larger than the second region R2.
  • “the area is wide” means that the number of pixels in the area is large.
  • the color information is not necessarily expressed in full color like RGB values.
  • the imaging data may be a grayscale image, and the color information acquisition unit 34 may acquire a grayscale value expressed by a plurality of bits as color information.
  • the determination unit 35 compares the first to third color information acquired by the color information acquisition unit 34 and determines the degree of coincidence thereof. Thereby, the validity of the boundary position LB1 detected by the boundary position detection unit 33 is evaluated.
  • the determination unit 35 compares the first color information and the third color information, and the second color information and the third color information, and determines the degree of coincidence.
  • the boundary position LB1 detected by the boundary position detection unit 33 is an appropriate position. Is suitably evaluated.
  • the boundary position LB1 detected by the boundary position detection unit 33 is not valid. Is evaluated negatively.
  • the RGB value of each pixel in one region is collated with the RGB value of each pixel in the other region.
  • the RGB of each pixel in the first region R1 is collated with the RGB value of each pixel in the third region R3. .
  • the ratio of the pixel group having the same RGB value among all the pixels in the first region R1 is acquired.
  • “match” and “mismatch” are determined by comparing the ratio with a threshold value. The same applies when determining the degree of coincidence of color information between the first region R1 and the third region R3.
  • collation may be performed in units of one pixel, the collation may be performed in units of a plurality of adjacent pixels. In this case, an average value of all RGB values in one unit may be used as the RGB value of one unit.
  • FIG. 7 is a diagram illustrating a flow of processing executed by the inspection apparatus 100 according to the embodiment.
  • the imaging control unit 31 controls the imaging unit 1 to image the terminal-attached electric wire 80 to be inspected and acquire imaging data (preparation step S1).
  • This step corresponds to a preparation step for preparing imaging data.
  • the imaging data may be prepared by reading data stored in advance in the storage device 205 or the like.
  • the inspection area setting unit 32 sets the inspection area M in the imaging data acquired in the preparation process S1 (inspection area setting process S2).
  • the boundary position detection unit 33 detects the boundary position LB1 between the core wire portion 81 and the covering portion 82 in the inspection region M set in the inspection region setting step S2 (boundary position detection step S3).
  • the color information acquisition unit 34 acquires the first and second color information indicating the colors of the first region R1 and the second region R2 in the inspection region M, and the third region R3 outside the inspection region M. 3rd color information which shows a color is acquired (color information acquisition process S4).
  • the step of acquiring the first color information corresponds to the first color information acquisition step
  • the step of acquiring the second color information corresponds to the second color information acquisition step
  • the step of acquiring the third color information is the first step. This corresponds to the three-color information acquisition process.
  • the determination unit 35 compares the first color information and the third color information, and the second color information and the third color information, and determines the degree of coincidence (determination step S5).
  • the determination unit 35 evaluates the validity of the boundary position LB1 detected in the boundary position detection step S3 based on the result of the determination step S5 (evaluation step S6). Specifically, in the determination step S5, when it is determined that the first color information does not match the third color information and the second color information matches the third color information, the boundary position LB1 is valid. Positively evaluated. In other cases, it is negatively evaluated that the boundary position LB1 is invalid.
  • the evaluation result obtained in the evaluation step S6 may be displayed on the display device 22 together with the imaging data indicating the position of the boundary position LB1 detected in the boundary position detection step S3, for example.
  • the validity of the boundary position LB1 can be re-evaluated by visual recognition by the operator.
  • the inspection apparatus 100 uses the boundary position LB1 detected in the inspection region M as a reference for the candidate regions (first region R1, second region R2) of the core wire portion 81 and the covering portion 82.
  • the degree of coincidence between the color information (first color information and second color information) and the color information (third color information) of the candidate area (third area R3) of the covering portion 82 outside the inspection area M is determined.
  • the validity of the color information of the candidate areas of the core wire part 81 and the covering part 82 can be inspected in the inspection area M. Therefore, the validity of the boundary position LB1 can be evaluated regardless of the presence or absence of a decorative portion such as the ring mark 821 in the covering portion 82 in the inspection region M.

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Abstract

Provided is a technology that improves the specification accuracy for the site of the boundary between a core wire section and a covering section. An inspection device 100 performs a visual inspection of a terminal-equipped electrical cable 80 in which a terminal 9 is connected to a core wire section 81 that is exposed from a covering section 82 at the terminal end of an electrical cable 8. The inspection device 100 comprises: an imaging unit 1 that images a connection section of the terminal 9 and the electrical cable 8 of the terminal-equipped electrical cable 80; an inspection region setting step 32 that sets an inspection region M within the imaging data; a boundary location detection step 34 that detects a boundary location LB1 between the core wire section 81 and the covering section 82 within the inspection region M; a color information acquisition unit 34 that, in the inspection region M, acquires first color information for a first region R1 that is further toward the core wire section 81 side than the boundary location LB1, acquires second color information for a second region R2 that is further toward the covering section 82 side than the boundary location LB1, and acquires third color information for a third region R3 that corresponds to the covering section 82 outside of the inspection region M; and a determination unit 35 that determines the level of agreement between the first color information and the third color information, and between the second color information and the third color information.

Description

検査方法及び検査装置Inspection method and inspection apparatus
　この発明は、端子付電線を外観検査する技術に関する。 This invention relates to a technique for inspecting the appearance of an electric wire with a terminal.
　電線の状態を検査する手法の一つとして、検査対象となる部分を撮像して、得られた撮像データを画像解析することにより、当該部分の状態を検査するものが知られている（いわゆる「外観検査」）。 One technique for inspecting the state of an electric wire is to inspect the state of the part by imaging the part to be inspected and analyzing the obtained image data (so-called "" Visual inspection").
　例えば、電線は、その端部の被覆部（絶縁被覆部）が皮剥ぎされることにより芯線部が露出した状態とされ、その皮剥ぎされた端部に端子が接続される。そして、この端子付電線を撮像して得た撮像データを用いて、例えば、芯線部と被覆部との境界と、端子との位置関係から、電線に対して端子が適切な位置に接続されているかが検査される場合がある。 For example, an electric wire is in a state in which a core portion is exposed by peeling off a covering portion (insulation covering portion) at an end thereof, and a terminal is connected to the peeled end portion. And using the imaging data obtained by imaging this electric wire with a terminal, for example, the terminal is connected to an appropriate position with respect to the electric wire from the boundary between the core wire portion and the covering portion and the terminal. May be inspected.
　本願発明に関連する先行技術としては、例えば特許文献１、２に記載のものがある。 Examples of prior art related to the present invention include those described in Patent Documents 1 and 2, for example.
特開平６－１０２１９２号公報JP-A-6-102192 特開２００３－２１４８２５号公報JP 2003-214825 A
　ところで、電線識別用のマーク等（例えば、リングマーク）の装飾が被覆部に付されている場合、当該装飾部分の輝度が検出されることで、当該装飾部分が付された被覆部と芯線部とを、輝度に基づいて識別することが困難となることがあった。この場合、芯線部と被覆部の境界位置を正確に特定することが困難となり得る。 By the way, when the decoration of a wire identification mark or the like (for example, a ring mark) is attached to the covering portion, the covering portion and the core portion having the decoration portion are detected by detecting the luminance of the decoration portion. May be difficult to identify based on luminance. In this case, it may be difficult to accurately specify the boundary position between the core wire portion and the covering portion.
　そこで、本発明は、芯線部と被覆部の境界位置の特定精度を向上する技術を提供することを目的とする。 Therefore, an object of the present invention is to provide a technique for improving the accuracy of specifying the boundary position between the core wire portion and the covering portion.
　上記の課題を解決するため、第１の態様は、電線の端末において被覆部から露出する芯線部に端子が接続された端子付電線を外観検査する検査方法であって、端子付電線における端子及び電線の接続部分を撮像して得られる撮像データを準備する撮像データ準備工程と、前記撮像データにおいて、検査領域を設定する検査領域設定工程と、前記検査領域内において、前記芯線部及び前記被覆部の境界位置を検出する境界位置検出工程と、前記検査領域内において、前記境界位置よりも前記芯線部側の第１領域の第１色情報を取得する第１色情報取得工程と、前記検査領域内において、前記境界位置よりも前記被覆部側の第２領域の第２色情報を取得する第２色情報取得工程と、前記撮像データの前記検査領域外において、前記被覆部に対応する第３領域の第３色情報を取得する第３色情報取得工程と、前記第１色情報と前記第３色情報、及び、前記第２色情報と前記第３色情報の一致度を判定する判定工程とを含む。 In order to solve the above-described problem, the first aspect is an inspection method for inspecting the appearance of a terminal-attached electric wire whose terminal is connected to a core wire portion exposed from the covering portion at the end of the electric wire, An imaging data preparation step of preparing imaging data obtained by imaging the connection portion of the electric wire, an inspection region setting step of setting an inspection region in the imaging data, and the core wire portion and the covering portion in the inspection region A boundary position detection step of detecting a boundary position of the first color information, a first color information acquisition step of acquiring first color information of the first region closer to the core portion than the boundary position in the inspection region, and the inspection region A second color information acquisition step for acquiring second color information of the second region on the covering portion side of the boundary position, and corresponding to the covering portion outside the inspection region of the imaging data. A third color information acquisition step of acquiring third color information of the third region, and determining the degree of coincidence between the first color information and the third color information, and between the second color information and the third color information Determination step.
　また、第２の態様は、第１の態様に係る検査方法であって、前記第３色情報取得工程は、前記撮像データの前記検査領域外において、前記電線の延在方向の位置が異なる画素群から、前記被覆部の色情報を取得する工程である。 Moreover, a 2nd aspect is an inspection method which concerns on a 1st aspect, Comprising: A said 3rd color information acquisition process differs in the position of the extension direction of the said electric wire outside the said test | inspection area | region of the said imaging data. It is a step of obtaining color information of the covering portion from the group.
　また、第３の態様は、第１または第２の態様に係る検査方法であって、前記第３色情報取得工程は、前記撮像データの前記検査領域外において、前記電線の幅方向の位置が異なる画素群から、前記第３色情報を取得する工程である。 Moreover, a 3rd aspect is an inspection method which concerns on a 1st or 2nd aspect, Comprising: As for the said 3rd color information acquisition process, the position of the width direction of the said electric wire is outside the said test | inspection area | region of the said imaging data. In this step, the third color information is obtained from different pixel groups.
　また、第４の態様は、第３の態様に係る検査方法であって、前記第３色情報取得工程は、前記撮像データの前記検査領域外において、前記電線の延在方向に傾斜する方向に並ぶ画素群から、前記第３色情報を取得する工程である。 Moreover, a 4th aspect is an inspection method which concerns on a 3rd aspect, Comprising: The said 3rd color information acquisition process is in the direction which inclines in the extending direction of the said electric wire outside the said test | inspection area | region of the said imaging data. In this step, the third color information is obtained from the lined pixel group.
　また、第５の態様は、第１から第４の態様のうちいずれか１つに係る検査方法であって、前記判定工程は、色情報が一致する画素数の割合を測定することによって、前記一致度を判定する工程である。 In addition, a fifth aspect is an inspection method according to any one of the first to fourth aspects, wherein the determination step measures the ratio of the number of pixels with matching color information, It is a step of determining the degree of coincidence.
　また、第６の態様は、電線の端末において被覆部から露出する芯線部に端子が接続された端子付電線を外観検査する検査装置であって、端子付電線における端子及び電線の接続部分を撮像する撮像部と、前記撮像部によって取得される撮像データにおいて、検査領域を設定する検査領域設定部と、前記検査領域において、前記芯線部及び前記被覆部の境界位置を検出する境界位置検出部と、前記検査領域内において、前記境界位置よりも前記芯線部側の第１領域の第１色情報、及び、前記境界位置よりも前記被覆部側の第２領域の第２色情報を取得するとともに、前記撮像データの前記検査領域外において、前記被覆部に対応する第３領域の第３色情報を取得する色情報取得部と、前記第１色情報と前記第３色情報、及び、前記第２色情報と前記第３色情報の一致度を判定する判定部とを備える。 Moreover, a 6th aspect is an inspection apparatus which inspects the external appearance of the electric wire with a terminal by which the terminal was connected to the core wire part exposed from a coating | coated part in the terminal of an electric wire, Comprising: The terminal and the connection part of an electric wire in an electric wire with a terminal are imaged An imaging area to be acquired, an inspection area setting section for setting an inspection area in the imaging data acquired by the imaging section, and a boundary position detection section for detecting a boundary position between the core line section and the covering section in the inspection area; In the inspection area, the first color information of the first area closer to the core part than the boundary position and the second color information of the second area closer to the covering part than the boundary position are acquired. A color information acquisition unit that acquires third color information of a third region corresponding to the covering unit, the first color information, the third color information, and the first outside the inspection region of the imaging data; 2-color information And a determination unit for determining degree of matching of the third color information.
　第１の態様に係る検査方法によると、検査領域内で検出された境界位置を基準にして、芯線部及び被覆部の候補領域（第１，第２領域）の色情報（第１，第２色情報）と、検査領域外の被覆部の候補領域（第３領域Ｒ３）の色情報（第３色情報）の一致度が判定される。これによって、検査領域内において、芯線部と被覆部の候補領域の色情報の妥当性を検査できる。したがって、検査領域内の被覆部における装飾部分の有無に関わらず、検出された境界位置の妥当性を評価できる。 According to the inspection method according to the first aspect, the color information (first and second regions) of the candidate regions (first and second regions) of the core wire portion and the covering portion on the basis of the boundary position detected in the inspection region. The degree of coincidence between the color information) and the color information (third color information) of the candidate area (third area R3) outside the inspection area is determined. Thereby, the validity of the color information of the candidate areas of the core line part and the covering part can be inspected in the inspection area. Therefore, the validity of the detected boundary position can be evaluated regardless of the presence or absence of a decorative part in the covering portion in the inspection region.
　また、第２の態様に係る検査方法によると、装飾部分が電線の延在方向に不均一に設けられていても、装飾部分及び非装飾部分の色情報を取得できる。 In addition, according to the inspection method according to the second aspect, color information of the decorative part and the non-decorative part can be acquired even if the decorative part is provided unevenly in the extending direction of the electric wire.
　また、第３の態様に係る検査方法によると、装飾部分が電線の幅方向に不均一に設けられていても、装飾部分及び非装飾部分の色情報を取得できる。 Further, according to the inspection method according to the third aspect, the color information of the decorative portion and the non-decorative portion can be acquired even if the decorative portion is provided unevenly in the width direction of the electric wire.
　また、第４の態様に係る検査方法によると、装飾部分が電線の延在方向及び幅方向の双方に不均一に設けられていたとしても、装飾部分及び非装飾部分の色情報を取得できる。 Further, according to the inspection method according to the fourth aspect, even if the decorative part is provided unevenly in both the extending direction and the width direction of the electric wire, the color information of the decorative part and the non-decorative part can be acquired.
　また、第５の態様に係る検査方法によると、色情報が一致する画素数を計測することによって、各色情報どうしの一致度を正確に検査することができる。 Further, according to the inspection method according to the fifth aspect, the degree of coincidence between the color information can be accurately inspected by measuring the number of pixels with which the color information matches.
　また、第６の態様に係る検査装置によると、検査領域内で検出された境界位置を基準にして、芯線部及び被覆部の候補領域（第１，第２領域）の色情報（第１，第２色情報）と、検査領域外の被覆部の候補領域（第３領域Ｒ３）の色情報（第３色情報）の一致度が判定される。これによって、検査領域内において、芯線部と被覆部の候補領域の色情報の妥当性を検査できる。したがって、検査領域内の被覆部における装飾部分の有無に関わらず、検出された境界位置の妥当性を評価できる。 In addition, according to the inspection apparatus according to the sixth aspect, the color information (first and second regions) of the candidate regions (first and second regions) of the core wire portion and the covering portion on the basis of the boundary position detected in the inspection region. The degree of coincidence between the second color information) and the color information (third color information) of the candidate region (third region R3) outside the inspection region is determined. Thereby, the validity of the color information of the candidate areas of the core line part and the covering part can be inspected in the inspection area. Therefore, the validity of the detected boundary position can be evaluated regardless of the presence or absence of a decorative part in the covering portion in the inspection region.
実施形態に係る端子付電線を模式的に示す側面図である。It is a side view which shows typically the electric wire with a terminal concerning an embodiment. 実施形態に係る端子付電線を模式的に示す平面図である。It is a top view showing typically the electric wire with a terminal concerning an embodiment. 実施形態に係る検査装置のハードウェア構成を示すブロック図である。It is a block diagram which shows the hardware constitutions of the inspection apparatus which concerns on embodiment. 実施形態に係る検査処理部において実現される機能ブロック図である。It is a functional block diagram implement | achieved in the test | inspection process part which concerns on embodiment. 実施形態に係る撮像部が取得した撮像データ、及び、ここに設定される検査領域の一例を示す図である。It is a figure which shows an example of the imaging data which the imaging part which concerns on embodiment acquired, and the test | inspection area | region set here. 実施形態に係る撮像部が取得した撮像データ、及び、ここに設定される第１領域～第３領域を示す図である。It is a figure which shows the imaging data which the imaging part which concerns on embodiment acquired, and the 1st area | region-3rd area | region set here. 実施形態に係る検査装置にて実行される処理の流れを示す図である。It is a figure which shows the flow of the process performed with the test | inspection apparatus which concerns on embodiment.
　以下、添付の図面を参照しながら、本発明の実施形態について説明する。なお、この実施形態に記載されている構成要素はあくまでも例示であり、本発明の範囲をそれらのみに限定する趣旨のものではない。また、図面においては、理解容易のため、必要に応じて各部の寸法や数が誇張または簡略化して図示されている場合がある。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, the component described in this embodiment is an illustration to the last, and is not a thing of the meaning which limits the scope of the present invention only to them. In the drawings, the size and number of each part may be exaggerated or simplified as necessary for easy understanding.
　＜１．端子付電線８０＞
　実施形態に係る検査装置１００は、電線８（ここでは、例えば、端部に端子９が接続された端子付電線８０）の状態を外観検査する装置である。検査装置１００について説明する前に、検査装置１００にて検査対象となる端子付電線８０について、図１、図２を参照しながら説明する。 <1. Electric wire with terminal 80>
The inspection apparatus 100 according to the embodiment is an apparatus for inspecting the appearance of the electric wire 8 (for example, the terminal-attached electric wire 80 in which the terminal 9 is connected to the end portion). Before describing the inspection device 100, the terminal-attached electric wire 80 to be inspected by the inspection device 100 will be described with reference to FIGS. 1 and 2.
　図１は、実施形態に係る端子付電線８０を模式的に示す側面図である。図２は、実施形態に係る端子付電線８０を模式的に示す平面図である。 FIG. 1 is a side view schematically showing a terminal-attached electric wire 80 according to the embodiment. Drawing 2 is a top view showing typically electric wire 80 with a terminal concerning an embodiment.
　端子付電線８０は、電線８の端末部に端子９が圧着接続されることにより形成される。 The terminal-attached electric wire 80 is formed by crimping and connecting the terminal 9 to the terminal portion of the electric wire 8.
　電線８は、芯線部８１と、芯線部８１の外周を被覆する被覆部８２とを備える。芯線部８１は、例えば、銅、銅合金、アルミニウム、アルミニウム合金等の金属線の撚り合せ線又は単線によって構成される。被覆部８２は、例えば、樹脂材料を押出被覆等することによって形成される。電線８の端部は、被覆部８２が皮剥ぎされて、芯線部８１が露出している。以下、電線８の端部に露出する芯線部８１を、「露出芯線部」ともいう。 The electric wire 8 includes a core wire portion 81 and a covering portion 82 that covers the outer periphery of the core wire portion 81. The core wire portion 81 is constituted by, for example, a stranded wire or a single wire of a metal wire such as copper, a copper alloy, aluminum, or an aluminum alloy. The covering portion 82 is formed by, for example, extrusion coating a resin material. The end portion of the electric wire 8 is stripped of the covering portion 82 and the core wire portion 81 is exposed. Hereinafter, the core wire portion 81 exposed at the end of the electric wire 8 is also referred to as an “exposed core wire portion”.
　被覆部８２には、リングマーク８２１が付されている。リングマーク８２１は、電線８の種類を識別するための装飾であって、ここでは、２連マークとされている。 A ring mark 821 is attached to the covering portion 82. The ring mark 821 is a decoration for identifying the type of the electric wire 8 and is a double mark here.
　一般的に、リングマーク８２１は、一定間隔をあけて電線８に付される。このため、電線８の切断位置がリングマーク８２１の間隔に対応していない場合には、端子９に対するリングマーク８２１の位置は相、端子付電線８０毎に異なる。 Generally, the ring mark 821 is attached to the electric wire 8 at a predetermined interval. For this reason, when the cutting position of the electric wire 8 does not correspond to the interval of the ring mark 821, the position of the ring mark 821 with respect to the terminal 9 is different for each electric wire 80 with a terminal.
　端子９は、例えば、銅もしくは黄銅等の銅合金の部材、又はそれらの部材に錫（Ｓｎ）メッキもしくは錫に銀（Ａｇ）、銅（Ｃｕ）、ビスマス（Ｂｉ）等が添加された錫合金のメッキが施された導体の部材である。端子９は、例えば、端子接続部９１と、芯線部圧着部９２と、被覆圧着部９３と、２つの連結部９４，９５とを備える。 The terminal 9 is, for example, a copper alloy member such as copper or brass, or a tin alloy in which silver (Ag), copper (Cu), bismuth (Bi) or the like is added to tin (Sn) plating or tin. It is a member of a conductor to which the plating is applied. The terminal 9 includes, for example, a terminal connection part 91, a core wire part crimping part 92, a covering crimping part 93, and two connecting parts 94 and 95.
　端子接続部９１は、相手側の端子と接続される部分である。端子接続部９１は、具体的には、例えば、略筒状の形状（いわゆるメス端子形状）に形成されており、ピン状、または、タブ状の接続部を有する相手側端子（いわゆるオス端子）が挿入接続可能とされている。なお、端子接続部９１は、ピン状、または、タブ状の形状（いわゆるオス端子形状）に形成されていてもよく、また、ネジ等によって相手側の部材に接続可能な環状形状等に形成されていてもよい。 The terminal connection part 91 is a part connected to the other terminal. Specifically, the terminal connection part 91 is formed in, for example, a substantially cylindrical shape (so-called female terminal shape), and has a pin-like or tab-like connection part (so-called male terminal). Can be inserted and connected. The terminal connecting portion 91 may be formed in a pin shape or a tab shape (so-called male terminal shape), and is formed in an annular shape that can be connected to a mating member by a screw or the like. It may be.
　芯線部圧着部９２は、電線８の芯線部８１（露出芯線部）に圧着されるべき部分である。芯線部圧着部９２は、電線８に圧着接続される前の状態においては、例えば断面略Ｕ字状に形成されており、これが、芯線部を抱持するように圧縮変形されることによって、芯線部圧着部９２が芯線部８１に圧着接続される。芯線部圧着部９２が芯線部８１に圧着接続されることによって、端子９と芯線部８１とが電気的に接続される。 The core wire portion crimping portion 92 is a portion to be crimped to the core wire portion 81 (exposed core wire portion) of the electric wire 8. The core wire crimping portion 92 is formed in, for example, a substantially U-shaped cross section before being crimped and connected to the electric wire 8, and is compressed and deformed so as to hold the core wire portion. The partial crimping portion 92 is crimped and connected to the core wire portion 81. By connecting the core wire portion crimping portion 92 to the core wire portion 81 by crimping, the terminal 9 and the core wire portion 81 are electrically connected.
　被覆圧着部９３は、電線８の被覆部８２に圧着されるべき部分である。被覆圧着部９３は、電線８に圧着接続される前の状態においては、例えば断面略Ｕ字状に形成されており、これが、被覆部８２を抱持するように圧縮変形されることによって、被覆圧着部９３が被覆部８２に圧着接続される。被覆圧着部９３が被覆部８２に圧着接続されることによって、端子９が電線８に対して強固に固定される。 The covering crimp portion 93 is a portion to be crimped to the covering portion 82 of the electric wire 8. The cover crimping portion 93 is formed, for example, in a substantially U-shaped cross section before being crimped and connected to the electric wire 8, and is compressed and deformed so as to hold the covering portion 82. The crimp part 93 is crimped and connected to the covering part 82. The terminal 9 is firmly fixed to the electric wire 8 by the crimping connection of the covering crimping part 93 to the covering part 82.
　２つの連結部９４，９５のうち、一方の連結部９４（第１連結部）は、端子接続部９１と芯線部圧着部９２とを連結する、また、他方の連結部９５（第２連結部）は、芯線部圧着部９２と被覆圧着部９３とを連結する。各連結部９４，９５は、一対の起立片と底部とによって形成される溝状の部分である。電線８に対して端子９が適切な位置に接続されている場合、連結部９５の溝状の部分には、電線８における芯線部８１（露出芯線部）と被覆部８２の境界位置の付近の部分が収容された状態となる。すなわち、連結部９５の溝の開口端（以下「窓部９０」ともいう）から、当該境界位置が視認可能な状態となる。 Of the two connecting portions 94, 95, one connecting portion 94 (first connecting portion) connects the terminal connecting portion 91 and the core wire portion crimping portion 92, and the other connecting portion 95 (second connecting portion). ) Connects the core wire crimping portion 92 and the covering crimping portion 93. Each of the connecting portions 94 and 95 is a groove-like portion formed by a pair of upright pieces and a bottom portion. When the terminal 9 is connected to an appropriate position with respect to the electric wire 8, the groove-like portion of the connecting portion 95 is located near the boundary position between the core wire portion 81 (exposed core wire portion) and the covering portion 82 in the electric wire 8. The part is accommodated. That is, the boundary position is visible from the opening end of the groove of the connecting portion 95 (hereinafter also referred to as “window portion 90”).
　＜２．検査装置１００＞
　＜２－１．ハードウェア構成＞
　検査装置１００のハードウェア構成について、図３を参照しながら説明する。図３は、実施形態に係る検査装置１００のハードウェア構成を示すブロック図である。 <2. Inspection device 100>
<2-1. Hardware configuration>
A hardware configuration of the inspection apparatus 100 will be described with reference to FIG. FIG. 3 is a block diagram illustrating a hardware configuration of the inspection apparatus 100 according to the embodiment.
　検査装置１００は、撮像部１と検査処理部２とを主として備える。 The inspection apparatus 100 mainly includes an imaging unit 1 and an inspection processing unit 2.
　撮像部１は、検査対象となる端子付電線８０のうち、特に、電線８及び端子９の接続部分を撮像する。撮像部１は、例えば、二次元イメージセンサ及び結像レンズ等から構成することができる。 The imaging part 1 images especially the connection part of the electric wire 8 and the terminal 9 among the electric wires 80 with a terminal used as inspection object. The imaging unit 1 can be composed of, for example, a two-dimensional image sensor and an imaging lens.
　検査処理部２は、撮像部１が取得した撮像データを解析することによって、端子付電線８０の状態を評価する。検査処理部２は、例えば、ＣＰＵ２０１、ＲＯＭ２０２、ＲＡＭ２０３、通信部２０４、記憶装置２０５等が、バスライン２０６を介して相互接続された一般的なコンピュータによって構成されている。ここにおいて、ＲＯＭ２０２は基本プログラム等を格納しており、ＲＡＭ２０３はＣＰＵ２０１が所定の処理を行う際の作業領域として供される。通信部２０４は、ＬＡＮ等の通信回線を介したデータ通信機能を有する。記憶装置２０５は、フラッシュメモリ、あるいは、ハードディスク装置等の不揮発性の記憶装置によって構成されている。 The inspection processing unit 2 evaluates the state of the terminal-attached electric wire 80 by analyzing the imaging data acquired by the imaging unit 1. The inspection processing unit 2 includes, for example, a general computer in which a CPU 201, a ROM 202, a RAM 203, a communication unit 204, a storage device 205, and the like are interconnected via a bus line 206. Here, the ROM 202 stores basic programs and the like, and the RAM 203 serves as a work area when the CPU 201 performs predetermined processing. The communication unit 204 has a data communication function via a communication line such as a LAN. The storage device 205 is configured by a nonvolatile storage device such as a flash memory or a hard disk device.
　記憶装置２０５にはプログラムＰｒが格納されている。このプログラムＰｒに記述された手順に従って、主制御部としてのＣＰＵ２０１が演算処理を行うことにより、検査装置１００の各種機能が実現されるように構成されている。プログラムＰｒは、通常、予め記憶装置２０５等のメモリに格納されて使用されるものであるが、ＣＤ－ＲＯＭあるいはＤＶＤ－ＲＯＭ、外部のフラッシュメモリ等の記録媒体に記録された形態（プログラムプロダクト）で提供され（あるいは、ネットワークを介した外部サーバからのダウンロード等により提供され）、追加的または交換的に記憶装置２０５等のメモリに格納されるものであってもよい。もっとも、検査処理部２において実現される一部あるいは全部の機能は、専用の論理回路等でハードウェア的に実現されてもよい。 The storage device 205 stores a program Pr. The CPU 201 as the main control unit performs arithmetic processing according to the procedure described in the program Pr, so that various functions of the inspection apparatus 100 are realized. The program Pr is normally stored and used in advance in a memory such as the storage device 205, but is recorded in a recording medium such as a CD-ROM or DVD-ROM or an external flash memory (program product). (Or provided by downloading from an external server via a network), and may be additionally or exchanged and stored in a memory such as the storage device 205. However, some or all of the functions realized in the inspection processing unit 2 may be realized in hardware by a dedicated logic circuit or the like.
　検査処理部２には、さらに、入力装置２１、及び、表示装置２２が接続されている。入力装置２１は、例えば、キーボード、マウス、各種スイッチ、タッチパネル等の少なくとも１つを含む入力デバイスであり、オペレータからの各種の操作（コマンドや各種データの入力といった操作）を受け付ける。表示装置２２は、液晶表示装置、ランプ等により構成されており、ＣＰＵ２０１による制御の下、各種の情報を表示する。 Further, an input device 21 and a display device 22 are connected to the inspection processing unit 2. The input device 21 is an input device including at least one of a keyboard, a mouse, various switches, a touch panel, and the like, for example, and accepts various operations (operations such as inputting commands and various data) from the operator. The display device 22 includes a liquid crystal display device, a lamp, and the like, and displays various information under the control of the CPU 201.
　＜２－２．機能構成＞
　検査処理部２が備える機能構成について、図４～図６を参照しながら説明する。図４は、実施形態に係る検査処理部２において実現される機能ブロック図である。また、図５は、実施形態に係る撮像部１が取得した撮像データ、及び、ここに設定される検査領域Ｍの一例を示す図である。さらに、図６は、実施形態に係る撮像部１が取得した撮像データ、及び、ここに設定される第１領域Ｒ１～第３領域Ｒ３を示す図である。 <2-2. Functional configuration>
A functional configuration provided in the inspection processing unit 2 will be described with reference to FIGS. FIG. 4 is a functional block diagram realized in the inspection processing unit 2 according to the embodiment. FIG. 5 is a diagram illustrating an example of the imaging data acquired by the imaging unit 1 according to the embodiment and the inspection region M set here. Further, FIG. 6 is a diagram illustrating the imaging data acquired by the imaging unit 1 according to the embodiment and the first region R1 to the third region R3 set here.
　検査処理部２は、撮像制御部３１、検査領域設定部３２、境界位置検出部３３、色情報取得部３４及び判定部３５を備えている。これら各機能部は、上述したとおり、例えば、ＣＰＵ２０１がプログラムＰｒに従って所定の演算処理を行うことにより実現される。 The inspection processing unit 2 includes an imaging control unit 31, an inspection region setting unit 32, a boundary position detection unit 33, a color information acquisition unit 34, and a determination unit 35. As described above, these functional units are realized, for example, by the CPU 201 performing predetermined arithmetic processing according to the program Pr.
　＜撮像制御部３１＞
　撮像制御部３１は、撮像部１を制御して、検査対象となる端子付電線８０を撮像させる。つまり、撮像部１と撮像制御部３１とが協働して、検査対象となる端子付電線８０を撮像して撮像データを取得する撮像データ取得部を構成する。ただし、検査対象となる端子付電線８０は、その延在方向が定められた軸に沿うような姿勢とされるとともに、窓部９０を真上に向けた状態で配置され、撮像部１は、このような姿勢で配置された端子付電線８０を真上から撮像する。撮像部１が取得した撮像データ（図５参照）は、例えば、検査処理部２の制御下で、表示装置２２に適宜表示される。 <Imaging control unit 31>
The imaging control unit 31 controls the imaging unit 1 to image the terminal-attached electric wire 80 to be inspected. That is, the imaging unit 1 and the imaging control unit 31 cooperate to configure an imaging data acquisition unit that images the terminal-attached electric wire 80 to be inspected and acquires imaging data. However, the terminal-attached electric wire 80 to be inspected is placed in a posture in which the extending direction is along the determined axis, and is arranged with the window portion 90 facing directly upward, and the imaging unit 1 is The terminal-attached electric wire 80 arranged in such a posture is imaged from directly above. The imaging data (see FIG. 5) acquired by the imaging unit 1 is appropriately displayed on the display device 22 under the control of the inspection processing unit 2, for example.
　＜検査領域設定部３２＞
　検査領域設定部３２は、撮像部１によって取得された端子付電線８０の撮像データ内に、検査領域Ｍを設定する。検査領域Ｍは、図５に示されるように、矩形領域であり、平行な一対の辺の延在方向（以下「Ｙ方向」ともいう）が、端子付電線８０の延在方向とほぼ一致するように設定される。したがって、他方の一対の辺の延在方向（以下「Ｘ方向」ともいう）が、端子付電線８０の延在方向と直交する方向（以下「端子付電線８０を横断する方向」ともいう）とほぼ一致するように設定されることになる。 <Inspection area setting unit 32>
The inspection region setting unit 32 sets the inspection region M in the imaging data of the terminal-attached electric wire 80 acquired by the imaging unit 1. As shown in FIG. 5, the inspection area M is a rectangular area, and the extending direction of a pair of parallel sides (hereinafter also referred to as “Y direction”) substantially coincides with the extending direction of the terminal-attached electric wire 80. Is set as follows. Therefore, the extending direction of the other pair of sides (hereinafter also referred to as “X direction”) is perpendicular to the extending direction of the terminal-attached electric wire 80 (hereinafter also referred to as “direction crossing the terminal-attached electric wire 80”). It will be set so that it will almost agree.
　ここでは、電線８（撮像データ上の電線８）における、芯線部圧着部９２が圧着されている第１の部分Ｍ１と被覆圧着部９３が圧着されている第２の部分Ｍ２との間の部分（以下「間隙部分」ともいう）が、検査領域Ｍとされる。ただし、検査領域Ｍは、芯線部圧着部９２及び被覆圧着部９３を含まない範囲で、できるだけ大きな領域とされることが好ましい。このような好ましい検査領域Ｍを規定するには、例えば、検査領域ＭのＹ方向に沿う長さを、芯線部圧着部９２の被覆圧着部９３側の端部（基端部９２１）と、被覆圧着部９３の芯線部圧着部９２側の端部（先端部９３３）との離間距離（撮像データ上の離間距離）と略同一とし、さらに、＋Ｙ側の辺が芯線部圧着部９２の被覆圧着部９３側の端部（基端部９２１）と一致するように設定すればよい。また、検査領域ＭのＸ方向に沿う長さを、端子付電線８０の幅（撮像データ上の幅）よりも十分に大きなものとし、さらに、Ｘ方向に沿う辺の中心が、端子付電線８０の中心線上にくるように設定すればよい。 Here, in the electric wire 8 (the electric wire 8 on the imaging data), a portion between the first portion M1 where the core wire crimping portion 92 is crimped and the second portion M2 where the covering crimping portion 93 is crimped. (Hereinafter also referred to as “gap portion”) is the inspection region M. However, the inspection region M is preferably as large as possible without including the core wire crimping portion 92 and the covering crimping portion 93. In order to define such a preferable inspection region M, for example, the length along the Y direction of the inspection region M is set so that the end portion (base end portion 921) of the core wire portion crimping portion 92 on the covering crimping portion 93 side is covered. It is substantially the same as the separation distance (separation distance on the imaging data) of the crimping portion 93 on the core wire crimping portion 92 side (tip portion 933), and the side on the + Y side is the cover crimping of the core wire crimping portion 92. What is necessary is just to set so that it may correspond with the edge part (base end part 921) by the part 93 side. Moreover, the length along the X direction of the inspection region M is made sufficiently larger than the width of the terminal-attached electric wire 80 (width on the imaging data), and the center of the side along the X direction is the electric wire 80 with the terminal. It may be set so as to be on the center line of.
　検査装置１００においては、予め、検査対象となる端子付電線８０と同じ形状タイプの端子付電線の撮像データ内に、理想的な寸法の検査領域を理想的な位置に設定するとともに、この端子付電線内の定められた箇所を代表箇所として規定して、この代表箇所の位置と、理想的な検査領域（具体的には、例えば、理想的な検査領域の各頂点位置）との相対位置関係を登録する処理が行われている。検査領域設定部３２は、検査対象となる端子付電線８０の撮像データが取得されると、当該撮像データ内から、代表箇所を検索してその位置を特定し、特定された位置に対して予め記憶されている相対位置関係にある各頂点位置から規定される領域を、検査領域Ｍとして設定する。なお、検査領域Ｍの設定に用いられる代表箇所は、一意に規定される箇所であればよく、例えば、芯線部圧着部９２の被覆圧着部９３側の端縁（基端部９３１）を、代表箇所とすることができる。この端縁は、これを境に輝度が大きく変化する位置となっているので、検査領域設定部３２は、輝度の変化に基づいて、当該端縁の位置を特定することができる。 In the inspection apparatus 100, an inspection area having an ideal dimension is set at an ideal position in the imaging data of the terminal-attached electric wire having the same shape type as the terminal-attached electric wire 80 to be inspected, and this terminal attachment is provided. The specified location in the wire is defined as a representative location, and the relative positional relationship between the location of this representative location and the ideal inspection area (specifically, for example, each vertex position of the ideal inspection area) Processing to register is performed. When the imaging data of the terminal-attached electric wire 80 to be inspected is acquired, the inspection area setting unit 32 searches for a representative location from the imaging data and specifies the position thereof. An area defined from each vertex position in the stored relative positional relationship is set as an inspection area M. The representative location used for setting the inspection region M may be a location that is uniquely defined. For example, the edge (base end portion 931) of the core wire crimping portion 92 on the covering crimping portion 93 side is representative. It can be a place. Since this edge is a position where the luminance greatly changes with this as a boundary, the inspection area setting unit 32 can specify the position of the edge based on the change in the luminance.
　端子付電線８０が、初期の姿勢で撮像されている場合、上記の処理によって設定された検査領域Ｍおいて、Ｙ方向と端子付電線８０の延在方向とが良好に一致する。ところが、端子付電線８０が、例えば、定められた姿勢から微小に回転した姿勢で撮像されてしまった場合、Ｙ方向と端子付電線８０の延在方向とがずれる虞がある。そこで、検査領域設定部３２は、例えば、検査領域Ｍの設定に先立って、撮像データに対して、必要に応じて、回転補正を施してもよい。この回転補正を行う場合、検査領域設定部３２は、まず、撮像データにおける端子付電線８０の延在方向を、例えば芯線部圧着部９２のエッジ部分を検出することにより特定し、この延在方向が所期の方向からずれている場合に、このずれが低減されるように撮像データを回転させる。そして、回転補正が施された後の撮像データ内に、検査領域Ｍを設定する。この回転補正を行っておけば、Ｙ軸と端子付電線８０の延在方向とが良好に一致するように担保される。 When the terminal-attached electric wire 80 is imaged in the initial posture, the Y direction and the extending direction of the terminal-attached electric wire 80 agree well in the inspection region M set by the above processing. However, when the terminal-attached electric wire 80 is imaged in a posture that is slightly rotated from a predetermined posture, for example, the Y direction and the extending direction of the terminal-attached electric wire 80 may be shifted. Therefore, for example, prior to setting the inspection region M, the inspection region setting unit 32 may perform rotation correction on the imaging data as necessary. When performing this rotation correction, the inspection region setting unit 32 first identifies the extending direction of the terminal-attached electric wire 80 in the imaging data by detecting, for example, the edge portion of the core wire crimping portion 92, and this extending direction. Is shifted from the intended direction, the imaging data is rotated so that the shift is reduced. Then, the inspection region M is set in the imaging data after the rotation correction is performed. If this rotation correction is performed, it is ensured that the Y-axis and the extending direction of the terminal-attached electric wire 80 are in good agreement.
　＜境界位置検出部３３＞
　境界位置検出部３３は、検査領域Ｍ内において、芯線部８１（露出芯線部）と被覆部８２の境界位置を検出する。図５に示されるように、検査領域Ｍが窓部９０内に設定されると、芯線部８１と被覆部８２の境界部分が含まれる。一般的に、芯線部８１と被覆部８２との境界部分は、輝度が大きく変化する部分である。このため、境界位置検出部３３は、検査領域Ｍについて、Ｙ方向に輝度の変化を測定することによって、芯線部８１と被覆部８２との境界位置ＬＢ１を検出する。 <Boundary position detection unit 33>
The boundary position detection unit 33 detects the boundary position between the core part 81 (exposed core part) and the covering part 82 in the inspection region M. As shown in FIG. 5, when the inspection region M is set in the window portion 90, the boundary portion between the core wire portion 81 and the covering portion 82 is included. Generally, the boundary portion between the core wire portion 81 and the covering portion 82 is a portion where the luminance changes greatly. Therefore, the boundary position detection unit 33 detects the boundary position LB1 between the core wire portion 81 and the covering portion 82 by measuring the change in luminance in the Y direction for the inspection region M.
　ここで、検査領域Ｍ内の被覆部８２に、リングマーク８２１が含まれる場合を想定する。この場合において、芯線部８１の輝度が、被覆部８２のリングマーク８２１の輝度に比較的近いとき、境界位置検出部３３が検出する境界位置ＬＢ１の精度が悪化するおそれがある。そこで、検査装置１００では、次に説明する色情報取得部３４及び判定部３５を機能させることで、境界位置検出部３３が検出した境界位置ＬＢ１が、妥当であるかどうかを評価するように構成されている。 Here, it is assumed that the ring mark 821 is included in the covering portion 82 in the inspection region M. In this case, when the luminance of the core wire portion 81 is relatively close to the luminance of the ring mark 821 of the covering portion 82, the accuracy of the boundary position LB1 detected by the boundary position detection unit 33 may be deteriorated. Therefore, the inspection apparatus 100 is configured to evaluate whether the boundary position LB1 detected by the boundary position detection unit 33 is valid by causing the color information acquisition unit 34 and the determination unit 35 described below to function. Has been.
　＜色情報取得部３４＞
　色情報取得部３４は、撮像データ上において、特定領域の色情報を取得する。ここで、色情報は、特定領域内の各画素が持つＲＧＢ値、ＣＭＹＫ値等で表される画素値をいう。色情報取得部３４は、検査領域Ｍの内側であって、境界位置ＬＢ１より芯線部８１側の第１領域Ｒ１の色を示す第１色情報、及び、境界位置ＬＢ１より被覆部８２側の第２領域Ｒ２の色を示す第２色情報を取得する。 <Color information acquisition unit 34>
The color information acquisition unit 34 acquires color information of a specific area on the imaging data. Here, the color information refers to pixel values represented by RGB values, CMYK values, etc. possessed by each pixel in the specific area. The color information acquisition unit 34 is the first color information indicating the color of the first region R1 inside the inspection region M and closer to the core portion 81 than the boundary position LB1, and the first color information on the covering unit 82 side from the boundary position LB1. 2nd color information which shows the color of 2 area | region R2 is acquired.
　境界位置検出部３３が検出した境界位置ＬＢ１に基づいて、第１領域Ｒ１及び第２領域Ｒ２の位置を適切に設定することで、これらを窓部９０における芯線部８１、及び、被覆部８２の候補領域として設定できる。 By appropriately setting the positions of the first region R1 and the second region R2 based on the boundary position LB1 detected by the boundary position detection unit 33, the core line portion 81 in the window 90 and the covering portion 82 Can be set as a candidate area.
　本例では、第１領域Ｒ１及び第２領域Ｒ２は、電線８の幅方向（Ｘ方向）に延びる領域としている。また、第１領域Ｒ１は芯線部８１よりも狭い領域とされ、第２領域Ｒ２は被覆部８２より狭い領域とされる。 In this example, the first region R1 and the second region R2 are regions extending in the width direction (X direction) of the electric wire 8. Further, the first region R1 is a region narrower than the core wire portion 81, and the second region R2 is a region narrower than the covering portion 82.
　なお、第１領域Ｒ１及び第２領域Ｒ２の位置は、理想状態の端子付電線８０の撮像データに基づいて予め設定されてもよいが、個々の端子付電線８０の撮像データに応じて適宜設定されるようにしてもよい。後者の場合、第１領域Ｒ１及び第２領域Ｒ２のＹ方向の位置は、それぞれ、境界位置ＬＢ１から、＋Ｙ側又は－Ｙ側に所定長さ分隔てた位置とされる。また、第１領域Ｒ１及び第２領域Ｒ２のＸ方向の位置は、例えば、輝度情報から芯線部８１の両エッジ、及び、被覆部８２の両エッジを検出し、それぞれの間に収まるように設定することが考えられる。 In addition, although the position of 1st area | region R1 and 2nd area | region R2 may be preset based on the imaging data of the electric wire 80 with a terminal of an ideal state, it sets suitably according to the imaging data of each electric wire 80 with a terminal. You may be made to do. In the latter case, the positions of the first region R1 and the second region R2 in the Y direction are respectively separated from the boundary position LB1 by a predetermined length on the + Y side or the −Y side. In addition, the positions in the X direction of the first region R1 and the second region R2 are set so that, for example, both edges of the core part 81 and both edges of the covering part 82 are detected from the luminance information and fall between them. It is possible to do.
　さらに、色情報取得部３４は、検査領域Ｍの外側であって、－Ｙ側（被覆部８２側）の第３領域Ｒ３において、被覆部８２の色情報を取得する。本例では、第３領域Ｒ３は、電線８の幅方向（Ｘ方向）及び延在方向（Ｙ方向）の双方の合成方向（延在方向に対して傾斜する方向）に延びる領域であって、被覆部８２の内側に収まるように設定される。このように、第３領域Ｒ３を合成方向に延びる領域とすることで、リングマーク８２１等の装飾部分が電線８の幅方向及び延在方向の双方において不均一に設けられていた場合であっても、その装飾部分の色情報をより確実に取得できる。 Further, the color information acquisition unit 34 acquires the color information of the covering portion 82 in the third region R3 outside the inspection region M and on the −Y side (covering portion 82 side). In this example, the third region R3 is a region extending in the combined direction (direction inclined with respect to the extending direction) of both the width direction (X direction) and the extending direction (Y direction) of the electric wire 8, It is set so as to fit inside the covering portion 82. In this way, by setting the third region R3 as a region extending in the combining direction, the decorative portion such as the ring mark 821 is provided unevenly in both the width direction and the extending direction of the electric wire 8. However, the color information of the decorative part can be acquired more reliably.
　なお、第３領域Ｒ３の位置は、理想状態の端子付電線８０の撮像データに基づいて予め設定されてもよいが、個々の端子付電線８０の撮像データに応じて適宜設定されてもよい。後者の場合、検査領域Ｍの－Ｙ側端部から、少なくとも被覆圧着部９３の長さよりも大きい長さ分だけ隔てた位置、または、検査領域Ｍを設定する際に検出した被覆圧着部９３の基端部９３１の位置より－Ｙ側の位置に、第３領域Ｒ３の＋Ｙ側端部が設定される。また、第３領域Ｒ３のＸ方向の位置は、芯線部８１と背景との輝度の相違から、芯線部８１の両エッジを検出し、その両エッジよりも内側に収まるように設定すればよい。 In addition, although the position of 3rd area | region R3 may be preset based on the imaging data of the electric wire 80 with a terminal of an ideal state, you may set suitably according to the imaging data of each electric wire 80 with a terminal. In the latter case, a position separated from the −Y side end of the inspection region M by at least a length larger than the length of the covering crimping portion 93 or the covering crimping portion 93 detected when the inspection region M is set. The + Y side end of the third region R3 is set at a position on the −Y side from the position of the base end 931. In addition, the position in the X direction of the third region R3 may be set so that both edges of the core wire portion 81 are detected and within the both edges from the difference in luminance between the core wire portion 81 and the background.
　第３領域Ｒ３は、第２領域Ｒ２よりも大きく設定されることが望ましい。ここで、「領域が広い」とは、領域内のピクセル数が多いことを意味する。第３領域Ｒ３を広く設定することで、図６に示すように、リングマーク８２１の色情報を取得できる可能性を高めることができる。また、同一色であっても、撮像データ上の電線８の両側部分と内側部分とでは、輝度が異なることで色情報が異なる可能性がある。このため、第３領域Ｒ３を電線８の幅方向に延ばすことで、幅方向にわたって色情報を取得できる。したがって、被覆部８２の幅方向の各部でリングマーク８２１がとり得る色情報をより確実に取得できる。 It is desirable that the third region R3 is set larger than the second region R2. Here, “the area is wide” means that the number of pixels in the area is large. By setting the third region R3 wide, it is possible to increase the possibility that the color information of the ring mark 821 can be acquired as shown in FIG. Moreover, even if the colors are the same, there is a possibility that the color information differs between the two side portions and the inner portion of the electric wire 8 on the imaging data due to the difference in luminance. For this reason, color information can be acquired over the width direction by extending 3rd area | region R3 to the width direction of the electric wire 8. FIG. Therefore, the color information that can be taken by the ring mark 821 at each portion in the width direction of the covering portion 82 can be acquired more reliably.
　なお、色情報は、ＲＧＢ値のようにフルカラーで表現されることは必須ではない。例えば、撮像データをグレースケール画像として、色情報取得部３４が複数ビットで表現されるグレースケール値を色情報として取得するようにしてもよい。 It should be noted that the color information is not necessarily expressed in full color like RGB values. For example, the imaging data may be a grayscale image, and the color information acquisition unit 34 may acquire a grayscale value expressed by a plurality of bits as color information.
　＜判定部３５＞
　判定部３５は、色情報取得部３４が取得した第１～第３色情報を比較して、それらの一致度を判定する。これによって、境界位置検出部３３が検出した境界位置ＬＢ１の妥当性が評価される。 <Determining unit 35>
The determination unit 35 compares the first to third color information acquired by the color information acquisition unit 34 and determines the degree of coincidence thereof. Thereby, the validity of the boundary position LB1 detected by the boundary position detection unit 33 is evaluated.
　すなわち、境界位置ＬＢ１が正しく検出できた場合、第１色情報は、検査領域Ｍ内の芯線部８１の色に対応し、第２色情報は、検査領域Ｍ内の被覆部８２の色に対応し、第３色情報は、被覆部８２の色情報に対応する。このため、判定部３５は、第１色情報と第３色情報、及び、第２色情報と第３色情報とを比較して、それぞれの一致度を判定する。そして、第１色情報が第３色情報とは一致せず、かつ、第２色情報が第３色情報と一致すると判定した場合、境界位置検出部３３が検出した境界位置ＬＢ１が妥当な位置であると好適的に評価される。一方、第１色情報が第３色情報が一致する、あるいは、第２色情報が第３色情報とは一致しないと判定された場合、境界位置検出部３３が検出した境界位置ＬＢ１が妥当でないと否定的に評価される。 That is, when the boundary position LB1 is correctly detected, the first color information corresponds to the color of the core part 81 in the inspection area M, and the second color information corresponds to the color of the covering part 82 in the inspection area M. The third color information corresponds to the color information of the covering portion 82. Therefore, the determination unit 35 compares the first color information and the third color information, and the second color information and the third color information, and determines the degree of coincidence. When it is determined that the first color information does not match the third color information and the second color information matches the third color information, the boundary position LB1 detected by the boundary position detection unit 33 is an appropriate position. Is suitably evaluated. On the other hand, when it is determined that the first color information matches the third color information, or the second color information does not match the third color information, the boundary position LB1 detected by the boundary position detection unit 33 is not valid. Is evaluated negatively.
　ここで、２つの領域間で色情報の一致度を判定する場合、一方の領域の各画素のＲＧＢ値が、他方の領域の各画素のＲＧＢ値と照合される。なお、照合の際には、ＲＧＢ値が完全一致する場合だけでなく、ＲＧＢ値が許容範囲内で類似する場合にも、色情報が一致すると判定するようにしてもよい。このような照合作業によって、一方の領域の全画素のうち、他方の領域の画素とＲＧＢ値が一致した画素群の割合を取得できる。一致する割合が予め定めたしきい値を超える場合には「一致」とし、超えない場合には「不一致」とすればよい。 Here, when determining the degree of coincidence of color information between two regions, the RGB value of each pixel in one region is collated with the RGB value of each pixel in the other region. In the collation, it may be determined that the color information matches not only when the RGB values completely match but also when the RGB values are similar within the allowable range. By such a collation operation, it is possible to acquire the ratio of the pixel group in which the RGB values coincide with the pixels in the other region out of all the pixels in the one region. If the rate of coincidence exceeds a predetermined threshold value, “match” may be set, and otherwise, “no match” may be set.
　例えば、第１領域Ｒ１と第３領域Ｒ３の間で、色情報の一致度を判定する場合、第１領域Ｒ１の各画素のＲＧＢが、第３領域Ｒ３の各画素のＲＧＢ値と照合される。これによって、第１領域Ｒ１の全画素のうち、ＲＧＢ値が一致した画素群の割合が取得される。そして、その割合としきい値とを比較することで、「一致」「不一致」が判定される。第１領域Ｒ１と第３領域Ｒ３の間で色情報の一致度を判定する場合も、同様である。 For example, when determining the degree of coincidence of color information between the first region R1 and the third region R3, the RGB of each pixel in the first region R1 is collated with the RGB value of each pixel in the third region R3. . As a result, the ratio of the pixel group having the same RGB value among all the pixels in the first region R1 is acquired. Then, “match” and “mismatch” are determined by comparing the ratio with a threshold value. The same applies when determining the degree of coincidence of color information between the first region R1 and the third region R3.
　なお、１画素単位で照合を行うようにしてもよいが、隣同士の複数画素を１単位として照合を行うようにしてもよい。この場合、１単位中の全ＲＧＢ値の平均値を当該１単位のＲＧＢ値とすればよい。 In addition, although collation may be performed in units of one pixel, the collation may be performed in units of a plurality of adjacent pixels. In this case, an average value of all RGB values in one unit may be used as the RGB value of one unit.
　＜２－３．処理の流れ＞
　図７は、実施形態に係る検査装置１００にて実行される処理の流れを示す図である。 <2-3. Flow of processing>
FIG. 7 is a diagram illustrating a flow of processing executed by the inspection apparatus 100 according to the embodiment.
　まず、撮像制御部３１が、撮像部１を制御して、検査対象となる端子付電線８０を撮像させて、撮像データを取得させる（準備工程Ｓ１）。この工程は、撮像データを準備する準備工程に相当する。なお、撮像データは、記憶装置２０５等にあらかじめ保存されたものを読み出すことで、準備されてもよい。 First, the imaging control unit 31 controls the imaging unit 1 to image the terminal-attached electric wire 80 to be inspected and acquire imaging data (preparation step S1). This step corresponds to a preparation step for preparing imaging data. Note that the imaging data may be prepared by reading data stored in advance in the storage device 205 or the like.
　続いて、検査領域設定部３２が、準備工程Ｓ１で取得された撮像データ内に、検査領域Ｍを設定する（検査領域設定工程Ｓ２）。 Subsequently, the inspection area setting unit 32 sets the inspection area M in the imaging data acquired in the preparation process S1 (inspection area setting process S2).
　続いて、境界位置検出部３３が、検査領域設定工程Ｓ２で設定された検査領域Ｍ内で、芯線部８１と被覆部８２の境界位置ＬＢ１を検出する（境界位置検出工程Ｓ３）。 Subsequently, the boundary position detection unit 33 detects the boundary position LB1 between the core wire portion 81 and the covering portion 82 in the inspection region M set in the inspection region setting step S2 (boundary position detection step S3).
　続いて、色情報取得部３４が、検査領域Ｍ内の第１領域Ｒ１及び第２領域Ｒ２の色を示す第１，第２色情報を取得するとともに、検査領域Ｍ外の第３領域Ｒ３の色を示す第３色情報を取得する（色情報取得工程Ｓ４）。なお、第１色情報を取得する工程は第１色情報取得工程に対応し、第２色情報を取得する工程は第２色情報取得工程に対応し、第３色情報を取得する工程は第３色情報取得工程に対応する。 Subsequently, the color information acquisition unit 34 acquires the first and second color information indicating the colors of the first region R1 and the second region R2 in the inspection region M, and the third region R3 outside the inspection region M. 3rd color information which shows a color is acquired (color information acquisition process S4). The step of acquiring the first color information corresponds to the first color information acquisition step, the step of acquiring the second color information corresponds to the second color information acquisition step, and the step of acquiring the third color information is the first step. This corresponds to the three-color information acquisition process.
　続いて、判定部３５が、第１色情報と第３色情報、及び、第２色情報と第３色情報とを比較して、その一致度を判定する（判定工程Ｓ５）。 Subsequently, the determination unit 35 compares the first color information and the third color information, and the second color information and the third color information, and determines the degree of coincidence (determination step S5).
　続いて、判定部３５が、判定工程Ｓ５の結果に基づいて、境界位置検出工程Ｓ３で検出した境界位置ＬＢ１の妥当性を評価する（評価工程Ｓ６）。具体的に、判定工程Ｓ５において、第１色情報が第３色情報とは不一致であり、かつ、第２色情報が第３色情報と一致すると判定した場合、境界位置ＬＢ１が妥当であると肯定的に評価される。それ以外の場合は、境界位置ＬＢ１が不当であると否定的に評価される。 Subsequently, the determination unit 35 evaluates the validity of the boundary position LB1 detected in the boundary position detection step S3 based on the result of the determination step S5 (evaluation step S6). Specifically, in the determination step S5, when it is determined that the first color information does not match the third color information and the second color information matches the third color information, the boundary position LB1 is valid. Positively evaluated. In other cases, it is negatively evaluated that the boundary position LB1 is invalid.
　なお、評価工程Ｓ６で取得された評価結果は、例えば、境界位置検出工程Ｓ３で検出された境界位置ＬＢ１の位置が示された撮像データとともに、表示装置２２に表示してもよい。否定的な評価の場合、オペレータが視認することで、境界位置ＬＢ１の妥当性を再評価できる。 Note that the evaluation result obtained in the evaluation step S6 may be displayed on the display device 22 together with the imaging data indicating the position of the boundary position LB1 detected in the boundary position detection step S3, for example. In the case of negative evaluation, the validity of the boundary position LB1 can be re-evaluated by visual recognition by the operator.
　＜３．効果＞
　上記の実施の形態に係る検査装置１００は、検査領域Ｍ内で検出された境界位置ＬＢ１を基準にして、芯線部８１及び被覆部８２の候補領域（第１領域Ｒ１，第２領域Ｒ２）の色情報（第１色情報及び第２色情報）と、検査領域Ｍ外の被覆部８２の候補領域（第３領域Ｒ３）の色情報（第３色情報）の一致度が判定される。これによって、検査領域Ｍ内において、芯線部８１と被覆部８２の候補領域の色情報の妥当性を検査できる。したがって、検査領域Ｍ内の被覆部８２におけるリングマーク８２１等の装飾部分の有無に関わらず、境界位置ＬＢ１の妥当性を評価できる。 <3. Effect>
The inspection apparatus 100 according to the above-described embodiment uses the boundary position LB1 detected in the inspection region M as a reference for the candidate regions (first region R1, second region R2) of the core wire portion 81 and the covering portion 82. The degree of coincidence between the color information (first color information and second color information) and the color information (third color information) of the candidate area (third area R3) of the covering portion 82 outside the inspection area M is determined. Thereby, the validity of the color information of the candidate areas of the core wire part 81 and the covering part 82 can be inspected in the inspection area M. Therefore, the validity of the boundary position LB1 can be evaluated regardless of the presence or absence of a decorative portion such as the ring mark 821 in the covering portion 82 in the inspection region M.
　この発明は詳細に説明されたが、上記の説明は、すべての局面において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。また、上記各実施形態及び各変形例で説明した各構成は、相互に矛盾しない限り適宜組み合わせたり、省略したりすることができる。 Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention. In addition, the configurations described in the above embodiments and modifications can be appropriately combined or omitted as long as they do not contradict each other.
　１００　検査装置
　１　撮像部
　２　検査処理部
　３１　撮像制御部
　３２　検査領域設定部
　３３　境界位置検出部
　３４　色情報取得部
　３５　判定部
　８　電線
　８０　端子付電線
　８１　芯線部
　８２　被覆部
　８２１　リングマーク（装飾部分）
　９　端子
　９０　窓部
　９１　端子接続部
　９２　芯線部圧着部
　９３　被覆圧着部
　９３１　基端部
　ＬＢ１　境界位置
　Ｍ　検査領域
　Ｒ１　第１領域
　Ｒ２　第２領域
　Ｒ３　第３領域
　Ｓ１　準備工程
　Ｓ２　検査領域設定工程
　Ｓ３　境界位置検出工程
　Ｓ４　色情報取得工程
　Ｓ５　判定工程
　Ｓ６　評価工程 DESCRIPTION OF SYMBOLS 100 Inspection apparatus 1 Imaging part 2 Inspection process part 31 Imaging control part 32 Inspection area setting part 33 Boundary position detection part 34 Color information acquisition part 35 Judgment part 8 Electric wire 80 Electric wire with a terminal 81 Core wire part 82 Cover part 821 Ring mark (decoration part) )
9 terminal 90 window portion 91 terminal connecting portion 92 core wire portion crimping portion 93 covering crimping portion 931 base end portion LB1 boundary position M inspection region R1 first region R2 second region R3 third region S1 preparation step S2 inspection region setting step S3 boundary Position detection process S4 Color information acquisition process S5 Determination process S6 Evaluation process

Claims (6)

  1. 　電線の端末において被覆部から露出する芯線部に端子が接続された端子付電線を外観検査する検査方法であって、
    　端子付電線における端子及び電線の接続部分を撮像して得られる撮像データを準備する撮像データ準備工程と、
    　前記撮像データにおいて、検査領域を設定する検査領域設定工程と、
    　前記検査領域内において、前記芯線部及び前記被覆部の境界位置を検出する境界位置検出工程と、
    　前記検査領域内において、前記境界位置よりも前記芯線部側の第１領域の第１色情報を取得する第１色情報取得工程と、
    　前記検査領域内において、前記境界位置よりも前記被覆部側の第２領域の第２色情報を取得する第２色情報取得工程と、
    　前記撮像データの前記検査領域外において、前記被覆部に対応する第３領域の第３色情報を取得する第３色情報取得工程と、
    　前記第１色情報と前記第３色情報、及び、前記第２色情報と前記第３色情報の一致度を判定する判定工程と、
    を含む、検査方法。     An inspection method for inspecting the appearance of a terminal-attached electric wire in which a terminal is connected to a core portion exposed from a covering portion at the end of an electric wire,
    An imaging data preparation step of preparing imaging data obtained by imaging the terminal and the connecting portion of the electric wire in the electric wire with terminal,
    In the imaging data, an inspection area setting step for setting an inspection area;
    In the inspection area, a boundary position detection step for detecting a boundary position between the core wire portion and the covering portion;
    In the inspection area, a first color information acquisition step of acquiring first color information of the first area closer to the core portion than the boundary position;
    In the inspection area, a second color information acquisition step of acquiring second color information of the second area closer to the covering portion than the boundary position;
    A third color information acquisition step of acquiring third color information of a third region corresponding to the covering portion outside the inspection region of the imaging data;
    A determination step of determining a degree of coincidence between the first color information and the third color information, and the second color information and the third color information;
    Including an inspection method.
  2. 　請求項１に記載の検査方法であって、
    　前記第３色情報取得工程は、
    　前記撮像データの前記検査領域外において、前記電線の延在方向の位置が異なる画素群から、前記被覆部の色情報を取得する工程である、検査方法。     The inspection method according to claim 1,
    The third color information acquisition step includes
    An inspection method, which is a step of obtaining color information of the covering portion from a group of pixels having different positions in the extending direction of the electric wires outside the inspection area of the imaging data.
  3. 　請求項１または請求項２に記載の検査方法であって、
    　前記第３色情報取得工程は、
    　前記撮像データの前記検査領域外において、前記電線の幅方向の位置が異なる画素群から、前記第３色情報を取得する工程である、検査方法。     The inspection method according to claim 1 or 2, wherein
    The third color information acquisition step includes
    An inspection method, which is a step of acquiring the third color information from a group of pixels having different positions in the width direction of the electric wires outside the inspection region of the imaging data.
  4. 　請求項３に記載の検査方法であって、
    　前記第３色情報取得工程は、
    　前記撮像データの前記検査領域外において、前記電線の延在方向に傾斜する方向に並ぶ画素群から、前記第３色情報を取得する工程である、検査方法。     The inspection method according to claim 3,
    The third color information acquisition step includes
    An inspection method, which is a step of acquiring the third color information from a group of pixels arranged in a direction inclined in the extending direction of the electric wire outside the inspection region of the imaging data.
  5. 　請求項１から請求項４のいずれか１項に記載の検査方法であって、
    　前記判定工程は、
    　色情報が一致する画素数の割合を測定することによって、前記一致度を判定する工程である、検査方法。     The inspection method according to any one of claims 1 to 4, wherein
    The determination step includes
    An inspection method, which is a step of determining the degree of coincidence by measuring a ratio of the number of pixels with matching color information.
  6. 　電線の端末において被覆部から露出する芯線部に端子が接続された端子付電線を外観検査する検査装置であって、
    　端子付電線における端子及び電線の接続部分を撮像する撮像部と、
    　前記撮像部によって取得される撮像データにおいて、検査領域を設定する検査領域設定部と、
    　前記検査領域において、前記芯線部及び前記被覆部の境界位置を検出する境界位置検出部と、
    　前記検査領域内において、前記境界位置よりも前記芯線部側の第１領域の第１色情報、及び、前記境界位置よりも前記被覆部側の第２領域の第２色情報を取得するとともに、前記撮像データの前記検査領域外において、前記被覆部に対応する第３領域の第３色情報を取得する色情報取得部と、
    　前記第１色情報と前記第３色情報、及び、前記第２色情報と前記第３色情報の一致度を判定する判定部と、
    を備える、検査装置。     An inspection device for inspecting the appearance of a terminal-attached electric wire with a terminal connected to a core wire portion exposed from a covering portion at an end of an electric wire,
    An imaging unit for imaging the terminal and the connection part of the electric wire in the electric wire with terminal;
    In the imaging data acquired by the imaging unit, an inspection region setting unit that sets an inspection region;
    In the inspection area, a boundary position detection unit that detects a boundary position of the core part and the covering part;
    In the inspection area, the first color information of the first area closer to the core part than the boundary position, and the second color information of the second area closer to the covering part than the boundary position, A color information acquisition unit that acquires third color information of a third region corresponding to the covering portion outside the inspection region of the imaging data;
    A determination unit that determines a degree of coincidence between the first color information and the third color information, and the second color information and the third color information;
    An inspection apparatus comprising:
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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0315973B2 (en) * 1983-10-18 1991-03-04 Shin Meiwa Ind Co Ltd
JPH06213817A (en) * 1993-01-18 1994-08-05 Sumitomo Wiring Syst Ltd Lighting method in processing and inspection for image contact-bonded terminal
JPH0712735A (en) * 1993-06-25 1995-01-17 Yazaki Corp Device for inspecting terminal crimped part and method for inspecting the crimped part
JP2517381B2 (en) * 1989-01-18 1996-07-24 新明和工業株式会社 Crimp terminal crimp condition inspection device
JPH11351839A (en) * 1998-06-09 1999-12-24 Sumitomo Wiring Syst Ltd Inspection method for image processing
JP2011174719A (en) * 2010-02-23 2011-09-08 True Soltec Kk Device for detection of terminal crimping failure
JP2014134409A (en) * 2013-01-09 2014-07-24 Sumitomo Wiring Syst Ltd Inspection method of electric wire and inspection device of electric wire

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0315973B2 (en) * 1983-10-18 1991-03-04 Shin Meiwa Ind Co Ltd
JP2517381B2 (en) * 1989-01-18 1996-07-24 新明和工業株式会社 Crimp terminal crimp condition inspection device
JPH06213817A (en) * 1993-01-18 1994-08-05 Sumitomo Wiring Syst Ltd Lighting method in processing and inspection for image contact-bonded terminal
JPH0712735A (en) * 1993-06-25 1995-01-17 Yazaki Corp Device for inspecting terminal crimped part and method for inspecting the crimped part
JPH11351839A (en) * 1998-06-09 1999-12-24 Sumitomo Wiring Syst Ltd Inspection method for image processing
JP2011174719A (en) * 2010-02-23 2011-09-08 True Soltec Kk Device for detection of terminal crimping failure
JP2014134409A (en) * 2013-01-09 2014-07-24 Sumitomo Wiring Syst Ltd Inspection method of electric wire and inspection device of electric wire

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