WO2022039049A1 - Fracture surface inspection method and fracture surface inspection device - Google Patents
Fracture surface inspection method and fracture surface inspection device Download PDFInfo
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- WO2022039049A1 WO2022039049A1 PCT/JP2021/029265 JP2021029265W WO2022039049A1 WO 2022039049 A1 WO2022039049 A1 WO 2022039049A1 JP 2021029265 W JP2021029265 W JP 2021029265W WO 2022039049 A1 WO2022039049 A1 WO 2022039049A1
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- image data
- fracture surface
- contour
- fracture
- rod
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
Definitions
- the technique disclosed here relates to a fracture surface inspection method for inspecting the fracture surface of each of two fractured parts generated by fracture splitting, and a fracture surface inspection device.
- each three-dimensional shape data of the corresponding fracture surface is generated, each three-dimensional data is image-processed, and each position on the fracture surface is processed.
- An inspection method for determining the pass / fail of a broken part based on the difference in data values regarding height in coordinates is disclosed.
- the coordinates are set excluding the defect portion, and the defect portion may not be evaluated. be.
- the technique disclosed here has been made in view of these points, and its purpose is to improve the inspection accuracy while improving the efficiency of the inspection in the inspection of the compatibility between the fractured surfaces of the fractured parts. It is to improve.
- the technique disclosed here targets the first fracture surface inspection method for inspecting the fracture surface of each of the first fractured part and the second fractured part generated by the fracture splitting.
- the first fracture surface image acquisition step of acquiring the two-dimensional image data and the three-dimensional image data of the first fracture surface, which is the fracture surface of the part, and the fracture surface of the second fractured part corresponding to the first fracture surface.
- the second fracture surface image acquisition step of acquiring the two-dimensional image data and the three-dimensional image data of a certain second fracture surface, and the first contour which is the outline of the first fracture surface and the contour of the second fracture surface.
- the image data of the first and second contours are acquired from the two-dimensional image data of the first and second fracture surfaces.
- the two-dimensional image is a planar image including the defective portion even if the edge portion of the fracture surface has a defect. Therefore, the image data of the first and second contours is the image data that accurately represents the contours of the first and second fracture surfaces in which the defective portion is not excluded.
- the positions of the first and second contours are corrected. Matching is done. Then, by correcting each of the three-dimensional image data of the first and second fracture surfaces with the correction amount at that time, the alignment between the three-dimensional image data is automatically performed. Therefore, it is not necessary to create a model every time, and the alignment between the three-dimensional image data is highly efficient.
- the correction amount calculation step the first affine when the image data of the first contour is converted into an affine so that the image data of the first contour matches the image data of the reference contour. It is a step of calculating the conversion amount and the second affine conversion amount at the time of affine conversion of the image data of the second contour so that the image data of the second contour matches the image data of the reference contour.
- the image correction step the three-dimensional image data of the first fracture surface is corrected by the first affine conversion amount, and the three-dimensional image data of the second fracture surface is corrected by the second affine conversion amount. It may be configured as a process.
- the positions of the first and second contours in the image data are obtained by performing an affine transformation of the image data so that the image data of the first and second contours match the image data of the reference contour. Matching is done efficiently. Since the efficiency of alignment between the three-dimensional image data of the first and second fracture surfaces is improved, the inspection can be made more efficient.
- the image data of the reference contour is the image data of the contour of the fracture surface determined to be a good product in the determination step, or the contour of the fracture surface in the three-dimensional model of the fractured part created by the computer. It may be configured as image data.
- the contour of the fracture surface of a non-defective product has an appropriate contour
- image data of the appropriate contour can be obtained.
- it is a three-dimensional model of a fractured part created by a computer, it is possible to arbitrarily create a fracture surface which is a good product, so that image data of an appropriate contour can be obtained even with this. Therefore, if the image data of such contours is used as a reference, the inspection accuracy can be further improved.
- the technique disclosed here also covers a fracture surface inspection device that inspects the fracture surface of each of the first fractured part and the second fractured part generated by the fracture splitting.
- the fracture surface inspection device includes a first fracture surface, which is a fracture surface of the first fractured part, and a second fracture surface, which is a fracture surface of the second fractured part corresponding to the first fracture surface. It is the outline of the first fracture surface from the image acquisition unit that acquires the dimensional image data and the three-dimensional image data, respectively, and the two-dimensional image data of the first and second fracture surfaces acquired by the image acquisition unit.
- the contour information acquisition unit that acquires image data related to the second contour, which is the contour of the first contour and the second fracture surface, and the image data of the first and second contours match the image data of the predetermined reference contour.
- the correction amount calculation unit that calculates the correction amount when correcting each image data of the first and second contours and the correction amount calculated by the correction amount calculation unit, the first and second contours are calculated.
- the three-dimensional image correction unit that corrects each three-dimensional image data of the second fracture surface and acquires the first and second corrected image data, respectively, and the first corrected image data and the second corrected image data.
- a determination unit for determining whether or not the first and second fracture surfaces are non-defective products by comparison is provided.
- the contours of the first and second fracture surfaces are accurately represented.
- Image data can be acquired.
- the correction amount is calculated based on the image data showing a predetermined reference contour, and the correction amount corrects each three-dimensional image data of the first and second fracture surfaces, so that the position between the three-dimensional image data is corrected.
- the alignment is done automatically. Therefore, in the inspection of the compatibility between the fractured surfaces of the fractured parts, it is possible to improve the inspection accuracy while improving the efficiency of the inspection.
- the correction amount calculation unit performs a first affine conversion of the image data of the first contour so that the image data of the first contour matches the image data of the reference contour.
- the conversion amount and the second affine conversion amount at the time of affine conversion of the image data of the second contour are calculated so that the image data of the second contour matches the image data of the reference contour, respectively, and the tertiary
- the original image correction unit corrects the three-dimensional image data of the first fracture surface with the first affine conversion amount and corrects the three-dimensional image data of the second fracture surface with the second affine conversion amount. It may be configured as.
- the positions of the first and second contours in the image data are obtained by performing an affine transformation of the image data so that the image data of the first and second contours match the image data of the reference contour. Matching is done efficiently. Therefore, the inspection can be made more efficient.
- the fracture surface inspection device further includes a storage unit for storing the image data of the reference contour, and the image data of the reference contour is created by the image data of the contour of the fracture surface determined by the determination unit to be a good product or by a computer. It may be configured as image data of the contour of the fracture surface in the three-dimensional model of the broken part.
- the image data of an appropriate contour can be used as the image data of the reference contour. Therefore, the inspection accuracy can be further improved.
- the fracture surface inspection device further includes a holding portion for holding the first and second fractured parts, and the holding portion is such that the first fracture surface and the second fracture surface are adjacent to each other in the vertical direction and described above.
- the first and second fractured parts are held so that the distances to the image acquisition units are equal to each other, and the image acquisition unit is configured to be able to simultaneously acquire images of the first and second fracture surfaces. It may be configured as.
- the image acquisition unit is a camera
- the holding unit includes the distance of the first fracture surface to the optical axis of the camera and the distance of the second fracture surface to the optical axis of the camera.
- the first and second broken parts may be held so that they are equal to each other.
- FIG. It is a front view of the connecting rod which has the fracture surface which is inspected by the fracture surface inspection apparatus which concerns on Embodiment 1.
- FIG. It is a side view of the fracture surface inspection apparatus. It is a top view of the fracture surface inspection apparatus. It is a front view of the image acquisition part. It is the figure which looked at the holding part from the fracture surface side.
- It is a block diagram which shows the structure of a control device. It is a conceptual diagram of the control process in a fracture surface inspection. It is a schematic diagram which shows the process of acquiring the image data of each contour of the rod side and the cap side fracture surface. It is a schematic diagram which shows the process of affine transformation of each image data of a rod side contour.
- FIG. 3 is a plan view of the fracture surface inspection device according to the second embodiment as viewed from above.
- FIG. 1 shows a connecting rod 100 having a broken part (hereinafter referred to as a connecting rod 100) and a piston 110 attached to the connecting rod 100.
- the connecting rod 100 connects the piston 110 and the crank shaft (not shown) in the engine, and is a load transmission member that constitutes a transmission path of the explosive load from the piston 110 to the crank shaft.
- the connecting rod 100 has a small end portion 101 to which the piston 110 is attached, a large end portion 102 connected to the crank shaft, and a rod-shaped rod portion 103 connecting the small end portion 101 and the large end portion 102.
- a small diameter pin hole 101a is formed in the small end portion 101, and the piston 110 is attached to the connecting rod 100 via a piston pin (not shown) inserted into the small diameter pin hole 101a.
- a large-diameter pin hole 102a is formed in the large-diameter pin hole 102a, and the connecting rod 100 and the crank shaft are connected by inserting the crank pin of the crank shaft into the large-diameter pin hole 102a.
- the large end 102 is divided into a rod-side large end 102b on the rod portion 103 side and a cap-side large end 102c on the opposite side of the rod portion 103.
- the connecting rod 100 is a so-called split connecting rod.
- the large end 102 of the connecting rod 100 is integrally formed so that the large diameter pin hole 102a is formed, and then is broken and divided into a rod side large end 102b and a cap side large end 102c. Will be done.
- the rod side large end portion 102b and the cap side large end portion 102c are arranged so that the crank shaft of the engine is located in the large diameter pin hole 102a.
- the large end portion 102 abuts the fracture surface of the rod side large end portion 102b (hereinafter referred to as rod side fracture surface 102d) and the fracture surface of the cap side large end portion 102c (hereinafter referred to as cap side fracture surface 102e).
- the rod-side large end 102b and the cap-side large end 102c are integrated by fastening and fixing with two bolts 104.
- the rod-side large end 102b has a rod-side bolt hole 102f through which the bolt 104 passes
- the cap-side large end 102c has a cap-side bolt hole 102g through which the bolt 104 passes.
- compatibility between fracture surfaces means that, in a pair of fracture surfaces to be abutted, the distribution of irregularities and the amount of irregularities on one fracture surface is the same as the distribution and amount of irregularities on the other fracture surface. It indicates whether the fractures correspond to each other, that is, the distribution of the gaps between the fracture surfaces and the amount of the gaps when the fracture surfaces are butted against each other.
- the state in which the compatibility between the fracture surfaces is high means that the distribution of the gaps between the fracture surfaces is narrow and the amount of the gaps is small.
- the coordinates on the fracture surface are extracted from the three-dimensional data of one of the corresponding pair of fracture surfaces, and the coordinates of the other judgment surface corresponding to the coordinates are selected. Then, the height information between the coordinates was compared to evaluate the compatibility between the fracture surfaces.
- the chipped portion may not be selected as the coordinates to be compared, and the chipped portion may be removed for inspection. be.
- a model for comparison (model with coordinates) is created from the image data of one fracture surface for each inspection, and the position coordinates of the image data of the other fracture surface are the position coordinates with the model. It was necessary to perform image processing on the image data of the other fracture surface so as to match. Therefore, there is a possibility that the inspection accuracy may deteriorate or the inspection time may become long.
- the inspection method by the fracture surface inspection device 1 is devised to improve the inspection accuracy while improving the efficiency of the inspection.
- the fracture surface inspection device 1 hereinafter, simply referred to as the inspection device 1 according to the first embodiment will be described with reference to FIGS. 2 to 10.
- ⁇ Fracture section inspection device> 2 and 3 schematically show the inspection device 1.
- the inspection device 1 inspects the compatibility between the fracture surfaces 102d and 102e by using the two-dimensional image data and the three-dimensional image data of the rod-side fracture surface 102d and the cap-side fracture surface 102e.
- the inspection device 1 includes a base 2, an image acquisition unit 10 arranged on the base 2 and capturing images of the rod-side and cap-side fracture sections 102d and 102e, and rod-side and cap-side large end portions 102b and 102c, respectively. It has a holding portion 20 for holding.
- a conveyor 3 is provided on the base 2, and the holding portion 20 is arranged on the conveyor 3.
- the holding portion 20 is conveyed by the conveyor 3.
- the direction orthogonal to the transport direction and the vertical direction of the conveyor 3 is referred to as a front-rear direction
- the image acquisition portion 10 side is referred to as a front side
- the holding portion 20 side is referred to as a rear side.
- the image acquisition unit 10 has one camera 11 and a plurality of (here, four) lighting devices 12.
- the camera 11 is housed in a box-shaped case 13. Specifically, the base 2 is provided with a pillar 14 erected toward the upper side, and the camera 11 is fixed to the rear side surface of the pillar 14 so as to face the rear side.
- the camera 11 is composed of an IR (Infrared) camera, a CCD (Charge Coupled Device) camera, a CMOS (Complementary Metal Oxide Semiconductor) camera, a line sensor camera, and the like.
- the camera 11 is housed in the case 13 together with the pillar 14.
- the camera 11 has a field of view capable of simultaneously capturing the fractured surfaces 102d and 102e of the rod-side and cap-side large end portions 102b and 102c held by the holding portion 20. Further, the camera 11 is arranged at an appropriate distance from the holding portion 20 so that the fractured surfaces 102d and 102e of the rod-side and cap-side large end portions 102b and 102c held by the holding portion 20 can be simultaneously imaged. Has been done.
- the type of the camera 11 is not particularly limited as long as it can capture the fractured surfaces 102d and 102e.
- the camera 11 is controlled by the control device 50 described later, and the image data acquired by the camera 11 is transmitted to the control device 50.
- a rectangular opening 13a is formed in the rear wall portion of the case 13.
- the opening 13a has a size such that the rod-side and cap-side fracture surfaces 102d and 102e are simultaneously included in the field of view of the camera 11 while the rod-side and cap-side large end portions 102b and 102c are held by the holding portion 20. have.
- the opening 13a is formed so that the camera 11 is located at the center of the opening 13a when viewed from the rear side.
- the four lighting devices 12 are arranged so as to surround the camera 11 when viewed from the front-rear direction. Specifically, as shown in FIG. 4, the four lighting devices 12 are attached to the four sides of the opening 13a one by one.
- Each lighting device 12 is composed of, for example, an LED light.
- Each lighting device 12 is configured to be capable of irradiating light having different wavelengths such as white light, red light, and blue light in a single color or in combination.
- the angle of incidence of the light emitted by each illuminating device 12 on the fracture surfaces 102d and 102e and the amount of light are independently adjusted by the control device 50.
- control device 50 operates only a part of the lighting devices 12 and stops the other lighting devices 12, or operates all the lighting devices 12 and makes the light amount of each lighting device 12 different. Can be done.
- the number and arrangement of the lighting devices 12 are not particularly limited as long as two or more lighting devices 12 are provided.
- the holding portion 20 holds the rod-side and cap-side large end portions 102b and 102c, respectively, with the rod-side and cap-side fracture sections 102d and 102e open, respectively.
- the holding portion 20 has a support plate 21 arranged on the conveyor 3. The support plate 21 is conveyed by the conveyor 3. On the support plate 21, a small end holding portion 22 for holding the small end 101 and a large end holding portion 23 for holding the large end 102 are provided.
- the small end holding portion 22 is provided in a portion of the support plate 21 slightly behind the center in a predetermined direction.
- the small end holding portion 22 has a columnar stage 22a and a columnar protruding portion 22b projecting upward.
- the small end portion 101 is placed on the stage 22a with the protruding portion 22b inserted into the small diameter pin hole 101a.
- the large end holding portion 23 is provided on the front side portion of the support plate 21. As shown in FIG. 5, the large end holding portion 23 has the rod side and the cap side large end in a state where the rod side large end 102b is located on the lower side and the cap side large end 102c is located on the upper side. It holds 102b and 102c, respectively.
- the large end holding portion 23 has a stage 24 on which the large end portion 102b on the rod side is placed.
- a pair of support walls 25 erected upward from the support plate 21 are provided on the upstream side and the downstream side in the transport direction with respect to the stage 24.
- a central guide portion 26 extending in the vertical direction is provided slightly in front of the center of the stage 24 in the transport direction.
- each support wall 25 has a support arm 25a that supports the cap-side large end 102c, respectively.
- the upstream support arm 25a extends toward the downstream side from the upper and rear side portions of the downstream side surface portion of the upstream support wall 25.
- the support arm 25a on the downstream side extends toward the upstream side from the upper and rear side portions of the surface portion on the upstream side of the support wall 25 on the downstream side.
- a hole that penetrates in the front-rear direction is formed at the tip of each support arm 25a.
- Pins 25b are inserted into the holes, respectively, and the pins 25b are inserted into the cap-side bolt holes 102g (see FIG. 1) of the cap-side large end portion 102c.
- the cap-side large end 102c is held by each support arm 25a via each pin 25b.
- each lower guide portion 25c and an upper guide portion 25d are provided on the surface of each support wall 25 on the stage 24 side, respectively.
- Each lower guide portion 25c is formed at a height position corresponding to the rod-side large end portion 102b mounted on the stage 24.
- Each lower guide portion 25c guides the arrangement of the rod-side large end portion 102b so that the rod-side fracture surface 102d faces the camera 11.
- the distance between the lower guide portions 25c in the transport direction is set to be approximately the same as the width of the rod-side large end portion 102b.
- Each upper guide portion 25d is located in front of each support arm 25a at the same height position as each support arm 25a.
- each upper guide portion 25d in the transport direction is shorter than the length of each support arm 25a in the transport direction.
- Each upper guide portion 25d guides the arrangement of the cap side large end portion 102c so that the cap side fracture surface 102e faces the camera 11.
- the distance between the upper guide portions 25d in the transport direction is set to be approximately the same as the width of the cap-side large end portion 102c.
- the lower and upper guide portions 25c and 25d also function as guides for aligning the position of the rod-side fracture surface 102d in the transport direction and the position of the cap-side fracture surface 102e in the transport direction.
- the central guide portion 26 extends from the stage 24 to the same height as the upper surface of the support wall 25.
- the central guide portion 26 comes into contact with the portions of the large diameter pin holes 102a on the rod side and cap side large end portions 102b and 102c.
- the central guide portion 26 functions as a guide for aligning the position in the front-rear direction of the rod-side fracture surface 102d and the position in the front-rear direction of the cap-side fracture surface 102e.
- the rod-side large end portion 102b is set so that the central guide portion 26 abuts on the bottom of the half-divided large-diameter pin hole 102a in the rod-side large-end portion 102b, and the cap-side large-end portion 102c is set.
- the rod side large end portion 102b is arranged so as to be located between the pair of lower guide portions 25c.
- the small end portion 101 is also arranged so that the protruding portion 22b of the small end portion holding portion 22 is inserted into the small diameter pin hole 101a.
- the rod-side large end portion 102b is guided in the vertical direction along the pair of lower guide portions 25c and the central guide portion 26.
- the cap-side large end 102c is arranged at the height position of each support arm 25a. At this time, the cap-side large end 102c is arranged so that the corresponding fracture surfaces (butted fracture surfaces) are lined up in the vertical direction.
- the cap-side large end portion 102c is guided in the vertical direction along the pair of upper guide portions 25d and the central guide portion 26. Then, with the positions of the cap-side bolt holes 102g and the holes of the support arms 25a aligned, the pins 25b are passed through the holes of the support arm 25a and fastened to the cap-side bolt holes 102g. As a result, the rod side and cap side large end portions 102b and 102c are held by the holding portion 20.
- the distance from the rod-side fracture surface 102d to the camera 11 is directly above the rod-side fracture surface 102d. It is the same as the distance from the cap side fracture surface 102e located at to the camera 11. Specifically, the distance L1 from the optical axis LA of the camera 11 to the upper end of the rod-side fracture surface 102d and the distance L2 from the optical axis LA of the camera 11 to the lower end of the cap-side fracture surface 102e are the same.
- the inspection device 1 is operated and controlled by the control device 50.
- the control device 50 has a processor having a CPU, a memory in which a plurality of modules are stored, and the like.
- the control device 50 has a function of inspecting a defect of the work W based on the image captured by the camera 11. Such functions are stored as software in memory modules.
- the number of processors and memories is not limited to one, and the control device 50 may have two or more processors and memories.
- the control device 50 includes an optical system control unit 51, a preprocessing unit 52, a contour information acquisition unit 53, a correction amount calculation unit 54, a three-dimensional image correction unit 55, and a determination unit 56. And a storage unit 57.
- the optical system control unit 51, the preprocessing unit 52, the contour information acquisition unit 53, the correction amount calculation unit 54, the three-dimensional image correction unit 55, the determination unit 56, and the storage unit 57 are modules housed in the control device 50, respectively. This is an example.
- the optical system control unit 51 and the like shown in FIG. 6 are a part of the configuration of the control device 50, and do not exclude that the control device 50 has other functions.
- the optical system control unit 51 transmits control signals to the camera 11 and each lighting device 12, respectively, to adjust the focus of the camera 11, and to adjust the light irradiation angle, light color, light amount, etc. of each lighting device 12.
- the camera 11 acquires image data of each fracture surface according to a control signal from the optical system control unit 51.
- the optical system control unit 51 acquires at least one two-dimensional image data and at least one three-dimensional image data for each rod-side fracture surface 102d and each cap-side fracture surface 102e, respectively. , The camera 11 and each lighting device 12 are controlled respectively.
- the pre-processing unit 52 acquires the image data acquired by the camera 11 and performs pre-processing such as shading correction, dark level correction, bit compression, and coordinate setting on the image data.
- the contour information acquisition unit 53 has the rod-side contour 31 (see FIG. 8) and the cap-side fracture, which are the contours of the rod-side fracture surface 102d, from the two-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e acquired by the camera 11. Image data regarding the cap-side contour 32 (see FIG. 8), which is the contour of the cross section 102e, is acquired. The method of acquiring the contour by the contour information acquisition unit 53 will be described later.
- the correction amount calculation unit 54 acquires each image data of the rod side and cap side contours 31 and 32 acquired by the contour information acquisition unit 53, and each image data is used as a predetermined reference contour BC (FIGS. 9A and 9B).
- the correction amount when correcting each image data of the rod side and cap side contours 31 and 32 is calculated so as to match the image data of (see).
- the correction performed by the correction amount calculation unit 54 is an affine transformation. That is, the correction amount calculation unit 54 enlarges, reduces, translates the image data of the rod side and the cap side contours 31 and 32 so that the image data of the rod side and the cap side contours 31 and 32 match the image data of the reference contour BC. Performs processing such as rotation and shearing.
- the correction amount calculation unit 54 uses the first affine transformation amount, which is a correction amount for adapting the image data of the rod side contour 31 to the image data of the reference contour BC, and the image data of the cap side contour 32 as the image of the reference contour BC.
- the second affine transformation amount which is the correction amount for adapting to the data, is calculated respectively.
- the three-dimensional image correction unit 55 is the three-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e for which the preprocessing has been completed based on the first and second affine conversion amounts calculated by the correction amount calculation unit 54. Are corrected, and the image data of the rod-side corrected image 41 (see FIG. 7) and the image data of the cap-side corrected image 42 (see FIG. 7) are created.
- the determination unit 56 compares the image data of the rod-side correction image 41 obtained by the three-dimensional image correction unit 55 with the image data of the cap-side correction image 42, and sets the rod-side fracture surface 102d and the cap-side fracture surface 102e. Check the compatibility of.
- the compatibility between the two rod-side fracture surfaces 102d of the rod-side large end portion 102b and the corresponding two cap-side fracture surfaces 102e of the cap-side large end portion 102c is a predetermined reference (gap between fracture surfaces). When the distribution and the amount of gaps, etc.) are satisfied, the rod-side fracture surface 102d and the cap-side fracture surface 102e are determined to be non-defective products.
- the storage unit 57 stores the image data of the reference contour BC, the image data of the fractured surfaces 102d and 102e before the affine transformation, the determination result of the determination unit 56, and the like.
- the control device 50 outputs a control signal to the display device 60 so as to display the determination result of the determination unit 56.
- the control device 50 causes the display device 60 to display the defective portion so that the defective portion can be known.
- the display device 60 is composed of, for example, a computer display in which the control device 50 is stored. Further, when the control device 50 and the display device 60 can wirelessly communicate with each other, the display device 60 may be configured by the screen of a mobile terminal owned by the user.
- the control device 50 is configured to be able to control the operation of the conveyor 3.
- the control device 50 adjusts the transport speed of the support plate 21, or temporarily stops the conveyor 3 when the image acquisition unit 10 cannot acquire an image.
- FIG. 7 conceptually shows the processing of the control device 50 when inspecting the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e using the inspection device 1.
- the control device 50 acquires the image data of the reference contour BC prior to the inspection.
- the image data of the reference contour BC is the image data of the contour of the rod-side fracture surface 102d or the cap-side fracture surface 102e determined by the determination unit 56 to be a non-defective product. Since the extraction method of the reference contour BC is the same as the extraction method of the rod side and cap side contours 31 and 32 described later, it is omitted here.
- the extracted reference contour BC is stored in the storage unit 57. At the time of the fracture surface inspection, the reference contour BC is read out from the storage unit 57. Extraction of the reference contour BC only needs to be performed once for one standard at the large end, and does not have to be performed for each inspection.
- the image data of the reference contour BC may be the image data of the contour of the fracture surface in the three-dimensional model of the large end portion 102b on the rod side or the large end portion 102c on the cap side created by a computer.
- the contour image data is extracted from the three-dimensional model created by the computer. It is preferable to do.
- the image data of the reference contour BC the image data of the contour extracted from the connecting rod which has the same standard as the connecting rod to be inspected and which is judged to be a good product by another inspection device or another inspection method may be adopted.
- the reference contour BC is extracted from the rod-side fracture surface 102d determined by the determination unit 56 to be a non-defective product.
- the control device 50 acquires the two-dimensional image data and the three-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e by the image acquisition unit 10.
- a method for acquiring a three-dimensional image a known method can be adopted, and for example, a phase shift method can be adopted.
- the control device 50 extracts the rod-side and cap-side contours 31 and 32 from the two-dimensional image data of the rod-side fracture surface 102d and the two-dimensional image data of the cap-side fracture surfaces 102d and 102e, respectively.
- contour image data from two-dimensional image data In order to extract contour image data from two-dimensional image data, first, as shown in FIG. 8, a point is formed at an edge portion with respect to a portion of fracture surface 102d, 102e from the two-dimensional image data acquired by the image acquisition unit 10. To set. Next, each point is connected by a line to form an outline. Then, the formed contour is extracted as image data of the rod side contour 31 and the cap side contour 32, respectively. Coordinates are set in the image data of each of the extracted contours so that the correspondence between the edge portions can be understood when compared with the image data of the reference contour BC.
- the fractured surfaces 102d and 102e to be abutted are held by the holding portion 20 so as to be arranged vertically. Therefore, the rod-side contour 31 and the cap-side contour 32 have an upside-down relationship. Therefore, as shown in FIG. 8, when the coordinates A1 to A4 are attached to the image data of the rod side contour 31, the coordinates B1 are attached to the edge corresponding to the coordinates A1 in the image data of the cap side contour 32. Coordinate B2 is attached to the edge corresponding to the coordinate A2, the coordinate B3 is attached to the edge corresponding to the coordinate A3, and the coordinate B4 is attached to the edge corresponding to the coordinate A4. This makes it possible to align the top, bottom, left, and right directions when comparing the extracted contour with the reference contour BC.
- the extraction method of the rod side and cap side contours 31 and 32 is not limited to the above-mentioned method.
- the contour image data is extracted from the two-dimensional image data, the contour for the entire fracture surface can be accurately extracted.
- the control device 50 performs affine transformation on the image data of the rod side contour 31 so as to match the image data of the reference contour BC, and extracts the affine transformation amount (first affine transformation amount) when the affine transformation is performed.
- the correspondence between the coordinates of the rod-side contour 31 and the coordinates of the reference contour BC is taken into consideration.
- the coordinate A1 of the rod side contour 31 corresponds to the coordinate M1 of the reference contour BC
- the coordinate A2 of the rod side contour 31 corresponds to the coordinate M2 of the reference contour BC
- the coordinate A3 of the rod side contour 31 is taken into consideration.
- the control device 50 calculates as the first affine transformation amount a conversion amount that enlarges the image data of the rod-side contour 31 in the vertical direction and the horizontal direction.
- the control device 50 performs affine transformation on the image data of the cap side contour 32 so as to match the image data of the reference contour BC, and extracts the affine transformation amount (second affine transformation amount) when the affine transformation is performed.
- the correspondence between the coordinates of the cap side contour 32 and the coordinates of the reference contour BC is taken into consideration.
- the coordinate B1 of the cap side contour 32 corresponds to the coordinate M1 of the reference contour BC
- the coordinate B2 of the cap side contour 32 corresponds to the coordinate M2 of the reference contour BC
- the coordinate B3 of the cap side contour 32 is taken into consideration.
- the control device 50 calculates as the second affine transformation amount a conversion amount that moves the coordinates so as to invert the cap-side contour 32 up and down and expands them in the vertical and horizontal directions.
- the control device 50 corrects the three-dimensional image data of the rod-side fracture surface 102d with the first affine transformation amount, and creates the image data of the rod-side corrected image 41. Further, the three-dimensional image data of the cap-side fracture surface 102e is corrected by the second affine transformation amount, and the image data of the cap-side corrected image 42 is created.
- the created image data of the rod side and cap side corrected images 41 and 42 are three-dimensional image data having data regarding the height, respectively. Since the correction by the first and second affine transformation amounts is the correction on the plane, the coordinates on the plane of the image data of the rod side and cap side correction images 41 and 42 change with respect to the base three-dimensional image data. However, the information about the height, that is, the height information of the unevenness formed on the fracture surface has not changed.
- the control device 50 compares the image data of the rod-side corrected image 41 with the image data of the cap-side corrected image 42, and checks the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e. Since the contour shape of both the image data of the rod-side corrected image 41 and the image data of the cap-side corrected image 42 are matched to the reference contour BC, the coordinates on the plane are the same. That is, the alignment on the plane between the image data of the rod-side corrected image 41 and the image data of the cap-side corrected image 42 is already completed when corrected by the first and second affine transformation amounts. ing. Therefore, it is possible to easily compare the height information of the unevenness formed on the fracture surface.
- the data related to the height in the image data of the cap-side corrected image 42 is inverted, and the image data of the rod-side corrected image 41 is inverted. Find the difference from the data related to the height in. Then, the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e can be checked from the amount of the difference and the distribution of the difference.
- the control device 50 performs the above-mentioned compatibility check for each of the two rod-side fracture surfaces 102d of the rod-side large end portion 102b and the corresponding two cap-side fracture surfaces 102e of the cap-side large end portion 102c. Then, when the compatibility between the two sets of fracture surfaces satisfies the predetermined criteria, the control device 50 determines that the rod-side large end portion 102b and the cap-side large end portion 102c are non-defective products.
- the contours 31 and 32 of the fracture surfaces 102d and 102e are adapted to the reference contour BC prepared in advance, and the fracture surfaces 102d and 102e are corrected by the correction amount at that time in three dimensions. Alignment between image data (correspondence of coordinates) can be performed efficiently. Moreover, since it is not necessary to create a model for alignment for each inspection, the inspection speed can be improved. Further, by extracting the image data of the rod side contour 31 and the cap side contour 32 from the two-dimensional image data of each fracture surface 102d and 102e, even if there is a defect in the edge portion of the fracture surface, the defect portion is eliminated.
- step S1 the user sets the rod-side large end portion 102b and the cap-side large end portion 102c in the holding portion 20, respectively. At this time, the user sets the rod side and the cap side large end portions 102b and 102c so that the cap side fracture surface 102e corresponding to the upper side of each rod side fracture surface 102d is located.
- step S2 the control device 50 operates the conveyor 3 to convey the rod side and cap side large end portions 102b and 102c together with the holding portion 20.
- control device 50 performs the processes of steps S3 to S7 and the processes of steps S8 to S12 in parallel.
- the camera 11 can simultaneously capture the rod-side and cap-side fracture sections 102d and 102e in one image, steps S3 and S8, and steps S4 and S9 are performed at the same time.
- step S3 the control device 50 acquires the two-dimensional image data of the rod-side fracture surface 102d by the image acquisition unit 10.
- step S4 the control device 50 acquires the three-dimensional image data of the rod-side fracture surface 102d by the image acquisition unit 10.
- step S5 the control device 50 extracts the image data of the rod side contour 31 from the two-dimensional image data of the rod side fracture surface 102d.
- step S6 the control device 50 calculates the first affine transformation amount for matching the image data of the rod side contour 31 with the image data of the reference contour BC.
- step S7 the control device 50 corrects the three-dimensional image data of the rod-side fracture surface 102d with the first affine transformation amount, and creates the image data of the rod-side corrected image 41.
- step S8 the control device 50 acquires the two-dimensional image data of the cap-side fracture surface 102e by the image acquisition unit 10.
- step S9 the control device 50 acquires the three-dimensional image data of the cap-side fracture surface 102e by the image acquisition unit 10.
- step S10 the control device 50 extracts the image data of the cap side contour 32 from the two-dimensional image data of the cap side fracture surface 102e.
- step S11 the control device 50 calculates the second affine transformation amount for matching the image data of the cap side contour 32 with the image data of the reference contour BC.
- step S12 the control device 50 corrects the three-dimensional image data of the cap-side fracture surface 102e with the second affine transformation amount, and creates the image data of the cap-side corrected image 42.
- step S13 the control device 50 compares the image data of the rod-side correction image 41 with the image data of the cap-side correction image 42 to determine the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e. judge.
- step S14 the control device 50 determines whether or not the inspection of all the fracture surfaces has been completed, that is, whether or not both of the two sets of fracture surfaces 102d and 102e have been determined to be compatible. judge.
- the control device 50 ends the fracture surface inspection.
- the control device 50 returns to step S2 when only one of the two sets of fracture surfaces 102d and 102e has been determined to be compatible, the control device 50 returns to step S2 and the other set of fracture surfaces 102d and 102e. Also, the suitability is judged.
- the control device 50 indicates to the display device 60 that the standard is satisfied.
- the display device 60 indicates that the standard is not satisfied together with the defective portion.
- the two-dimensional image data and the three-dimensional image data of the rod-side fracture surface 102d are acquired (steps S3 and S4), and the two-dimensional image data and the three-dimensional image of the corresponding cap-side fracture surface 102e are acquired.
- Data is acquired (steps S8 and S9), and image data regarding the rod-side contour 31 and the cap-side contour 32 are acquired from the two-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e, respectively (steps S5 and S5).
- the rod side and cap side contours 31 and 32 are corrected so that the rod side and cap side contours 31 and 32 match the image data indicating the predetermined reference contour BC, respectively.
- the correction amount is calculated (steps S6 and S11), and the three-dimensional image data of the rod side and cap side fracture sections 102d and 102e are corrected based on the calculated correction amount, respectively, and the rod side and the cap side are corrected.
- the image data of the corrected images 41 and 42 are acquired (steps S7 and S12), respectively, and the image data of the rod side corrected image 41 and the image data of the cap side corrected image 42 are compared, and the rod side and the cap side fracture surface 102d. , 102e is determined to be a non-defective product (step S13).
- the second affine conversion amount at the time of affine conversion of the image data of the cap side contour 32 is calculated so that the image data of the contour 32 matches the image data of the reference contour BC, and the rod is used with the first affine conversion amount.
- the three-dimensional image data of the side fracture surface 102d is corrected, and the three-dimensional image data of the cap side fracture surface 102e is corrected by the second affine conversion amount.
- the alignment of the rod-side and cap-side contours 31 and 32 in the respective image data is efficiently performed.
- the efficiency of alignment between the three-dimensional image data of the fractured surfaces 102d and 102e on the rod side and the cap side is improved, so that the inspection can be made more efficient.
- the holding portion 20 of the inspection device 1 has a rod such that the fractured surface 102d on the rod side and the fractured surface 102e on the cap side are adjacent to each other in the vertical direction and the distances to the image acquisition unit 10 are equal.
- the side and cap side large end portions 102b and 102c are held, respectively, and the image acquisition unit 10 is configured to be able to simultaneously acquire images of the rod side and cap side fracture sections 102d and 102e.
- the image data of the fractured surfaces 102d and 102e on the rod side and the cap side can be efficiently acquired, and the image processing of the control device 50 is also made highly efficient. As a result, the inspection can be made more efficient.
- the configuration of the holding portion 220 is different from that of the first embodiment. Since the image acquisition unit 10 has the same configuration as that of the first embodiment, detailed description thereof will be omitted. Further, since the configuration of the control system including the control device 50 is basically the same as that of the first embodiment, detailed description thereof will be omitted.
- the holding portion 220 according to the second embodiment will be described in detail with reference to FIG.
- the direction orthogonal to the transport direction and the vertical direction of the conveyor 3 is referred to as a front-rear direction
- the image acquisition unit 10 side is referred to as a front side
- the holding unit 220 side is referred to as a rear side.
- the holding portion 220 includes a rod-side holding portion 221 that holds the rod-side large end portion 102b and a cap-side holding portion 222 that holds the cap-side large end portion 102c.
- the rod-side holding portion 221 and the cap-side holding portion 222 are aligned in the transport direction of the conveyor 3. As a result, the large end portion 102b on the rod side and the large end portion 102c on the cap side are held side by side in the transport direction.
- the rod-side holding portion 221 has a plurality of (four in this case) support pins 221a for supporting the rod-side large end portion 102b in a state where the entire rod-side fracture surface 102d is released toward the front side.
- the support pins 221a are arranged at positions on both sides of the rod-side large end portion 102b in the transport direction and at positions on both sides of the boundary portion between the rod-side large end portion 102b and the rod portion 103 in the transport direction.
- the rod-side holding portion 221 has a guide pin 221b for positioning the small end portion 101.
- the cap-side holding portion 222 includes a plurality of (two in this case) support pins 222a and a guide pin 222b for supporting the cap-side large end portion 102c in a state where the entire cap-side fracture surface 102e is released toward the front side. And have.
- the support pins 222a are arranged at positions on both sides of the cap-side large end 102c in the transport direction.
- the guide pin 222b is arranged at the position of the large diameter pin hole 102a in the cap side large end portion 102c.
- the large end portions 102b and 102c on the rod side and the cap side are arranged so that the corresponding fracture surfaces (the fracture surfaces to be abutted) are arranged in order in the transport direction.
- one of the two rod-side fracture sections 102d is the first rod-side fracture surface 102d-1
- the other is the second rod-side fracture surface 102d-2, which corresponds to the first rod-side fracture surface 102d-1.
- the cap-side fracture surface 102e is defined as the first cap-side fracture surface 102e-1
- the cap-side fracture surface 102e corresponding to the second rod-side fracture surface 102d-2 is defined as the second cap-side fracture surface 102e-2.
- the rod-side large end so that the first rod-side fracture surface 102d-1 is located on the downstream side in the transport direction and the second rod-side fracture surface 102d-2 is located on the upstream side in the transport direction.
- the portion 102b is arranged, the cap side so that the first cap side fracture surface 102e-1 is located on the downstream side in the transport direction and the second cap side fracture surface 102e-2 is located on the upstream side in the transport direction.
- the large end 102c is arranged.
- the rod side and cap side large end portions 102b and 102c are arranged on the holding portion 220 by the user.
- the image acquisition unit 10 acquires two-dimensional image data and three-dimensional image data of each rod side and each cap side fracture surface 102d, 102e, respectively, as in the first embodiment.
- Each image data of the fracture surface acquired by the image acquisition unit 10 is sorted so that the corresponding fracture surface can be compared by the control device 50.
- the control device 50 extracts image data of the rod-side and cap-side contours 31 and 32 from the two-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e, and images of each contour.
- the first and second affine conversion amounts are calculated by comparing the data with the reference contour BC, and the three-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e are corrected by the first and second affine conversion amounts. Then, the image data of the corrected images 41 and 42 on the rod side and the cap side are acquired. Then, the control device 50 compares the image data of the rod-side corrected image 41 with the image data of the cap-side corrected image 42, and determines the compatibility of the rod-side and cap-side fracture surfaces 102d and 102e.
- the chipped portion can be included in the inspection area of the fracture surface inspection, and further, the three-dimensional image data can be obtained. Alignment between them can be performed efficiently. Therefore, it is possible to improve the inspection accuracy while improving the efficiency of the inspection.
- the image acquisition unit 10 is located on the side of the conveyor 3, and the holding units 20 and 220 have the rod-side and cap-side fracture surfaces 102d and 102e sideways (image).
- the rod side and the cap side large end portions 102b and 102c were held while facing the acquisition portion 10 side), respectively.
- the image acquisition unit 10 may be arranged on the upper side of the conveyor 3.
- the holding portions 20 and 220 need to be configured to hold the rod-side and cap-side large end portions 102b and 102c in a state where the rod-side and cap-side fracture surfaces 102d and 102e face upward.
- the user has set the rod-side and cap-side large end portions 102b and 102c in the holding portions 20 and 220, respectively.
- the robot may automatically set the rod side and cap side large end portions 102b and 102c to the holding portions 20 and 220.
- the rod-side large end portion 102b and the cap-side large end portion 102c of the split connecting rod are exemplified as the breaking parts.
- the fracture surface inspection method and fracture surface inspection apparatus according to the present disclosure can be applied when inspecting the fracture surface of each of the first fractured part and the second fractured part generated by the fracture division. Is.
- the technique disclosed here is useful for inspecting the fracture surface of each of the first fractured part and the second fractured part generated by the fracture split.
- Fracture section inspection device 10 Image acquisition unit 20 Holding unit 31 Rod side contour (first contour) 32 Cap side contour (second contour) 41 Rod side correction image 42 Cap side correction image 53 Contour information acquisition unit 54 Correction amount calculation unit 55 Three-dimensional image correction unit 56 Judgment unit 57 Storage unit 102b Rod side large end (first broken part) 102c Cap side large end (second breaking part) 102d Rod side fracture surface (fracture surface of the first fractured part) 102e Cap side fracture surface (fracture surface of the second fractured part) 220 Holding part BC reference contour
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Abstract
The respective image data of a first contour (rod-side contour (31)), which is a contour of a first fracture surface, and a second contour (cap-side contour (32)), which is a contour of a second fracture surface, are obtained from respective two-dimensional image data of each fracture surface, correction amounts for correcting the respective image data of the first and second contours are calculated such that the respective image data of the first and second contours match image data of a prescribed base contour, and on the basis of the respective correction amounts, the respective three-dimensional image data of each fracture surface are corrected, first and second corrected image data (rod-side and cap-side corrected images (41, 42)) are acquired, and the first corrected image data and the second corrected image data are compared to determine whether each fracture surface is of good quality.
Description
ここに開示された技術は、破断分割により生じた2つの破断部品のそれぞれの破断面を検査する破断面検査方法、及び破断面検査装置に関する。
The technique disclosed here relates to a fracture surface inspection method for inspecting the fracture surface of each of two fractured parts generated by fracture splitting, and a fracture surface inspection device.
従来より、エンジン部品であるコネクティングロッドのように、延性金属製部品を破断方向に破断することにより分割して形成される半割の破断部品を再度組み合わせて1つの製品とする方法が知られている。例えば、コネクティングロッドの場合は、コネクティングロッドの大端部をロッド部とキャップ部とに破断分割し、大端部をクランクシャフトに取り付ける際に、それぞれの破断面を突き合わせた状態で再結合させる。
Conventionally, there has been known a method of recombining half-split broken parts formed by breaking a ductile metal part in the breaking direction, such as a connecting rod which is an engine part, into one product. There is. For example, in the case of a connecting rod, the large end portion of the connecting rod is split into a rod portion and a cap portion, and when the large end portion is attached to the crankshaft, the fractured surfaces of the connecting rods are recombined in a butted state.
このような方法で延性金属製部品を製造する場合、対応する破断面同士の適合性、すなわち破断面に形成された凹凸形状の適合性を検査する必要がある。破断面の適合性を検査する方法として、例えば、特許文献1には、対応する破断面の各三次元形状データをそれぞれ生成し、各三次元データを画像処理して、破断面上の各位置座標における高さに関するデータ値の相違に基づいて破断部品の合否判定を行う検査方法が開示されている。
When manufacturing ductile metal parts by such a method, it is necessary to inspect the compatibility between the corresponding fracture surfaces, that is, the compatibility of the uneven shape formed on the fracture surface. As a method for inspecting the conformity of the fracture surface, for example, in Patent Document 1, each three-dimensional shape data of the corresponding fracture surface is generated, each three-dimensional data is image-processed, and each position on the fracture surface is processed. An inspection method for determining the pass / fail of a broken part based on the difference in data values regarding height in coordinates is disclosed.
ところで、特許文献1の検査方法では、比較する2つの画像の位置合わせを行うために、毎回、各三次元画像データに対して平面的な位置座標を設定して、一方の画像から比較用のモデルを作成して、他方の画像を該モデルと位置座標が合うように画像処理を行っている。このように、毎回モデルを作成して、位置合わせのための画像処理を行うと、処理に時間がかかってしまい、検査の効率が低下してしまう。
By the way, in the inspection method of Patent Document 1, in order to align two images to be compared, planar position coordinates are set for each three-dimensional image data each time, and one image is used for comparison. A model is created, and the other image is image-processed so that the position coordinates match the model. In this way, if a model is created each time and image processing for alignment is performed, the processing takes time and the inspection efficiency is lowered.
また、特許文献1の検査方法では、破断面のエッジ部分に比較的大きな欠陥(特に欠け)があると、該欠陥部分を除いて座標が設定されてしまい、該欠陥部分については評価されないおそれがある。
Further, in the inspection method of Patent Document 1, if there is a relatively large defect (particularly chip) in the edge portion of the fracture surface, the coordinates are set excluding the defect portion, and the defect portion may not be evaluated. be.
ここに開示された技術は、斯かる点に鑑みてなされたものであり、その目的とするとこは、破断部品の破断面同士の適合性の検査において、検査を高効率化させつつ検査精度を向上させることにある。
The technique disclosed here has been made in view of these points, and its purpose is to improve the inspection accuracy while improving the efficiency of the inspection in the inspection of the compatibility between the fractured surfaces of the fractured parts. It is to improve.
前記課題を解決するために、ここに開示された技術では、破断分割により生じた第1破断部品と第2破断部品のそれぞれの破断面を検査する破断面検査方法を対象として、前記第1破断部品の破断面である第1破断面の二次元画像データと三次元画像データとを取得する第1破断面画像取得工程と、前記第1破断面に対応する前記第2破断部品の破断面である第2破断面の二次元画像データと三次元画像データとを取得する第2破断面画像取得工程と、前記第1破断面の輪郭である第1輪郭及び第2破断面の輪郭である第2輪郭に関する画像データを、前記第1及び第2破断面の各二次元画像データからそれぞれ取得する破断面輪郭取得工程と、前記第1及び第2輪郭の各画像データが、所定の基準輪郭を示す画像データに適合するように、前記第1及び第2輪郭の各画像データをそれぞれ補正する際の補正量を算出する補正量算出工程と、前記補正量算出工程で取得した前記補正量に基づいて、前記第1及び第2破断面の各三次元画像データをそれぞれ補正して、第1及び第2補正画像データをそれぞれ取得する画像補正工程と、前記第1補正画像データと前記第2補正画像データとを比較して、前記第1及び第2破断面が良品であるか否かを判定する判定工程と、を含む、というものとした。
In order to solve the above problems, the technique disclosed here targets the first fracture surface inspection method for inspecting the fracture surface of each of the first fractured part and the second fractured part generated by the fracture splitting. In the first fracture surface image acquisition step of acquiring the two-dimensional image data and the three-dimensional image data of the first fracture surface, which is the fracture surface of the part, and the fracture surface of the second fractured part corresponding to the first fracture surface. The second fracture surface image acquisition step of acquiring the two-dimensional image data and the three-dimensional image data of a certain second fracture surface, and the first contour which is the outline of the first fracture surface and the contour of the second fracture surface. The fracture surface contour acquisition step of acquiring image data related to the two contours from the two-dimensional image data of the first and second fracture surfaces, and the image data of the first and second contours form a predetermined reference contour. Based on the correction amount calculation step of calculating the correction amount when correcting each of the first and second contour image data so as to match the indicated image data, and the correction amount acquired in the correction amount calculation step. The image correction step of correcting each of the three-dimensional image data of the first and second fracture surfaces to acquire the first and second corrected image data, respectively, and the first corrected image data and the second correction. It was decided to include a determination step of comparing with the image data and determining whether or not the first and second fracture surfaces are good products.
この構成によると、第1及び第2輪郭の画像データは、第1及び第2破断面の各二次元画像データから取得される。二次元画像は、破断面のエッジ部分に欠陥があったとしても、該欠陥部分を含む平面画像となっている。このため、第1及び第2輪郭の画像データは、欠陥部分が排除されていない、第1及び第2破断面のそれぞれの輪郭を正確に表した画像データとなる。
According to this configuration, the image data of the first and second contours are acquired from the two-dimensional image data of the first and second fracture surfaces. The two-dimensional image is a planar image including the defective portion even if the edge portion of the fracture surface has a defect. Therefore, the image data of the first and second contours is the image data that accurately represents the contours of the first and second fracture surfaces in which the defective portion is not excluded.
また、第1及び第2輪郭の画像データが、所定の基準輪郭を示す画像データに適合するように、第1及び第2輪郭の画像データを補正することで、第1及び第2輪郭の位置合わせが行われる。そして、そのときの補正量で第1及び第2破断面の各三次元画像データを補正することで、三次元画像データ間の位置合わせが自動的に行われる。このため、毎回モデルを作成する必要がなくなって、三次元画像データ間の位置合わせが高効率化される。
Further, by correcting the image data of the first and second contours so that the image data of the first and second contours match the image data showing a predetermined reference contour, the positions of the first and second contours are corrected. Matching is done. Then, by correcting each of the three-dimensional image data of the first and second fracture surfaces with the correction amount at that time, the alignment between the three-dimensional image data is automatically performed. Therefore, it is not necessary to create a model every time, and the alignment between the three-dimensional image data is highly efficient.
そして、補正後の三次元画像データ同士を比較すれば、エッジ部分の欠陥も考慮した良品判定を行うことができる。
Then, by comparing the corrected three-dimensional image data with each other, it is possible to perform a non-defective product judgment in consideration of defects in the edge portion.
したがって、破断部品の破断面同士の適合性の検査において、検査を高効率化させつつ検査精度を向上させることができる。
Therefore, in the inspection of the compatibility between fractured surfaces of broken parts, it is possible to improve the inspection accuracy while improving the efficiency of the inspection.
前記破断面検査方法において、前記補正量算出工程は、前記第1輪郭の画像データが前記基準輪郭の画像データに適合するように、前記第1輪郭の画像データをアフィン変換する際の第1アフィン変換量と、前記第2輪郭の画像データが前記基準輪郭の画像データに適合するように、前記第2輪郭の画像データをアフィン変換する際の第2アフィン変換量とをそれぞれ算出する工程であり、前記画像補正工程は、前記第1アフィン変換量でもって前記第1破断面の三次元画像データを補正しかつ前記第2アフィン変換量でもって前記第2破断面の三次元画像データを補正する工程である、という構成でもよい。
In the fracture surface inspection method, in the correction amount calculation step, the first affine when the image data of the first contour is converted into an affine so that the image data of the first contour matches the image data of the reference contour. It is a step of calculating the conversion amount and the second affine conversion amount at the time of affine conversion of the image data of the second contour so that the image data of the second contour matches the image data of the reference contour. In the image correction step, the three-dimensional image data of the first fracture surface is corrected by the first affine conversion amount, and the three-dimensional image data of the second fracture surface is corrected by the second affine conversion amount. It may be configured as a process.
この構成によると、第1及び第2輪郭の各画像データを基準輪郭の画像データに適合するように、該各画像データをアフィン変換することで、第1及び第2輪郭の各画像データにおける位置合わせが効率的に行われる。第1及び第2破断面の三次元画像データの間の位置合わせの効率が向上するため、検査をより高効率化させることができる。
According to this configuration, the positions of the first and second contours in the image data are obtained by performing an affine transformation of the image data so that the image data of the first and second contours match the image data of the reference contour. Matching is done efficiently. Since the efficiency of alignment between the three-dimensional image data of the first and second fracture surfaces is improved, the inspection can be made more efficient.
前記破断面検査方法において、前記基準輪郭の画像データは、前記判定工程において良品と判定された破断面の輪郭の画像データ、又はコンピュータにより作成された破断部品の三次元モデルにおける破断面の輪郭の画像データである、という構成でもよい。
In the fracture surface inspection method, the image data of the reference contour is the image data of the contour of the fracture surface determined to be a good product in the determination step, or the contour of the fracture surface in the three-dimensional model of the fractured part created by the computer. It may be configured as image data.
この構成によると、良品の破断面の輪郭であれば、適切な輪郭を有しているため、適切な輪郭の画像データを得ることができる。また、コンピュータにより作成された破断部品の三次元モデルであれば、良品となる破断面を任意に作成することが可能であるため、これでも適切な輪郭の画像データを得ることができる。よって、このような輪郭の画像データを基準とすれば、検査精度をより向上させることができる。
According to this configuration, if the contour of the fracture surface of a non-defective product has an appropriate contour, image data of the appropriate contour can be obtained. Further, if it is a three-dimensional model of a fractured part created by a computer, it is possible to arbitrarily create a fracture surface which is a good product, so that image data of an appropriate contour can be obtained even with this. Therefore, if the image data of such contours is used as a reference, the inspection accuracy can be further improved.
ここに開示された技術は、破断分割により生じた第1破断部品と第2破断部品のそれぞれの破断面を検査する破断面検査装置も対象とする。具体的には、破断面検査装置は、前記第1破断部品の破断面である第1破断面及び該第1破断面に対応する前記第2破断部品の破断面である第2破断面の二次元画像データと三次元画像データとをそれぞれ取得する画像取得部と、前記画像取得部が取得した前記第1及び第2破断面の各二次元画像データから、前記第1破断面の輪郭である第1輪郭及び第2破断面の輪郭である第2輪郭に関する画像データをそれぞれ取得する輪郭情報取得部と、前記第1及び第2輪郭の各画像データが所定の基準輪郭の画像データに適合するように、前記第1及び第2輪郭の各画像データを補正する際の補正量をそれぞれ算出する補正量算出部と、前記補正量算出部が算出した前記補正量に基づいて、前記第1及び第2破断面の各三次元画像データをそれぞれ補正して、第1及び第2補正画像データをそれぞれ取得する三次元画像補正部と、前記第1補正画像データと前記第2補正画像データとを比較して、前記第1及び第2破断面が良品であるか否かを判定する判定部と、を備える。
The technique disclosed here also covers a fracture surface inspection device that inspects the fracture surface of each of the first fractured part and the second fractured part generated by the fracture splitting. Specifically, the fracture surface inspection device includes a first fracture surface, which is a fracture surface of the first fractured part, and a second fracture surface, which is a fracture surface of the second fractured part corresponding to the first fracture surface. It is the outline of the first fracture surface from the image acquisition unit that acquires the dimensional image data and the three-dimensional image data, respectively, and the two-dimensional image data of the first and second fracture surfaces acquired by the image acquisition unit. The contour information acquisition unit that acquires image data related to the second contour, which is the contour of the first contour and the second fracture surface, and the image data of the first and second contours match the image data of the predetermined reference contour. As described above, based on the correction amount calculation unit that calculates the correction amount when correcting each image data of the first and second contours and the correction amount calculated by the correction amount calculation unit, the first and second contours are calculated. The three-dimensional image correction unit that corrects each three-dimensional image data of the second fracture surface and acquires the first and second corrected image data, respectively, and the first corrected image data and the second corrected image data. A determination unit for determining whether or not the first and second fracture surfaces are non-defective products by comparison is provided.
この構成でも、第1及び第2輪郭の画像データは、第1及び第2破断面の各二次元画像データから取得されるため、第1及び第2破断面のそれぞれの輪郭を正確に表した画像データを取得できる。また、所定の基準輪郭を示す画像データを基準に補正量が算出されて、該補正量で第1及び第2破断面の各三次元画像データが補正されるため、三次元画像データ間の位置合わせが自動的に行われる。したがって、破断部品の破断面同士の適合性の検査において、検査を高効率化させつつ検査精度を向上させることができる。
Even in this configuration, since the image data of the first and second contours are acquired from the two-dimensional image data of the first and second fracture surfaces, the contours of the first and second fracture surfaces are accurately represented. Image data can be acquired. Further, the correction amount is calculated based on the image data showing a predetermined reference contour, and the correction amount corrects each three-dimensional image data of the first and second fracture surfaces, so that the position between the three-dimensional image data is corrected. The alignment is done automatically. Therefore, in the inspection of the compatibility between the fractured surfaces of the fractured parts, it is possible to improve the inspection accuracy while improving the efficiency of the inspection.
前記破断面検査装置において、前記補正量算出部は、前記第1輪郭の画像データが前記基準輪郭の画像データに適合するように、前記第1輪郭の画像データをアフィン変換する際の第1アフィン変換量と、前記第2輪郭の画像データが前記基準輪郭の画像データに適合するように、前記第2輪郭の画像データをアフィン変換する際の第2アフィン変換量とをそれぞれ算出し、前記三次元画像補正部は、前記第1アフィン変換量でもって前記第1破断面の三次元画像データを補正しかつ前記第2アフィン変換量でもって前記第2破断面の三次元画像データを補正する、という構成でもよい。
In the fracture surface inspection device, the correction amount calculation unit performs a first affine conversion of the image data of the first contour so that the image data of the first contour matches the image data of the reference contour. The conversion amount and the second affine conversion amount at the time of affine conversion of the image data of the second contour are calculated so that the image data of the second contour matches the image data of the reference contour, respectively, and the tertiary The original image correction unit corrects the three-dimensional image data of the first fracture surface with the first affine conversion amount and corrects the three-dimensional image data of the second fracture surface with the second affine conversion amount. It may be configured as.
この構成によると、第1及び第2輪郭の各画像データを基準輪郭の画像データに適合するように、該各画像データをアフィン変換することで、第1及び第2輪郭の各画像データにおける位置合わせが効率的に行われる。このため、検査をより高効率化させることができる。
According to this configuration, the positions of the first and second contours in the image data are obtained by performing an affine transformation of the image data so that the image data of the first and second contours match the image data of the reference contour. Matching is done efficiently. Therefore, the inspection can be made more efficient.
前記破断面検査装置において、前記基準輪郭の画像データを記憶する記憶部を更に備え、前記基準輪郭の画像データは、前記判定部が良品と判定した破断面の輪郭の画像データ、又はコンピュータにより作成された破断部品の三次元モデルにおける破断面の輪郭の画像データである、という構成でもよい。
The fracture surface inspection device further includes a storage unit for storing the image data of the reference contour, and the image data of the reference contour is created by the image data of the contour of the fracture surface determined by the determination unit to be a good product or by a computer. It may be configured as image data of the contour of the fracture surface in the three-dimensional model of the broken part.
この構成によると、基準輪郭の画像データとして、適切な輪郭の画像データを用いることができる。よって、検査精度をより向上させることができる。
According to this configuration, the image data of an appropriate contour can be used as the image data of the reference contour. Therefore, the inspection accuracy can be further improved.
前記破断面検査装置において、前記第1及び第2破断部品を保持する保持部を更に備え、前記保持部は、前記第1破断面と前記第2破断面とが上下方向に相隣接しかつ前記画像取得部に対する距離が等しくなるように、前記第1及び第2破断部品をそれぞれ保持し、前記画像取得部は、前記第1及び第2破断面の画像を同時に取得可能に構成されている、という構成でもよい。
The fracture surface inspection device further includes a holding portion for holding the first and second fractured parts, and the holding portion is such that the first fracture surface and the second fracture surface are adjacent to each other in the vertical direction and described above. The first and second fractured parts are held so that the distances to the image acquisition units are equal to each other, and the image acquisition unit is configured to be able to simultaneously acquire images of the first and second fracture surfaces. It may be configured as.
この構成によると、第1及び第2破断面の画像を効率的に取得することができる。これにより、検査をより高効率化させることができる。
According to this configuration, images of the first and second fracture surfaces can be efficiently acquired. As a result, the inspection can be made more efficient.
前記破断面検査装置において、前記画像取得部はカメラであり、前記保持部は、前記カメラの光軸に対する前記第1破断面の距離と、前記カメラの光軸に対する前記第2破断面の距離とが等しくなるように、前記第1及び第2破断部品をそれぞれ保持する、という構成でもよい。
In the fracture surface inspection device, the image acquisition unit is a camera, and the holding unit includes the distance of the first fracture surface to the optical axis of the camera and the distance of the second fracture surface to the optical axis of the camera. The first and second broken parts may be held so that they are equal to each other.
以上説明したように、ここに開示された技術によると、破断部品の破断面同士の適合性の検査において、検査を高効率化させつつ検査精度を向上させることができる。
As described above, according to the technique disclosed here, it is possible to improve the inspection accuracy while improving the efficiency of the inspection in the inspection of the compatibility between the fractured surfaces of the fractured parts.
以下、例示的な実施形態について、図面を参照しながら詳細に説明する。
Hereinafter, exemplary embodiments will be described in detail with reference to the drawings.
(実施形態1)
〈破断部品〉
図1は、破断部品を有するコネクティングロッド100(以下、コンロッド100という)と、該コンロッド100に取り付けられたピストン110とを示す。コンロッド100は、エンジンにおいて、ピストン110とクランク軸(図示省略)とを連結するものであって、ピストン110から前記クランク軸までの爆発荷重の伝達経路を構成する荷重伝達部材である。 (Embodiment 1)
<Broken parts>
FIG. 1 shows a connectingrod 100 having a broken part (hereinafter referred to as a connecting rod 100) and a piston 110 attached to the connecting rod 100. The connecting rod 100 connects the piston 110 and the crank shaft (not shown) in the engine, and is a load transmission member that constitutes a transmission path of the explosive load from the piston 110 to the crank shaft.
〈破断部品〉
図1は、破断部品を有するコネクティングロッド100(以下、コンロッド100という)と、該コンロッド100に取り付けられたピストン110とを示す。コンロッド100は、エンジンにおいて、ピストン110とクランク軸(図示省略)とを連結するものであって、ピストン110から前記クランク軸までの爆発荷重の伝達経路を構成する荷重伝達部材である。 (Embodiment 1)
<Broken parts>
FIG. 1 shows a connecting
コンロッド100は、ピストン110が取り付けられる小端部101と、前記クランク軸に連結される大端部102と、小端部101と大端部102とを連結する棒状のロッド部103とを有する。小端部101には、小径ピン孔101aが形成されており、この小径ピン孔101aに挿入されるピストンピン(図示省略)を介して、ピストン110がコンロッド100に取り付けられる。大端部102には、大径ピン孔102aが形成されており、この大径ピン孔102aに前記クランク軸のクランクピンが挿通されることで、コンロッド100と前記クランク軸とが連結される。大端部102は、ロッド部103側のロッド側大端部102bとロッド部103とは反対側のキャップ側大端部102cとに分割されている。
The connecting rod 100 has a small end portion 101 to which the piston 110 is attached, a large end portion 102 connected to the crank shaft, and a rod-shaped rod portion 103 connecting the small end portion 101 and the large end portion 102. A small diameter pin hole 101a is formed in the small end portion 101, and the piston 110 is attached to the connecting rod 100 via a piston pin (not shown) inserted into the small diameter pin hole 101a. A large-diameter pin hole 102a is formed in the large-diameter pin hole 102a, and the connecting rod 100 and the crank shaft are connected by inserting the crank pin of the crank shaft into the large-diameter pin hole 102a. The large end 102 is divided into a rod-side large end 102b on the rod portion 103 side and a cap-side large end 102c on the opposite side of the rod portion 103.
本実施形態1では、コンロッド100は、所謂かち割りコンロッドである。具体的には、コンロッド100の大端部102は、大径ピン孔102aが形成されるように一体で形成した後、破断してロッド側大端部102bとキャップ側大端部102cとに分割される。エンジンに配置する際には、エンジンのクランク軸が大径ピン孔102aに位置するように、ロッド側大端部102bとキャップ側大端部102cとが配置される。そして、大端部102は、ロッド側大端部102bの破断面(以下、ロッド側破断面102dという)とキャップ側大端部102cの破断面(以下、キャップ側破断面102eという)を突き合わせて、ロッド側大端部102bとキャップ側大端部102cとを2つのボルト104により締結固定することで一体化される。ロッド側大端部102bは、ボルト104が通るロッド側ボルト孔102fを有し、キャップ側大端部102cは、ボルト104が通るキャップ側ボルト孔102gを有する。
In the first embodiment, the connecting rod 100 is a so-called split connecting rod. Specifically, the large end 102 of the connecting rod 100 is integrally formed so that the large diameter pin hole 102a is formed, and then is broken and divided into a rod side large end 102b and a cap side large end 102c. Will be done. When arranging in the engine, the rod side large end portion 102b and the cap side large end portion 102c are arranged so that the crank shaft of the engine is located in the large diameter pin hole 102a. Then, the large end portion 102 abuts the fracture surface of the rod side large end portion 102b (hereinafter referred to as rod side fracture surface 102d) and the fracture surface of the cap side large end portion 102c (hereinafter referred to as cap side fracture surface 102e). , The rod-side large end 102b and the cap-side large end 102c are integrated by fastening and fixing with two bolts 104. The rod-side large end 102b has a rod-side bolt hole 102f through which the bolt 104 passes, and the cap-side large end 102c has a cap-side bolt hole 102g through which the bolt 104 passes.
このようなかち割りコンロッドの場合、破断面102d,102eにはそれぞれ細かな凹凸が形成されており、突き合わされたときに互いの凹凸形状がかみ合うようになっている。これにより、ロッド側大端部102bとキャップ側大端部102cとが高い締結強度でもって締結される。しかしながら、破断面に欠けや剥離が生じて破断面同士の適合性が大きく低下すると、ロッド側大端部102bとキャップ側大端部102cとの締結強度が低下するおそれがある。そのため、ロッド側破断面102d及びキャップ側破断面102eの欠陥を定量的に判断して、破断面102d,102e同士の適合性を精度良く判定することが求められている。尚、「破断面同士の適合性」とは、突き合わされる一対の破断面において、一方の破断面の凹凸の分布及び凹凸の量が、他方の破断面の凹凸の分布及び凹凸の量にどの程度対応しているか、すなわち、破断面同士が突き合わされたときの破断面間の隙間の分布及び隙間の量がどの程度であるかを表している。破断面同士の適合性が高い状態とは、破断面間の隙間の分布が狭くかつ隙間の量も小さい状態のことをいう。
In the case of such a split connecting rod, fine irregularities are formed on the fracture surfaces 102d and 102e, respectively, and when they are butted, the irregularities and shapes of each other are engaged with each other. As a result, the large end portion 102b on the rod side and the large end portion 102c on the cap side are fastened with high fastening strength. However, if the fracture surface is chipped or peeled off and the compatibility between the fracture surfaces is greatly reduced, the fastening strength between the large end portion 102b on the rod side and the large end portion 102c on the cap side may decrease. Therefore, it is required to quantitatively determine the defects of the rod-side fracture surface 102d and the cap-side fracture surface 102e to accurately determine the compatibility between the fracture surfaces 102d and 102e. In addition, "compatibility between fracture surfaces" means that, in a pair of fracture surfaces to be abutted, the distribution of irregularities and the amount of irregularities on one fracture surface is the same as the distribution and amount of irregularities on the other fracture surface. It indicates whether the fractures correspond to each other, that is, the distribution of the gaps between the fracture surfaces and the amount of the gaps when the fracture surfaces are butted against each other. The state in which the compatibility between the fracture surfaces is high means that the distribution of the gaps between the fracture surfaces is narrow and the amount of the gaps is small.
従来の検査方法では、対応する一対の破断面における一方の三次元データから破断面上の座標を抽出して、該座標に対応する他方の判断面の座標を選択する。そして、座標同士の高さ情報を比較して、破断面同士の適合性を評価していた。しかしながら、この方法では、一方の破断面のエッジ部分に欠けが生じていたときには、該欠けの部分が比較対象の座標として選択されずに、該欠けの部分を取り除いて検査をしてしまうおそれがある。また、従来の検査方法では、検査毎に一方の破断面の画像データから比較用のモデル(座標付きのモデル)を作成して、他方の破断面の画像データの位置座標が該モデルと位置座標が合うように、他方の破断面の画像データを画像処理する必要があった。このため、検査精度が悪化したり、検査時間が長くなったりするおそれがあった。
In the conventional inspection method, the coordinates on the fracture surface are extracted from the three-dimensional data of one of the corresponding pair of fracture surfaces, and the coordinates of the other judgment surface corresponding to the coordinates are selected. Then, the height information between the coordinates was compared to evaluate the compatibility between the fracture surfaces. However, in this method, when the edge portion of one of the fracture surfaces is chipped, the chipped portion may not be selected as the coordinates to be compared, and the chipped portion may be removed for inspection. be. Further, in the conventional inspection method, a model for comparison (model with coordinates) is created from the image data of one fracture surface for each inspection, and the position coordinates of the image data of the other fracture surface are the position coordinates with the model. It was necessary to perform image processing on the image data of the other fracture surface so as to match. Therefore, there is a possibility that the inspection accuracy may deteriorate or the inspection time may become long.
そこで、本実施形態1では、破断面検査装置1による検査方法を工夫して、検査を高効率化させつつ検査精度を向上させるようにした。以下、図2~図10を参照しながら本実施形態1に係る破断面検査装置1(以下、単に検査装置1という)について説明する。
Therefore, in the first embodiment, the inspection method by the fracture surface inspection device 1 is devised to improve the inspection accuracy while improving the efficiency of the inspection. Hereinafter, the fracture surface inspection device 1 (hereinafter, simply referred to as the inspection device 1) according to the first embodiment will be described with reference to FIGS. 2 to 10.
〈破断面検査装置〉
図2及び図3は、検査装置1を概略的に示す。この検査装置1は、ロッド側破断面102d及びキャップ側破断面102eの二次元画像データ及び三次元画像データを用いて、破断面102d,102e同士の適合性を検査する。 <Fracture section inspection device>
2 and 3 schematically show theinspection device 1. The inspection device 1 inspects the compatibility between the fracture surfaces 102d and 102e by using the two-dimensional image data and the three-dimensional image data of the rod-side fracture surface 102d and the cap-side fracture surface 102e.
図2及び図3は、検査装置1を概略的に示す。この検査装置1は、ロッド側破断面102d及びキャップ側破断面102eの二次元画像データ及び三次元画像データを用いて、破断面102d,102e同士の適合性を検査する。 <Fracture section inspection device>
2 and 3 schematically show the
検査装置1は、基台2と、基台2上に配置されかつロッド側及びキャップ側破断面102d,102eを撮像する画像取得部10と、ロッド側及びキャップ側大端部102b,102cをそれぞれ保持する保持部20とを有する。基台2にはコンベア3が設けられており、保持部20はコンベア3上に配置されている。保持部20はコンベア3により搬送される。以下の説明では、コンベア3の搬送方向と上下方向とに直交する方向を前後方向といい、画像取得部10側を前側、保持部20側を後側という。
The inspection device 1 includes a base 2, an image acquisition unit 10 arranged on the base 2 and capturing images of the rod-side and cap- side fracture sections 102d and 102e, and rod-side and cap-side large end portions 102b and 102c, respectively. It has a holding portion 20 for holding. A conveyor 3 is provided on the base 2, and the holding portion 20 is arranged on the conveyor 3. The holding portion 20 is conveyed by the conveyor 3. In the following description, the direction orthogonal to the transport direction and the vertical direction of the conveyor 3 is referred to as a front-rear direction, the image acquisition portion 10 side is referred to as a front side, and the holding portion 20 side is referred to as a rear side.
画像取得部10は、1つのカメラ11と、複数(ここでは4つ)の照明装置12とを有する。カメラ11は、箱状のケース13内に収容されている。具体的には、基台2には上側に向かって立設されたピラー14が設けられており、カメラ11は、後側を向くように、ピラー14における後側の側面に固定されている。カメラ11は、IR(Infrared)カメラ、CCD(Charge Coupled Device)カメラ、CMOS(Complementary Metal Oxide Semiconductor)カメラ、ラインセンサカメラなどで構成されている。
The image acquisition unit 10 has one camera 11 and a plurality of (here, four) lighting devices 12. The camera 11 is housed in a box-shaped case 13. Specifically, the base 2 is provided with a pillar 14 erected toward the upper side, and the camera 11 is fixed to the rear side surface of the pillar 14 so as to face the rear side. The camera 11 is composed of an IR (Infrared) camera, a CCD (Charge Coupled Device) camera, a CMOS (Complementary Metal Oxide Semiconductor) camera, a line sensor camera, and the like.
カメラ11は、ピラー14ごとケース13内に収容されている。カメラ11は、保持部20に保持されたロッド側及びキャップ側大端部102b,102cの各破断面102d,102eを同時に撮像可能な視野を有している。また、カメラ11は、保持部20に保持されたロッド側及びキャップ側大端部102b,102cの各破断面102d,102eを同時に撮像できるように、保持部20から適切な距離だけ離間して配置されている。尚、カメラ11は、破断面102d,102eを撮像できるものであれば、特に種類は限定されない。カメラ11は後述する制御装置50により制御され、カメラ11により取得された画像データは制御装置50に送信される。
The camera 11 is housed in the case 13 together with the pillar 14. The camera 11 has a field of view capable of simultaneously capturing the fractured surfaces 102d and 102e of the rod-side and cap-side large end portions 102b and 102c held by the holding portion 20. Further, the camera 11 is arranged at an appropriate distance from the holding portion 20 so that the fractured surfaces 102d and 102e of the rod-side and cap-side large end portions 102b and 102c held by the holding portion 20 can be simultaneously imaged. Has been done. The type of the camera 11 is not particularly limited as long as it can capture the fractured surfaces 102d and 102e. The camera 11 is controlled by the control device 50 described later, and the image data acquired by the camera 11 is transmitted to the control device 50.
図4に示すように、ケース13における後側の壁部には、矩形状の開口部13aが形成されている。開口部13aは、保持部20にロッド側及びキャップ側大端部102b,102cが保持された状態で、ロッド側及びキャップ側破断面102d,102eが同時にカメラ11の視野に含まれる程度の大きさを有している。開口部13aは、後側から見て、カメラ11が開口部13aの中央に位置するように形成されている。
As shown in FIG. 4, a rectangular opening 13a is formed in the rear wall portion of the case 13. The opening 13a has a size such that the rod-side and cap-side fracture surfaces 102d and 102e are simultaneously included in the field of view of the camera 11 while the rod-side and cap-side large end portions 102b and 102c are held by the holding portion 20. have. The opening 13a is formed so that the camera 11 is located at the center of the opening 13a when viewed from the rear side.
4つの照明装置12は、前後方向から見て、カメラ11を囲むようにそれぞれ配置されている。具体的には、図4に示すように、4つの照明装置12は、開口部13aの4つの辺部に1つずつ取り付けられている。各照明装置12は、例えば、LEDライトで構成されている。各照明装置12は、白色光、赤色光、青色光等の波長の異なる光を、単色で照射したり、組み合わせて照射したりできるように構成されている。詳しくは後述するが、各照明装置12が照射する光の破断面102d,102eへの入射角度、及び光量は、制御装置50により、それぞれ独立して調整される。すなわち、制御装置50により、一部の照明装置12のみを作動させかつ他の照明装置12を停止させたり、全ての照明装置12を作動させかつ各照明装置12の光量をそれぞれ異ならせたりすることができる。尚、照明装置12の数や配置は、照明装置12が2つ以上設けられるのであれば、特に限定されない。
The four lighting devices 12 are arranged so as to surround the camera 11 when viewed from the front-rear direction. Specifically, as shown in FIG. 4, the four lighting devices 12 are attached to the four sides of the opening 13a one by one. Each lighting device 12 is composed of, for example, an LED light. Each lighting device 12 is configured to be capable of irradiating light having different wavelengths such as white light, red light, and blue light in a single color or in combination. As will be described in detail later, the angle of incidence of the light emitted by each illuminating device 12 on the fracture surfaces 102d and 102e and the amount of light are independently adjusted by the control device 50. That is, the control device 50 operates only a part of the lighting devices 12 and stops the other lighting devices 12, or operates all the lighting devices 12 and makes the light amount of each lighting device 12 different. Can be done. The number and arrangement of the lighting devices 12 are not particularly limited as long as two or more lighting devices 12 are provided.
図2及び図3に示すように、保持部20は、ロッド側及びキャップ側破断面102d,102eがそれぞれ開放された状態で、ロッド側及びキャップ側大端部102b,102cをそれぞれ保持する。保持部20はコンベア3上に配置される支持プレート21を有する。支持プレート21はコンベア3により搬送される。支持プレート21上には、小端部101を保持する小端部保持部22と、大端部102を保持する大端部保持部23とが設けられている。
As shown in FIGS. 2 and 3, the holding portion 20 holds the rod-side and cap-side large end portions 102b and 102c, respectively, with the rod-side and cap- side fracture sections 102d and 102e open, respectively. The holding portion 20 has a support plate 21 arranged on the conveyor 3. The support plate 21 is conveyed by the conveyor 3. On the support plate 21, a small end holding portion 22 for holding the small end 101 and a large end holding portion 23 for holding the large end 102 are provided.
小端部保持部22は、支持プレート21における所定方向の中央よりもやや後側の部分に設けられている。小端部保持部22は、円柱状のステージ22aと、上側に向かって突出する柱状の突出部22bをと有する。小端部101は、小径ピン孔101aに突出部22bが挿入された状態で、ステージ22aに載置される。
The small end holding portion 22 is provided in a portion of the support plate 21 slightly behind the center in a predetermined direction. The small end holding portion 22 has a columnar stage 22a and a columnar protruding portion 22b projecting upward. The small end portion 101 is placed on the stage 22a with the protruding portion 22b inserted into the small diameter pin hole 101a.
大端部保持部23は、支持プレート21における前側部分に設けられている。大端部保持部23は、図5に示すように、ロッド側大端部102bが下側に位置しかつキャップ側大端部102cが上側に位置する状態で、ロッド側及びキャップ側大端部102b,102cをそれぞれ保持する。大端部保持部23は、ロッド側大端部102bが載置されるステージ24を有する。ステージ24に対して搬送方向の上流側及び下流側には、支持プレート21から上側に向かって立設された一対の支持壁25が設けられている。ステージ24の搬送方向の中央におけるやや前側には、上下方向に延びる中央ガイド部26が設けられている。
The large end holding portion 23 is provided on the front side portion of the support plate 21. As shown in FIG. 5, the large end holding portion 23 has the rod side and the cap side large end in a state where the rod side large end 102b is located on the lower side and the cap side large end 102c is located on the upper side. It holds 102b and 102c, respectively. The large end holding portion 23 has a stage 24 on which the large end portion 102b on the rod side is placed. A pair of support walls 25 erected upward from the support plate 21 are provided on the upstream side and the downstream side in the transport direction with respect to the stage 24. A central guide portion 26 extending in the vertical direction is provided slightly in front of the center of the stage 24 in the transport direction.
各支持壁25は、図2及び図3に示すように、キャップ側大端部102cを支持する支持アーム25aをそれぞれ有する。上流側の支持アーム25aは、上流側の支持壁25の下流側の面部における上側かつ後側寄りの部分から下流側に向かって延びている。下流側の支持アーム25aは、下流側の支持壁25の上流側の面部における上側かつ後側寄りの部分から上流側に向かって延びている。各支持アーム25aの先端部には前後方向に貫通する孔部がそれぞれ形成されている。孔部にはピン25bがそれぞれ挿通されており、該ピン25bは、キャップ側大端部102cのキャップ側ボルト孔102g(図1参照)に挿入される。これにより、キャップ側大端部102cが各ピン25bを介して各支持アーム25aに保持される。
As shown in FIGS. 2 and 3, each support wall 25 has a support arm 25a that supports the cap-side large end 102c, respectively. The upstream support arm 25a extends toward the downstream side from the upper and rear side portions of the downstream side surface portion of the upstream support wall 25. The support arm 25a on the downstream side extends toward the upstream side from the upper and rear side portions of the surface portion on the upstream side of the support wall 25 on the downstream side. A hole that penetrates in the front-rear direction is formed at the tip of each support arm 25a. Pins 25b are inserted into the holes, respectively, and the pins 25b are inserted into the cap-side bolt holes 102g (see FIG. 1) of the cap-side large end portion 102c. As a result, the cap-side large end 102c is held by each support arm 25a via each pin 25b.
図5に示すように、各支持壁25のステージ24側の面には、下側ガイド部25cと上側ガイド部25dがそれぞれ設けられている。各下側ガイド部25cは、ステージ24に載置されたロッド側大端部102bに対応する高さ位置にそれぞれ形成されている。各下側ガイド部25cは、ロッド側破断面102dがカメラ11に対して正対できるように、ロッド側大端部102bの配置を案内する。下側ガイド部25c同士の搬送方向の間隔は、ロッド側大端部102bの幅と同程度の幅に設定されている。各上側ガイド部25dは、各支持アーム25aと同じ高さ位置において該各支持アーム25aよりも前側に位置している。各上側ガイド部25dの搬送方向の長さは、各支持アーム25aの搬送方向の長さよりも短い。各上側ガイド部25dは、キャップ側破断面102eがカメラ11に対して正対できるように、キャップ側大端部102cの配置を案内する。上側ガイド部25d同士の搬送方向の間隔は、キャップ側大端部102cの幅と同程度の幅に設定されている。また、下側及び上側ガイド部25c、25dは、ロッド側破断面102dの搬送方向の位置とキャップ側破断面102eの搬送方向の位置とをそろえるガイドとしても機能する。
As shown in FIG. 5, a lower guide portion 25c and an upper guide portion 25d are provided on the surface of each support wall 25 on the stage 24 side, respectively. Each lower guide portion 25c is formed at a height position corresponding to the rod-side large end portion 102b mounted on the stage 24. Each lower guide portion 25c guides the arrangement of the rod-side large end portion 102b so that the rod-side fracture surface 102d faces the camera 11. The distance between the lower guide portions 25c in the transport direction is set to be approximately the same as the width of the rod-side large end portion 102b. Each upper guide portion 25d is located in front of each support arm 25a at the same height position as each support arm 25a. The length of each upper guide portion 25d in the transport direction is shorter than the length of each support arm 25a in the transport direction. Each upper guide portion 25d guides the arrangement of the cap side large end portion 102c so that the cap side fracture surface 102e faces the camera 11. The distance between the upper guide portions 25d in the transport direction is set to be approximately the same as the width of the cap-side large end portion 102c. Further, the lower and upper guide portions 25c and 25d also function as guides for aligning the position of the rod-side fracture surface 102d in the transport direction and the position of the cap-side fracture surface 102e in the transport direction.
中央ガイド部26は、ステージ24から支持壁25の上面と同じ高さまで伸びている。中央ガイド部26は、ロッド側及びキャップ側大端部102b,102cにおける大径ピン孔102aの部分に接触する。中央ガイド部26は、ロッド側破断面102dの前後方向の位置とキャップ側破断面102eの前後方向の位置とをそろえるガイドとして機能する。具体的には、ロッド側大端部102bを、ロッド側大端部102bにおける半割の大径ピン孔102aの底部に中央ガイド部26が当接するようにセットし、キャップ側大端部102cを、キャップ側大端部102cにおける半割の大径ピン孔102aの底部に中央ガイド部26が当接するようにセットしたときには、ロッド側破断面102dの前後方向の位置とキャップ側破断面102eの前後方向の位置とをそろうようになる。
The central guide portion 26 extends from the stage 24 to the same height as the upper surface of the support wall 25. The central guide portion 26 comes into contact with the portions of the large diameter pin holes 102a on the rod side and cap side large end portions 102b and 102c. The central guide portion 26 functions as a guide for aligning the position in the front-rear direction of the rod-side fracture surface 102d and the position in the front-rear direction of the cap-side fracture surface 102e. Specifically, the rod-side large end portion 102b is set so that the central guide portion 26 abuts on the bottom of the half-divided large-diameter pin hole 102a in the rod-side large-end portion 102b, and the cap-side large-end portion 102c is set. When the central guide portion 26 is set so as to abut against the bottom of the half-divided large-diameter pin hole 102a at the cap-side large end portion 102c, the position of the rod-side fracture surface 102d in the front-rear direction and the front-rear and front-end of the cap-side fracture surface 102e. It will be aligned with the position of the direction.
ロッド側及びキャップ側大端部102b,102cを保持部20により保持するには、まず、ロッド側大端部102bを一対の下側ガイド部25cの間に位置するように配置する。このとき、小径ピン孔101aに小端部保持部22の突出部22bが挿入されるように、小端部101も配置する。ロッド側大端部102bは、一対の下側ガイド部25c及び中央ガイド部26に沿って上下方向に案内される。次に、キャップ側大端部102cを各支持アーム25aの高さ位置に配置する。このとき、キャップ側大端部102cを、対応する破断面(突き合わされる破断面)が上下方向に並ぶように配置する。キャップ側大端部102cは、一対の上側ガイド部25d及び中央ガイド部26に沿って上下方向に案内される。そして、各キャップ側ボルト孔102gと各支持アーム25aの孔部との位置を合わせた状態で、ピン25bを、支持アーム25aの孔部を貫通させてキャップ側ボルト孔102gにそれぞれ締結させる。以上により、ロッド側及びキャップ側大端部102b,102cを保持部20に保持される。
In order to hold the rod side and cap side large end portions 102b and 102c by the holding portion 20, first, the rod side large end portion 102b is arranged so as to be located between the pair of lower guide portions 25c. At this time, the small end portion 101 is also arranged so that the protruding portion 22b of the small end portion holding portion 22 is inserted into the small diameter pin hole 101a. The rod-side large end portion 102b is guided in the vertical direction along the pair of lower guide portions 25c and the central guide portion 26. Next, the cap-side large end 102c is arranged at the height position of each support arm 25a. At this time, the cap-side large end 102c is arranged so that the corresponding fracture surfaces (butted fracture surfaces) are lined up in the vertical direction. The cap-side large end portion 102c is guided in the vertical direction along the pair of upper guide portions 25d and the central guide portion 26. Then, with the positions of the cap-side bolt holes 102g and the holes of the support arms 25a aligned, the pins 25b are passed through the holes of the support arm 25a and fastened to the cap-side bolt holes 102g. As a result, the rod side and cap side large end portions 102b and 102c are held by the holding portion 20.
図2に示すように、ロッド側及びキャップ側大端部102b,102cを保持部20に保持された状態で、ロッド側破断面102dからカメラ11までの距離は、当該ロッド側破断面102dの直上に位置するキャップ側破断面102eからカメラ11までの距離と同じになる。具体的には、カメラ11の光軸LAからロッド側破断面102dの上端までの距離L1とカメラ11の光軸LAからキャップ側破断面102eの下端までの距離L2とが同じである。これにより、カメラ11により、ロッド側破断面102dとキャップ側破断面102eとが1つの画像に同時に撮像されたときの、ロッド側破断面102dの縮小比とキャップ側破断面102eの縮小比とを同じにすることができる。
As shown in FIG. 2, with the rod-side and cap-side large end portions 102b and 102c held by the holding portion 20, the distance from the rod-side fracture surface 102d to the camera 11 is directly above the rod-side fracture surface 102d. It is the same as the distance from the cap side fracture surface 102e located at to the camera 11. Specifically, the distance L1 from the optical axis LA of the camera 11 to the upper end of the rod-side fracture surface 102d and the distance L2 from the optical axis LA of the camera 11 to the lower end of the cap-side fracture surface 102e are the same. As a result, when the rod-side fracture surface 102d and the cap-side fracture surface 102e are simultaneously imaged in one image by the camera 11, the reduction ratio of the rod-side fracture surface 102d and the reduction ratio of the cap-side fracture surface 102e are obtained. Can be the same.
〈制御系〉
検査装置1は、制御装置50により作動制御される。制御装置50は、CPUを有するプロセッサ、複数のモジュールが格納されたメモリ等を有する。制御装置50は、カメラ11により撮像された画像に基づいて、ワークWの欠陥を検査する機能を有する。このような機能は、メモリのモジュールにソフトウェアとして格納されている。プロセッサ及びメモリの数は1つに限定されず、制御装置50が2つ以上のプロセッサ及びメモリを有していてもよい。 <Control system>
Theinspection device 1 is operated and controlled by the control device 50. The control device 50 has a processor having a CPU, a memory in which a plurality of modules are stored, and the like. The control device 50 has a function of inspecting a defect of the work W based on the image captured by the camera 11. Such functions are stored as software in memory modules. The number of processors and memories is not limited to one, and the control device 50 may have two or more processors and memories.
検査装置1は、制御装置50により作動制御される。制御装置50は、CPUを有するプロセッサ、複数のモジュールが格納されたメモリ等を有する。制御装置50は、カメラ11により撮像された画像に基づいて、ワークWの欠陥を検査する機能を有する。このような機能は、メモリのモジュールにソフトウェアとして格納されている。プロセッサ及びメモリの数は1つに限定されず、制御装置50が2つ以上のプロセッサ及びメモリを有していてもよい。 <Control system>
The
図6に示すように、制御装置50は、光学系制御部51と、前処理部52と、輪郭情報取得部53と、補正量算出部54と、三次元画像補正部55と、判定部56と、記憶部57と、を有する。光学系制御部51、前処理部52、輪郭情報取得部53、補正量算出部54、三次元画像補正部55、判定部56、及び記憶部57は、それぞれ、制御装置50に格納されたモジュールの一例である。尚、図6で図示する光学系制御部51等は、制御装置50の構成の一部であり、制御装置50が他の機能を有することを排除するものではない。
As shown in FIG. 6, the control device 50 includes an optical system control unit 51, a preprocessing unit 52, a contour information acquisition unit 53, a correction amount calculation unit 54, a three-dimensional image correction unit 55, and a determination unit 56. And a storage unit 57. The optical system control unit 51, the preprocessing unit 52, the contour information acquisition unit 53, the correction amount calculation unit 54, the three-dimensional image correction unit 55, the determination unit 56, and the storage unit 57 are modules housed in the control device 50, respectively. This is an example. The optical system control unit 51 and the like shown in FIG. 6 are a part of the configuration of the control device 50, and do not exclude that the control device 50 has other functions.
光学系制御部51は、カメラ11及び各照明装置12にそれぞれ制御信号を送信して、カメラ11のピント調整をしたり、各照明装置12の光の照射角度、光の色、光量等を調整したりする。カメラ11は、光学系制御部51からの制御信号に従って、各破断面の画像データを取得する。詳しくは後述するが、光学系制御部51は、各ロッド側破断面102d及び各キャップ側破断面102eについて、少なくとも1つの二次元画像データと少なくとも1つの三次元画像データとをそれぞれ取得するように、カメラ11及び各照明装置12をそれぞれ制御する。
The optical system control unit 51 transmits control signals to the camera 11 and each lighting device 12, respectively, to adjust the focus of the camera 11, and to adjust the light irradiation angle, light color, light amount, etc. of each lighting device 12. Or The camera 11 acquires image data of each fracture surface according to a control signal from the optical system control unit 51. As will be described in detail later, the optical system control unit 51 acquires at least one two-dimensional image data and at least one three-dimensional image data for each rod-side fracture surface 102d and each cap-side fracture surface 102e, respectively. , The camera 11 and each lighting device 12 are controlled respectively.
前処理部52は、カメラ11により取得された画像データを取得して、該画像データに対してシェーディング補正、暗レベル補正、ビット圧縮、座標設定等の前処理を行う。
The pre-processing unit 52 acquires the image data acquired by the camera 11 and performs pre-processing such as shading correction, dark level correction, bit compression, and coordinate setting on the image data.
輪郭情報取得部53は、カメラ11が取得したロッド側及びキャップ側破断面102d,102eの二次元画像データからロッド側破断面102dの輪郭であるロッド側輪郭31(図8参照)及びキャップ側破断面102eの輪郭であるキャップ側輪郭32(図8参照)に関する画像データをそれぞれ取得する。輪郭情報取得部53による輪郭の取得方法については後述する。
The contour information acquisition unit 53 has the rod-side contour 31 (see FIG. 8) and the cap-side fracture, which are the contours of the rod-side fracture surface 102d, from the two-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e acquired by the camera 11. Image data regarding the cap-side contour 32 (see FIG. 8), which is the contour of the cross section 102e, is acquired. The method of acquiring the contour by the contour information acquisition unit 53 will be described later.
補正量算出部54は、輪郭情報取得部53により取得されたロッド側及びキャップ側輪郭31,32の各画像データを取得して、該各画像データが所定の基準輪郭BC(図9A、図9B参照)の画像データに適合するように、ロッド側及びキャップ側輪郭31,32の各画像データを補正する際の補正量をそれぞれ算出する。本実施形態1では、補正量算出部54が行う補正はアフィン変換である。つまり、補正量算出部54は、ロッド側及びキャップ側輪郭31,32の各画像データが、基準輪郭BCの画像データに適合するように、該各画像データに対して拡大、縮小、平行移動、回転、剪断等の処理を行う。補正量算出部54は、ロッド側輪郭31の画像データを基準輪郭BCの画像データに適合させるための補正量である第1アフィン変換量と、キャップ側輪郭32の画像データを基準輪郭BCの画像データに適合させるための補正量である第2アフィン変換量とをそれぞれ算出する。
The correction amount calculation unit 54 acquires each image data of the rod side and cap side contours 31 and 32 acquired by the contour information acquisition unit 53, and each image data is used as a predetermined reference contour BC (FIGS. 9A and 9B). The correction amount when correcting each image data of the rod side and cap side contours 31 and 32 is calculated so as to match the image data of (see). In the first embodiment, the correction performed by the correction amount calculation unit 54 is an affine transformation. That is, the correction amount calculation unit 54 enlarges, reduces, translates the image data of the rod side and the cap side contours 31 and 32 so that the image data of the rod side and the cap side contours 31 and 32 match the image data of the reference contour BC. Performs processing such as rotation and shearing. The correction amount calculation unit 54 uses the first affine transformation amount, which is a correction amount for adapting the image data of the rod side contour 31 to the image data of the reference contour BC, and the image data of the cap side contour 32 as the image of the reference contour BC. The second affine transformation amount, which is the correction amount for adapting to the data, is calculated respectively.
三次元画像補正部55は、補正量算出部54が算出した第1及び第2アフィン変換量に基づいて、前処理が完了した、ロッド側及びキャップ側破断面102d,102eの各三次元画像データをそれぞれ補正して、ロッド側補正画像41(図7参照)の画像データ及びキャップ側補正画像42(図7参照)の画像データをそれぞれ作成する。
The three-dimensional image correction unit 55 is the three-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e for which the preprocessing has been completed based on the first and second affine conversion amounts calculated by the correction amount calculation unit 54. Are corrected, and the image data of the rod-side corrected image 41 (see FIG. 7) and the image data of the cap-side corrected image 42 (see FIG. 7) are created.
判定部56は、三次元画像補正部55により得られたロッド側補正画像41の画像データとキャップ側補正画像42の画像データとを比較して、ロッド側破断面102dとキャップ側破断面102eとの適合性をチェックする。判定部56は、ロッド側大端部102bの2つのロッド側破断面102dとキャップ側大端部102cの対応する2つのキャップ側破断面102eとの適合性が所定の基準(破断面間の隙間の分布及び隙間の量等)をそれぞれ満たしているときには、当該ロッド側破断面102d及び当該キャップ側破断面102eを良品と判定する。
The determination unit 56 compares the image data of the rod-side correction image 41 obtained by the three-dimensional image correction unit 55 with the image data of the cap-side correction image 42, and sets the rod-side fracture surface 102d and the cap-side fracture surface 102e. Check the compatibility of. In the determination unit 56, the compatibility between the two rod-side fracture surfaces 102d of the rod-side large end portion 102b and the corresponding two cap-side fracture surfaces 102e of the cap-side large end portion 102c is a predetermined reference (gap between fracture surfaces). When the distribution and the amount of gaps, etc.) are satisfied, the rod-side fracture surface 102d and the cap-side fracture surface 102e are determined to be non-defective products.
記憶部57は、基準輪郭BCの画像データ、アフィン変換前の各破断面102d,102eの画像データ、判定部56の判定結果等を記憶する。
The storage unit 57 stores the image data of the reference contour BC, the image data of the fractured surfaces 102d and 102e before the affine transformation, the determination result of the determination unit 56, and the like.
制御装置50は、判定部56の判定結果を表示するように表示装置60に制御信号を出力する。制御装置50は、判定部56が欠陥ありと判定したときには、欠陥箇所が分かるように表示装置60に表示させる。表示装置60は、例えば制御装置50が格納された計算機のディスプレイで構成されている。また、制御装置50と表示装置60とが無線通信可能な場合には、表示装置60は、ユーザが所持する携帯端末の画面で構成されていてもよい。
The control device 50 outputs a control signal to the display device 60 so as to display the determination result of the determination unit 56. When the determination unit 56 determines that there is a defect, the control device 50 causes the display device 60 to display the defective portion so that the defective portion can be known. The display device 60 is composed of, for example, a computer display in which the control device 50 is stored. Further, when the control device 50 and the display device 60 can wirelessly communicate with each other, the display device 60 may be configured by the screen of a mobile terminal owned by the user.
制御装置50は、コンベア3の動作を制御可能に構成されている。制御装置50は、支持プレート21の搬送速度を調整したり、画像取得部10が画像を取得できなかった際に、コンベア3を一時的に停止させたりする。
The control device 50 is configured to be able to control the operation of the conveyor 3. The control device 50 adjusts the transport speed of the support plate 21, or temporarily stops the conveyor 3 when the image acquisition unit 10 cannot acquire an image.
〈制御装置による処理〉
図7は、検査装置1を用いてロッド側破断面102dとキャップ側破断面102eとの適合性を検査する際の制御装置50の処理を概念的に示している。 <Processing by control device>
FIG. 7 conceptually shows the processing of thecontrol device 50 when inspecting the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e using the inspection device 1.
図7は、検査装置1を用いてロッド側破断面102dとキャップ側破断面102eとの適合性を検査する際の制御装置50の処理を概念的に示している。 <Processing by control device>
FIG. 7 conceptually shows the processing of the
制御装置50は、検査に先立って、基準輪郭BCの画像データを取得する。基準輪郭BCの画像データは、判定部56が良品と判定したロッド側破断面102d又はキャップ側破断面102eの輪郭の画像データである。基準輪郭BCの抽出方法は、後述するロッド側及びキャップ側輪郭31,32の抽出方法と同じであるため、ここでは省略する。抽出された基準輪郭BCは、記憶部57に記憶される。破断面検査の際には、基準輪郭BCは記憶部57から読み出される。基準輪郭BCの抽出は、大端部の1つの規格に対して一度だけ行えばよく、検査毎に行う必要はない。基準輪郭BCの抽出は、大端部の規格が変更されたときには、再度行われる。尚、基準輪郭BCの画像データは、コンピュータにより作成されたロッド側大端部102b又はキャップ側大端部102cの三次元モデルにおける破断面の輪郭の画像データであってもよい。特に、最初の検査においては、良品と判定されたロッド側破断面102dの画像データもキャップ側破断面102eの画像データも存在しないため、コンピュータにより作成された三次元モデルから輪郭の画像データを抽出するのが好ましい。また、基準輪郭BCの画像データとして、検査対象のコンロッドと同規格でかつ他の検査装置若しくは他の検査方法で良品と判断されたコンロッドから抽出した輪郭の画像データを採用してもよい。
The control device 50 acquires the image data of the reference contour BC prior to the inspection. The image data of the reference contour BC is the image data of the contour of the rod-side fracture surface 102d or the cap-side fracture surface 102e determined by the determination unit 56 to be a non-defective product. Since the extraction method of the reference contour BC is the same as the extraction method of the rod side and cap side contours 31 and 32 described later, it is omitted here. The extracted reference contour BC is stored in the storage unit 57. At the time of the fracture surface inspection, the reference contour BC is read out from the storage unit 57. Extraction of the reference contour BC only needs to be performed once for one standard at the large end, and does not have to be performed for each inspection. Extraction of the reference contour BC is performed again when the standard at the large end is changed. The image data of the reference contour BC may be the image data of the contour of the fracture surface in the three-dimensional model of the large end portion 102b on the rod side or the large end portion 102c on the cap side created by a computer. In particular, in the first inspection, neither the image data of the rod-side fracture surface 102d judged to be a good product nor the image data of the cap-side fracture surface 102e exist, so the contour image data is extracted from the three-dimensional model created by the computer. It is preferable to do. Further, as the image data of the reference contour BC, the image data of the contour extracted from the connecting rod which has the same standard as the connecting rod to be inspected and which is judged to be a good product by another inspection device or another inspection method may be adopted.
以下の説明では、判定部56が良品と判定したロッド側破断面102dから基準輪郭BCが抽出されたとして説明する。
In the following description, it is assumed that the reference contour BC is extracted from the rod-side fracture surface 102d determined by the determination unit 56 to be a non-defective product.
制御装置50は、画像取得部10によりロッド側及びキャップ側破断面102d,102eの二次元画像データと三次元画像データとを取得する。三次元画像を取得する方法は、既知の方法を採用することができ、例えば、位相シフト法を採用することができる。
The control device 50 acquires the two-dimensional image data and the three-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e by the image acquisition unit 10. As a method for acquiring a three-dimensional image, a known method can be adopted, and for example, a phase shift method can be adopted.
制御装置50は、ロッド側破断面102dの二次元画像データ及びキャップ側破断面102d,102eの二次元画像データから、ロッド側及びキャップ側輪郭31,32をそれぞれ抽出する。
The control device 50 extracts the rod-side and cap- side contours 31 and 32 from the two-dimensional image data of the rod-side fracture surface 102d and the two-dimensional image data of the cap-side fracture surfaces 102d and 102e, respectively.
二次元画像データから輪郭の画像データを抽出するには、図8に示すように、まず、画像取得部10が取得した二次元画像データから破断面102d,102eの部分に対してエッジ部分に点を設定する。次に、各点を線で結んで輪郭をそれぞれ形成する。そして、形成された輪郭を、ロッド側輪郭31及びキャップ側輪郭32の画像データとしてそれぞれ抽出する。抽出された各輪郭の画像データには、基準輪郭BCの画像データと比較する際に、エッジ部分の対応関係が分かるように座標がそれぞれ設定されている。前述したように、本実施形態1に係る検査装置1では、突き合わされる破断面102d,102eが上下に並ぶように保持部20に保持されている。このため、ロッド側輪郭31とキャップ側輪郭32とは、上下に反転した関係になっている。したがって、図8に示すように、ロッド側輪郭31の画像データに座標A1~A4が付されたときには、キャップ側輪郭32の画像データには、座標A1に対応するエッジに座標B1が付され、座標A2に対応するエッジに座標B2が付され、座標A3に対応するエッジに座標B3が付され、座標A4に対応するエッジに座標B4が付される。これにより、抽出した輪郭と基準輪郭BCとを比較する際に、上、下、左、及び右の向きをそろえることができる。尚、ロッド側及びキャップ側輪郭31,32の抽出方法は、前述の方法に限定されない。
In order to extract contour image data from two-dimensional image data, first, as shown in FIG. 8, a point is formed at an edge portion with respect to a portion of fracture surface 102d, 102e from the two-dimensional image data acquired by the image acquisition unit 10. To set. Next, each point is connected by a line to form an outline. Then, the formed contour is extracted as image data of the rod side contour 31 and the cap side contour 32, respectively. Coordinates are set in the image data of each of the extracted contours so that the correspondence between the edge portions can be understood when compared with the image data of the reference contour BC. As described above, in the inspection device 1 according to the first embodiment, the fractured surfaces 102d and 102e to be abutted are held by the holding portion 20 so as to be arranged vertically. Therefore, the rod-side contour 31 and the cap-side contour 32 have an upside-down relationship. Therefore, as shown in FIG. 8, when the coordinates A1 to A4 are attached to the image data of the rod side contour 31, the coordinates B1 are attached to the edge corresponding to the coordinates A1 in the image data of the cap side contour 32. Coordinate B2 is attached to the edge corresponding to the coordinate A2, the coordinate B3 is attached to the edge corresponding to the coordinate A3, and the coordinate B4 is attached to the edge corresponding to the coordinate A4. This makes it possible to align the top, bottom, left, and right directions when comparing the extracted contour with the reference contour BC. The extraction method of the rod side and cap side contours 31 and 32 is not limited to the above-mentioned method.
二次元画像データでは、エッジ部分に欠けがあったとしても、母材の部分により輪郭の形状が確認できる。このため、前述のように、二次元画像データから輪郭の画像データを抽出すれば、破断面全体に対する輪郭を精度良く抽出することができる。
In the 2D image data, even if the edge part is chipped, the shape of the contour can be confirmed by the part of the base material. Therefore, as described above, if the contour image data is extracted from the two-dimensional image data, the contour for the entire fracture surface can be accurately extracted.
制御装置50は、ロッド側輪郭31の画像データを基準輪郭BCの画像データに適合するようにアフィン変換して、アフィン変換したときのアフィン変換量(第1アフィン変換量)を抽出する。アフィン変換の際には、ロッド側輪郭31の座標と基準輪郭BCの座標との対応関係が考慮される。図9Aに示す例では、ロッド側輪郭31の座標A1が基準輪郭BCの座標M1に対応し、ロッド側輪郭31の座標A2が基準輪郭BCの座標M2に対応し、ロッド側輪郭31の座標A3が基準輪郭BCの座標M3に対応し、ロッド側輪郭31の座標A4が基準輪郭BCの座標M4に対応している。つまり、ロッド側輪郭31と基準輪郭BCとは、上下方向の向き及び左右方向の向きは対応しているものの大きさが異なる。このときには、制御装置50は、ロッド側輪郭31の画像データを縦方向及び横方向に拡大させるような変換量を第1アフィン変換量として算出する。
The control device 50 performs affine transformation on the image data of the rod side contour 31 so as to match the image data of the reference contour BC, and extracts the affine transformation amount (first affine transformation amount) when the affine transformation is performed. At the time of affine transformation, the correspondence between the coordinates of the rod-side contour 31 and the coordinates of the reference contour BC is taken into consideration. In the example shown in FIG. 9A, the coordinate A1 of the rod side contour 31 corresponds to the coordinate M1 of the reference contour BC, the coordinate A2 of the rod side contour 31 corresponds to the coordinate M2 of the reference contour BC, and the coordinate A3 of the rod side contour 31. Corresponds to the coordinate M3 of the reference contour BC, and the coordinate A4 of the rod side contour 31 corresponds to the coordinate M4 of the reference contour BC. That is, the rod-side contour 31 and the reference contour BC correspond to each other in the vertical direction and the horizontal direction, but their sizes are different. At this time, the control device 50 calculates as the first affine transformation amount a conversion amount that enlarges the image data of the rod-side contour 31 in the vertical direction and the horizontal direction.
制御装置50は、キャップ側輪郭32の画像データを基準輪郭BCの画像データに適合するようにアフィン変換して、アフィン変換したときのアフィン変換量(第2アフィン変換量)を抽出する。アフィン変換の際には、キャップ側輪郭32の座標と基準輪郭BCの座標との対応関係が考慮される。図9Bに示す例では、キャップ側輪郭32の座標B1が基準輪郭BCの座標M1に対応し、キャップ側輪郭32の座標B2が基準輪郭BCの座標M2に対応し、キャップ側輪郭32の座標B3が基準輪郭BCの座標M3に対応し、キャップ側輪郭32の座標B4が基準輪郭BCの座標M4に対応している。つまり、キャップ側輪郭32と基準輪郭BCとでは、左右方向の向きは対応しているものの、上下方向の向きが逆でかつ大きさが異なる。このときには、制御装置50は、キャップ側輪郭32を上下に反転させるように座標を移動させかつ縦方向及び横方向に拡大させるような変換量を第2アフィン変換量として算出する。
The control device 50 performs affine transformation on the image data of the cap side contour 32 so as to match the image data of the reference contour BC, and extracts the affine transformation amount (second affine transformation amount) when the affine transformation is performed. At the time of affine transformation, the correspondence between the coordinates of the cap side contour 32 and the coordinates of the reference contour BC is taken into consideration. In the example shown in FIG. 9B, the coordinate B1 of the cap side contour 32 corresponds to the coordinate M1 of the reference contour BC, the coordinate B2 of the cap side contour 32 corresponds to the coordinate M2 of the reference contour BC, and the coordinate B3 of the cap side contour 32. Corresponds to the coordinate M3 of the reference contour BC, and the coordinate B4 of the cap side contour 32 corresponds to the coordinate M4 of the reference contour BC. That is, although the cap-side contour 32 and the reference contour BC correspond to each other in the horizontal direction, the vertical direction is opposite and the size is different. At this time, the control device 50 calculates as the second affine transformation amount a conversion amount that moves the coordinates so as to invert the cap-side contour 32 up and down and expands them in the vertical and horizontal directions.
制御装置50は、ロッド側破断面102dの三次元画像データを第1アフィン変換量でもって補正して、ロッド側補正画像41の画像データを作成する。また、キャップ側破断面102eの三次元画像データを第2アフィン変換量でもって補正して、キャップ側補正画像42の画像データを作成する。作成されたロッド側及びキャップ側補正画像41,42の画像データは、それぞれ高さに関するデータを有する三次元画像データである。第1及び第2アフィン変換量による補正は平面における補正であるため、ロッド側及びキャップ側補正画像41,42の画像データは、基となる三次元画像データに対して平面上の座標は変化しているが、高さに関する情報、すなわち破断面上に形成されている凹凸の高さ情報は変化していない。
The control device 50 corrects the three-dimensional image data of the rod-side fracture surface 102d with the first affine transformation amount, and creates the image data of the rod-side corrected image 41. Further, the three-dimensional image data of the cap-side fracture surface 102e is corrected by the second affine transformation amount, and the image data of the cap-side corrected image 42 is created. The created image data of the rod side and cap side corrected images 41 and 42 are three-dimensional image data having data regarding the height, respectively. Since the correction by the first and second affine transformation amounts is the correction on the plane, the coordinates on the plane of the image data of the rod side and cap side correction images 41 and 42 change with respect to the base three-dimensional image data. However, the information about the height, that is, the height information of the unevenness formed on the fracture surface has not changed.
制御装置50は、ロッド側補正画像41の画像データとキャップ側補正画像42の画像データとを比較して、ロッド側破断面102dとキャップ側破断面102eとの適合性をチェックする。ロッド側補正画像41の画像データとキャップ側補正画像42の画像データとは、どちらも輪郭形状が基準輪郭BCに合わせられたものであるため、平面上の座標はそろっている。つまり、ロッド側補正画像41の画像データとキャップ側補正画像42の画像データとの間の平面上の位置合わせは、第1及び第2アフィン変換量でもって補正した時点で既に完了した状態となっている。このため、破断面上に形成されている凹凸の高さ情報の比較を容易に行うことができる。ロッド側補正画像41の画像データとキャップ側補正画像42の画像データとの比較では、例えば、キャップ側補正画像42の画像データにおける高さに関するデータを反転させて、ロッド側補正画像41の画像データにおける高さに関するデータとの差分を求める。そして、該差分の量及び該差分の分布からロッド側破断面102dとキャップ側破断面102eとの適合性をチェックすることができる。
The control device 50 compares the image data of the rod-side corrected image 41 with the image data of the cap-side corrected image 42, and checks the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e. Since the contour shape of both the image data of the rod-side corrected image 41 and the image data of the cap-side corrected image 42 are matched to the reference contour BC, the coordinates on the plane are the same. That is, the alignment on the plane between the image data of the rod-side corrected image 41 and the image data of the cap-side corrected image 42 is already completed when corrected by the first and second affine transformation amounts. ing. Therefore, it is possible to easily compare the height information of the unevenness formed on the fracture surface. In the comparison between the image data of the rod-side corrected image 41 and the image data of the cap-side corrected image 42, for example, the data related to the height in the image data of the cap-side corrected image 42 is inverted, and the image data of the rod-side corrected image 41 is inverted. Find the difference from the data related to the height in. Then, the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e can be checked from the amount of the difference and the distribution of the difference.
制御装置50は、ロッド側大端部102bの2つのロッド側破断面102dとキャップ側大端部102cの対応する2つのキャップ側破断面102eとについて、それぞれ前述の適合性チェックが行う。そして、制御装置50は、2組の破断面同士の適合性が所定の基準をそれぞれ満たしているときには、当該ロッド側大端部102b及び当該キャップ側大端部102cが良品と判定する。
The control device 50 performs the above-mentioned compatibility check for each of the two rod-side fracture surfaces 102d of the rod-side large end portion 102b and the corresponding two cap-side fracture surfaces 102e of the cap-side large end portion 102c. Then, when the compatibility between the two sets of fracture surfaces satisfies the predetermined criteria, the control device 50 determines that the rod-side large end portion 102b and the cap-side large end portion 102c are non-defective products.
このように、各破断面102d,102eの各輪郭31,32を予め準備した基準輪郭BCにそれぞれ適合させて、そのときの補正量で各破断面102d,102eをそれぞれ補正することで、三次元画像データの間の位置合わせ(座標の対応)を効率的に行うことができる。また、検査毎に位置合わせ用のモデルを作成する必要がないため、検査速度を向上させることができる。また、各破断面102d,102eの各二次元画像データからロッド側輪郭31及びキャップ側輪郭32の画像データを抽出することで、破断面のエッジ部分に欠陥があったとしても、欠陥部分が排除されていない、各破断面102d,102eのそれぞれの輪郭31,32を正確に表した画像データを抽出することができる。これにより、検査精度を向上させることができる。尚、各破断面の各二次元画像データから輪郭の画像データを抽出する処理や、輪郭の画像データを基準輪郭BCの画像データに適合させる処理は、制御装置50への負荷が比較的低いため、検査速度にはほとんど影響しない。
In this way, the contours 31 and 32 of the fracture surfaces 102d and 102e are adapted to the reference contour BC prepared in advance, and the fracture surfaces 102d and 102e are corrected by the correction amount at that time in three dimensions. Alignment between image data (correspondence of coordinates) can be performed efficiently. Moreover, since it is not necessary to create a model for alignment for each inspection, the inspection speed can be improved. Further, by extracting the image data of the rod side contour 31 and the cap side contour 32 from the two-dimensional image data of each fracture surface 102d and 102e, even if there is a defect in the edge portion of the fracture surface, the defect portion is eliminated. It is possible to extract image data that accurately represents the contours 31 and 32 of the fracture surfaces 102d and 102e that have not been formed. This makes it possible to improve the inspection accuracy. It should be noted that the process of extracting the contour image data from each two-dimensional image data of each fracture surface and the process of adapting the contour image data to the image data of the reference contour BC have a relatively low load on the control device 50. , Has little effect on inspection speed.
〈フローチャート〉
次に、破断面検査のフローチャートについて図10を参照しながら説明する。尚、図10に示すフローチャートでは、基準輪郭BCは、既に抽出されていて、記憶部57に記憶されていることを前提としている。 <flowchart>
Next, the flowchart of the fracture surface inspection will be described with reference to FIG. In the flowchart shown in FIG. 10, it is assumed that the reference contour BC has already been extracted and stored in thestorage unit 57.
次に、破断面検査のフローチャートについて図10を参照しながら説明する。尚、図10に示すフローチャートでは、基準輪郭BCは、既に抽出されていて、記憶部57に記憶されていることを前提としている。 <flowchart>
Next, the flowchart of the fracture surface inspection will be described with reference to FIG. In the flowchart shown in FIG. 10, it is assumed that the reference contour BC has already been extracted and stored in the
ステップS1において、ユーザは、ロッド側大端部102b及びキャップ側大端部102cを保持部20にそれぞれセットする。このとき、ユーザは、各ロッド側破断面102dの上側に対応する各キャップ側破断面102eが位置するように、ロッド側及びキャップ側大端部102b,102cをセットする。
In step S1, the user sets the rod-side large end portion 102b and the cap-side large end portion 102c in the holding portion 20, respectively. At this time, the user sets the rod side and the cap side large end portions 102b and 102c so that the cap side fracture surface 102e corresponding to the upper side of each rod side fracture surface 102d is located.
次に、ステップS2において、制御装置50は、コンベア3を作動させて保持部20ごとロッド側及びキャップ側大端部102b,102cを搬送する。
Next, in step S2, the control device 50 operates the conveyor 3 to convey the rod side and cap side large end portions 102b and 102c together with the holding portion 20.
次いで、制御装置50は、ステップS3~S7の処理とステップS8~S12の処理とを併行して行う。特に、カメラ11は、ロッド側及びキャップ側破断面102d,102eを1つの画像に同時に撮像可能であるため、ステップS3とステップS8、及びステップS4とステップS9とは同時に行われる。
Next, the control device 50 performs the processes of steps S3 to S7 and the processes of steps S8 to S12 in parallel. In particular, since the camera 11 can simultaneously capture the rod-side and cap- side fracture sections 102d and 102e in one image, steps S3 and S8, and steps S4 and S9 are performed at the same time.
前記ステップS3において、制御装置50は、画像取得部10により、ロッド側破断面102dの二次元画像データを取得する。
In step S3, the control device 50 acquires the two-dimensional image data of the rod-side fracture surface 102d by the image acquisition unit 10.
次に、ステップS4において、制御装置50は、画像取得部10により、ロッド側破断面102dの三次元画像データを取得する。
Next, in step S4, the control device 50 acquires the three-dimensional image data of the rod-side fracture surface 102d by the image acquisition unit 10.
次いで、ステップS5において、制御装置50は、ロッド側破断面102dの二次元画像データから、ロッド側輪郭31の画像データを抽出する。
Next, in step S5, the control device 50 extracts the image data of the rod side contour 31 from the two-dimensional image data of the rod side fracture surface 102d.
続いて、ステップS6において、制御装置50は、ロッド側輪郭31の画像データを基準輪郭BCの画像データに適合させるための第1アフィン変換量を算出する。
Subsequently, in step S6, the control device 50 calculates the first affine transformation amount for matching the image data of the rod side contour 31 with the image data of the reference contour BC.
次に、ステップS7において、制御装置50は、ロッド側破断面102dの三次元画像データを第1アフィン変換量でもって補正して、ロッド側補正画像41の画像データを作成する。
Next, in step S7, the control device 50 corrects the three-dimensional image data of the rod-side fracture surface 102d with the first affine transformation amount, and creates the image data of the rod-side corrected image 41.
一方で、前記ステップS8において、制御装置50は、画像取得部10により、キャップ側破断面102eの二次元画像データを取得する。
On the other hand, in step S8, the control device 50 acquires the two-dimensional image data of the cap-side fracture surface 102e by the image acquisition unit 10.
次に、ステップS9において、制御装置50は、画像取得部10により、キャップ側破断面102eの三次元画像データを取得する。
Next, in step S9, the control device 50 acquires the three-dimensional image data of the cap-side fracture surface 102e by the image acquisition unit 10.
次いで、ステップS10において、制御装置50は、キャップ側破断面102eの二次元画像データから、キャップ側輪郭32の画像データを抽出する。
Next, in step S10, the control device 50 extracts the image data of the cap side contour 32 from the two-dimensional image data of the cap side fracture surface 102e.
続いて、ステップS11において、制御装置50は、キャップ側輪郭32の画像データを基準輪郭BCの画像データに適合させるための第2アフィン変換量を算出する。
Subsequently, in step S11, the control device 50 calculates the second affine transformation amount for matching the image data of the cap side contour 32 with the image data of the reference contour BC.
次に、ステップS12において、制御装置50は、キャップ側破断面102eの三次元画像データを第2アフィン変換量でもって補正して、キャップ側補正画像42の画像データを作成する。
Next, in step S12, the control device 50 corrects the three-dimensional image data of the cap-side fracture surface 102e with the second affine transformation amount, and creates the image data of the cap-side corrected image 42.
そして、ステップS13において、制御装置50は、ロッド側補正画像41の画像データとキャップ側補正画像42の画像データとを比較して、ロッド側破断面102dとキャップ側破断面102eとの適合性を判定する。
Then, in step S13, the control device 50 compares the image data of the rod-side correction image 41 with the image data of the cap-side correction image 42 to determine the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e. judge.
続いて、ステップS14において、制御装置50は、全ての破断面について検査が完了したか否か、すなわち、2組の破断面102d,102eの適合性の判定が2組とも完了したか否かについて判定する。制御装置50は、2組とも適合性の判定が完了しているYESのときには、破断面検査を終了する。一方で、制御装置50は、2組の破断面102d,102eのうち一方の組のみが適合性の判定が完了しているNOのときには、ステップS2に戻り、他方の組の破断面102d,102eについても適合性の判定を行う。
Subsequently, in step S14, the control device 50 determines whether or not the inspection of all the fracture surfaces has been completed, that is, whether or not both of the two sets of fracture surfaces 102d and 102e have been determined to be compatible. judge. When the suitability determination of both sets is YES, the control device 50 ends the fracture surface inspection. On the other hand, when the control device 50 returns to step S2 when only one of the two sets of fracture surfaces 102d and 102e has been determined to be compatible, the control device 50 returns to step S2 and the other set of fracture surfaces 102d and 102e. Also, the suitability is judged.
尚、制御装置50は、前記ステップS13において、ロッド側破断面102dとキャップ側破断面102eとの適合性が基準を満たしているときには、表示装置60に基準を満たしていることを表示する。ロッド側破断面102dとキャップ側破断面102eとの適合性が基準を下回っているときには、表示装置60に基準を満たしていないことを、欠陥箇所と一緒に表示する。
In the step S13, when the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e satisfies the standard, the control device 50 indicates to the display device 60 that the standard is satisfied. When the compatibility between the rod-side fracture surface 102d and the cap-side fracture surface 102e is below the standard, the display device 60 indicates that the standard is not satisfied together with the defective portion.
したがって、本実施形態1では、ロッド側破断面102dの二次元画像データと三次元画像データとを取得し(ステップS3,S4)、対応するキャップ側破断面102eの二次元画像データと三次元画像データとを取得し(ステップS8,S9)、ロッド側輪郭31及びキャップ側輪郭32に関する画像データを、ロッド側及びキャップ側破断面102d,102eの各二次元画像データからそれぞれ取得し(ステップS5,S10)、ロッド側及びキャップ側輪郭31,32の各画像データが、所定の基準輪郭BCを示す画像データに適合するように、ロッド側及びキャップ側輪郭31,32の各画像データをそれぞれ補正する際の補正量を算出し(ステップS6,S11)、算出した各補正量に基づいて、ロッド側及びキャップ側破断面102d,102eの各三次元画像データをそれぞれ補正して、ロッド側及びキャップ側補正画像41,42の画像データをそれぞれ取得し(ステップS7,S12)、ロッド側補正画像41の画像データとキャップ側補正画像42の画像データとを比較して、ロッド側及びキャップ側破断面102d,102eが良品であるか否かを判定する(ステップS13)。これにより、破断面のエッジ部分に欠けが生じていたとしても、該欠けの部分も破断面検査の検査領域に含めることができるため、検査精度を向上させることができる。また、三次元画像データの間の位置合わせが効率良く行われるため、検査を高効率化させることができる。
Therefore, in the first embodiment, the two-dimensional image data and the three-dimensional image data of the rod-side fracture surface 102d are acquired (steps S3 and S4), and the two-dimensional image data and the three-dimensional image of the corresponding cap-side fracture surface 102e are acquired. Data is acquired (steps S8 and S9), and image data regarding the rod-side contour 31 and the cap-side contour 32 are acquired from the two-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e, respectively (steps S5 and S5). S10), the rod side and cap side contours 31 and 32 are corrected so that the rod side and cap side contours 31 and 32 match the image data indicating the predetermined reference contour BC, respectively. The correction amount is calculated (steps S6 and S11), and the three-dimensional image data of the rod side and cap side fracture sections 102d and 102e are corrected based on the calculated correction amount, respectively, and the rod side and the cap side are corrected. The image data of the corrected images 41 and 42 are acquired (steps S7 and S12), respectively, and the image data of the rod side corrected image 41 and the image data of the cap side corrected image 42 are compared, and the rod side and the cap side fracture surface 102d. , 102e is determined to be a non-defective product (step S13). As a result, even if the edge portion of the fracture surface is chipped, the chipped portion can be included in the inspection area of the fracture surface inspection, so that the inspection accuracy can be improved. In addition, since the alignment between the three-dimensional image data is efficiently performed, the inspection can be made highly efficient.
特に、本実施形態1では、ロッド側輪郭31の画像データが基準輪郭BCの画像データに適合するように、ロッド側輪郭31の画像データをアフィン変換する際の第1アフィン変換量と、キャップ側輪郭32の画像データが基準輪郭BCの画像データに適合するように、キャップ側輪郭32の画像データをアフィン変換する際の第2アフィン変換量とをそれぞれ算出し、第1アフィン変換量でもってロッド側破断面102dの三次元画像データを補正しかつ第2アフィン変換量でもってキャップ側破断面102eの三次元画像データを補正する。これにより、ロッド側及びキャップ側輪郭31,32の各画像データにおける位置合わせが効率的に行われる。この結果、ロッド側及びキャップ側破断面102d,102eの三次元画像データの間の位置合わせの効率が向上するため、検査をより高効率化させることができる。
In particular, in the first embodiment, the first affine conversion amount at the time of affine conversion of the image data of the rod side contour 31 and the cap side so that the image data of the rod side contour 31 matches the image data of the reference contour BC. The second affine conversion amount at the time of affine conversion of the image data of the cap side contour 32 is calculated so that the image data of the contour 32 matches the image data of the reference contour BC, and the rod is used with the first affine conversion amount. The three-dimensional image data of the side fracture surface 102d is corrected, and the three-dimensional image data of the cap side fracture surface 102e is corrected by the second affine conversion amount. As a result, the alignment of the rod-side and cap- side contours 31 and 32 in the respective image data is efficiently performed. As a result, the efficiency of alignment between the three-dimensional image data of the fractured surfaces 102d and 102e on the rod side and the cap side is improved, so that the inspection can be made more efficient.
また、本実施形態1において、検査装置1の保持部20は、ロッド側破断面102dとキャップ側破断面102eとが上下方向に相隣接しかつ画像取得部10に対する距離が等しくなるように、ロッド側及びキャップ側大端部102b,102cをそれぞれ保持し、画像取得部10は、ロッド側及びキャップ側破断面102d,102eの画像を同時に取得可能に構成されている。これにより、ロッド側及びキャップ側破断面102d,102eの画像データを効率的に取得することができるとともに、制御装置50の画像処理も高効率化される。これにより、検査をより高効率化させることができる。
Further, in the first embodiment, the holding portion 20 of the inspection device 1 has a rod such that the fractured surface 102d on the rod side and the fractured surface 102e on the cap side are adjacent to each other in the vertical direction and the distances to the image acquisition unit 10 are equal. The side and cap side large end portions 102b and 102c are held, respectively, and the image acquisition unit 10 is configured to be able to simultaneously acquire images of the rod side and cap side fracture sections 102d and 102e. As a result, the image data of the fractured surfaces 102d and 102e on the rod side and the cap side can be efficiently acquired, and the image processing of the control device 50 is also made highly efficient. As a result, the inspection can be made more efficient.
(実施形態2)
以下、実施形態2について、図面を参照しながら詳細に説明する。尚、以下の説明において前記実施形態1と共通の部分については、同じ符号を付して、その詳細な説明を省略する。 (Embodiment 2)
Hereinafter, the second embodiment will be described in detail with reference to the drawings. In the following description, the parts common to the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.
以下、実施形態2について、図面を参照しながら詳細に説明する。尚、以下の説明において前記実施形態1と共通の部分については、同じ符号を付して、その詳細な説明を省略する。 (Embodiment 2)
Hereinafter, the second embodiment will be described in detail with reference to the drawings. In the following description, the parts common to the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.
本実施形態2では、保持部220の構成が前述の実施形態1とは異なる。画像取得部10は、前述の実施形態1と同じ構成であるため詳細な説明を省略する。また、制御装置50を含む制御系の構成も、基本的には前述の実施形態1と同じであるため詳細な説明を省略する。
In the second embodiment, the configuration of the holding portion 220 is different from that of the first embodiment. Since the image acquisition unit 10 has the same configuration as that of the first embodiment, detailed description thereof will be omitted. Further, since the configuration of the control system including the control device 50 is basically the same as that of the first embodiment, detailed description thereof will be omitted.
本実施形態2に係る保持部220について図11を参照しながら詳細に説明する。以下の説明では、前記実施形態1と同様に、コンベア3の搬送方向と上下方向とに直交する方向を前後方向といい、画像取得部10側を前側、保持部220側を後側という。
The holding portion 220 according to the second embodiment will be described in detail with reference to FIG. In the following description, as in the first embodiment, the direction orthogonal to the transport direction and the vertical direction of the conveyor 3 is referred to as a front-rear direction, the image acquisition unit 10 side is referred to as a front side, and the holding unit 220 side is referred to as a rear side.
本実施形態2において、保持部220は、図11に示すように、ロッド側大端部102bを保持するロッド側保持部221と、キャップ側大端部102cを保持するキャップ側保持部222とを有する。ロッド側保持部221とキャップ側保持部222とはコンベア3の搬送方向に並んでいる。これにより、ロッド側大端部102bとキャップ側大端部102cとは前記搬送方向に並んだ状態でそれぞれ保持される。
In the second embodiment, as shown in FIG. 11, the holding portion 220 includes a rod-side holding portion 221 that holds the rod-side large end portion 102b and a cap-side holding portion 222 that holds the cap-side large end portion 102c. Have. The rod-side holding portion 221 and the cap-side holding portion 222 are aligned in the transport direction of the conveyor 3. As a result, the large end portion 102b on the rod side and the large end portion 102c on the cap side are held side by side in the transport direction.
ロッド側保持部221は、ロッド側破断面102dの全体が前側に向かって解放された状態でロッド側大端部102bを支持するための複数(ここでは4つ)の支持ピン221aを有する。支持ピン221aは、ロッド側大端部102bの搬送方向の両側の位置と、ロッド側大端部102bとロッド部103との境界部分における搬送方向の両側の位置とにそれぞれ配置されている。また、ロッド側保持部221は、小端部101の位置決めをするためのガイドピン221bを有する。
The rod-side holding portion 221 has a plurality of (four in this case) support pins 221a for supporting the rod-side large end portion 102b in a state where the entire rod-side fracture surface 102d is released toward the front side. The support pins 221a are arranged at positions on both sides of the rod-side large end portion 102b in the transport direction and at positions on both sides of the boundary portion between the rod-side large end portion 102b and the rod portion 103 in the transport direction. Further, the rod-side holding portion 221 has a guide pin 221b for positioning the small end portion 101.
キャップ側保持部222は、キャップ側破断面102eの全体が前側に向かって解放された状態でキャップ側大端部102cを支持するための複数(ここでは2つ)の支持ピン222aとガイドピン222bとを有する。支持ピン222aは、キャップ側大端部102cの搬送方向の両側の位置にそれぞれ配置されている。ガイドピン222bは、キャップ側大端部102cにおける大径ピン孔102aの位置に配置されている。
The cap-side holding portion 222 includes a plurality of (two in this case) support pins 222a and a guide pin 222b for supporting the cap-side large end portion 102c in a state where the entire cap-side fracture surface 102e is released toward the front side. And have. The support pins 222a are arranged at positions on both sides of the cap-side large end 102c in the transport direction. The guide pin 222b is arranged at the position of the large diameter pin hole 102a in the cap side large end portion 102c.
ロッド側及びキャップ側大端部102b,102cは、対応する破断面同士(突き合わされる破断面同士)が、搬送方向に順番に並ぶように配置されている。具体的には、2つのロッド側破断面102dの一方を第1ロッド側破断面102d-1とし、他方を第2ロッド側破断面102d-2とし、第1ロッド側破断面102d-1に対応するキャップ側破断面102eを第1キャップ側破断面102e-1とし、第2ロッド側破断面102d-2に対応するキャップ側破断面102eを第2キャップ側破断面102e-2とする。図11に示すように、第1ロッド側破断面102d-1が搬送方向の下流側に位置しかつ第2ロッド側破断面102d-2が搬送方向の上流側に位置するようにロッド側大端部102bが配置されているときには、第1キャップ側破断面102e-1が搬送方向の下流側に位置しかつ第2キャップ側破断面102e-2が搬送方向の上流側に位置するようにキャップ側大端部102cが配置される。本実施形態2では、ロッド側及びキャップ側大端部102b,102cは、ユーザにより保持部220に配置される。
The large end portions 102b and 102c on the rod side and the cap side are arranged so that the corresponding fracture surfaces (the fracture surfaces to be abutted) are arranged in order in the transport direction. Specifically, one of the two rod-side fracture sections 102d is the first rod-side fracture surface 102d-1, and the other is the second rod-side fracture surface 102d-2, which corresponds to the first rod-side fracture surface 102d-1. The cap-side fracture surface 102e is defined as the first cap-side fracture surface 102e-1, and the cap-side fracture surface 102e corresponding to the second rod-side fracture surface 102d-2 is defined as the second cap-side fracture surface 102e-2. As shown in FIG. 11, the rod-side large end so that the first rod-side fracture surface 102d-1 is located on the downstream side in the transport direction and the second rod-side fracture surface 102d-2 is located on the upstream side in the transport direction. When the portion 102b is arranged, the cap side so that the first cap side fracture surface 102e-1 is located on the downstream side in the transport direction and the second cap side fracture surface 102e-2 is located on the upstream side in the transport direction. The large end 102c is arranged. In the second embodiment, the rod side and cap side large end portions 102b and 102c are arranged on the holding portion 220 by the user.
画像取得部10は、前記実施形態1と同様に、各ロッド側及び各キャップ側破断面102d,102eの二次元画像データと三次元画像データとをそれぞれ取得する。画像取得部10により取得された破断面の各画像データは、制御装置50により対応する破断面同士を比較できるように仕分けられる。制御装置50は、前記実施形態1と同様に、ロッド側及びキャップ側破断面102d,102eの二次元画像データから、ロッド側及びキャップ側輪郭31,32の画像データを抽出し、各輪郭の画像データを基準輪郭BCと比較して第1及び第2アフィン変換量を算出し、該第1及び第2アフィン変換量でもってロッド側及びキャップ側破断面102d,102eの三次元画像データを補正して、ロッド側及びキャップ側補正画像41,42の画像データを取得する。そして、制御装置50は、ロッド側補正画像41の画像データとキャップ側補正画像42の画像データとを比較して、ロッド側及びキャップ側破断面102d,102eの適合性を判定する。
The image acquisition unit 10 acquires two-dimensional image data and three-dimensional image data of each rod side and each cap side fracture surface 102d, 102e, respectively, as in the first embodiment. Each image data of the fracture surface acquired by the image acquisition unit 10 is sorted so that the corresponding fracture surface can be compared by the control device 50. Similar to the first embodiment, the control device 50 extracts image data of the rod-side and cap- side contours 31 and 32 from the two-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e, and images of each contour. The first and second affine conversion amounts are calculated by comparing the data with the reference contour BC, and the three-dimensional image data of the rod-side and cap-side fracture surfaces 102d and 102e are corrected by the first and second affine conversion amounts. Then, the image data of the corrected images 41 and 42 on the rod side and the cap side are acquired. Then, the control device 50 compares the image data of the rod-side corrected image 41 with the image data of the cap-side corrected image 42, and determines the compatibility of the rod-side and cap-side fracture surfaces 102d and 102e.
したがって、本実施形態2の構成であっても、破断面のエッジ部分に欠けが生じていたとしても、該欠けの部分も破断面検査の検査領域に含めることができ、さらに三次元画像データの間の位置合わせを効率良く行うことができる。よって、検査を高効率化させつつ検査精度を向上させることができる。
Therefore, even in the configuration of the second embodiment, even if the edge portion of the fracture surface is chipped, the chipped portion can be included in the inspection area of the fracture surface inspection, and further, the three-dimensional image data can be obtained. Alignment between them can be performed efficiently. Therefore, it is possible to improve the inspection accuracy while improving the efficiency of the inspection.
(その他の実施形態)
ここに開示された技術は、前述の実施形態に限られるものではなく、請求の範囲の主旨を逸脱しない範囲で代用が可能である。 (Other embodiments)
The technique disclosed herein is not limited to the above-described embodiment, and can be substituted as long as it does not deviate from the gist of the claims.
ここに開示された技術は、前述の実施形態に限られるものではなく、請求の範囲の主旨を逸脱しない範囲で代用が可能である。 (Other embodiments)
The technique disclosed herein is not limited to the above-described embodiment, and can be substituted as long as it does not deviate from the gist of the claims.
例えば、前述の実施形態1及び2では、画像取得部10は、コンベア3の側方に位置しており、保持部20,220は、ロッド側及びキャップ側破断面102d,102eが側方(画像取得部10側)を向いた状態でロッド側及びキャップ側大端部102b,102cをそれぞれ保持していた。これに限らず、画像取得部10をコンベア3の上側に配置するようにしてもよい。このときには、保持部20,220は、ロッド側及びキャップ側破断面102d,102eが上側を向いた状態でロッド側及びキャップ側大端部102b,102cを保持するような構成にする必要がある。
For example, in the above-described embodiments 1 and 2, the image acquisition unit 10 is located on the side of the conveyor 3, and the holding units 20 and 220 have the rod-side and cap-side fracture surfaces 102d and 102e sideways (image). The rod side and the cap side large end portions 102b and 102c were held while facing the acquisition portion 10 side), respectively. Not limited to this, the image acquisition unit 10 may be arranged on the upper side of the conveyor 3. At this time, the holding portions 20 and 220 need to be configured to hold the rod-side and cap-side large end portions 102b and 102c in a state where the rod-side and cap-side fracture surfaces 102d and 102e face upward.
また、前述の実施形態1及び2では、ユーザが、ロッド側及びキャップ側大端部102b,102cを保持部20,220にそれぞれセットしていた。これに限らず、ロボットにより自動的にロッド側及びキャップ側大端部102b,102cを保持部20,220にセットするようにしてもよい。
Further, in the above-described first and second embodiments, the user has set the rod-side and cap-side large end portions 102b and 102c in the holding portions 20 and 220, respectively. Not limited to this, the robot may automatically set the rod side and cap side large end portions 102b and 102c to the holding portions 20 and 220.
また、前述の実施形態1及び2では、破断部品として、かち割りコンロッドのロッド側大端部102bとキャップ側大端部102cを例示した。これに限らず、本開示にかかる破断面検査方法及び破断面検査装置は、破断分割により生じた第1破断部品と第2破断部品のそれぞれの破断面を検査する際には適用することが可能である。
Further, in the above-described first and second embodiments, the rod-side large end portion 102b and the cap-side large end portion 102c of the split connecting rod are exemplified as the breaking parts. Not limited to this, the fracture surface inspection method and fracture surface inspection apparatus according to the present disclosure can be applied when inspecting the fracture surface of each of the first fractured part and the second fractured part generated by the fracture division. Is.
前述の実施形態は単なる例示に過ぎず、本開示の範囲を限定的に解釈してはならない。本開示の範囲は請求の範囲によって定義され、請求の範囲の均等範囲に属する変形や変更は、全て本開示の範囲内のものである。
The above-described embodiment is merely an example, and the scope of the present disclosure should not be construed in a limited manner. The scope of the present disclosure is defined by the scope of claims, and all modifications and changes belonging to the equivalent scope of the scope of claims are within the scope of the present disclosure.
ここに開示された技術は、破断分割により生じた第1破断部品と第2破断部品のそれぞれの破断面を検査する際に有用である。
The technique disclosed here is useful for inspecting the fracture surface of each of the first fractured part and the second fractured part generated by the fracture split.
1 破断面検査装置
10 画像取得部
20 保持部
31 ロッド側輪郭(第1輪郭)
32 キャップ側輪郭(第2輪郭)
41 ロッド側補正画像
42 キャップ側補正画像
53 輪郭情報取得部
54 補正量算出部
55 三次元画像補正部
56 判定部
57 記憶部
102b ロッド側大端部(第1破断部品)
102c キャップ側大端部(第2破断部品)
102d ロッド側破断面(第1破断部品の破断面)
102e キャップ側破断面(第2破断部品の破断面)
220 保持部
BC 基準輪郭
1 Fracturesection inspection device 10 Image acquisition unit 20 Holding unit 31 Rod side contour (first contour)
32 Cap side contour (second contour)
41 Rod side correction image 42 Capside correction image 53 Contour information acquisition unit 54 Correction amount calculation unit 55 Three-dimensional image correction unit 56 Judgment unit 57 Storage unit 102b Rod side large end (first broken part)
102c Cap side large end (second breaking part)
102d Rod side fracture surface (fracture surface of the first fractured part)
102e Cap side fracture surface (fracture surface of the second fractured part)
220 Holding part BC reference contour
10 画像取得部
20 保持部
31 ロッド側輪郭(第1輪郭)
32 キャップ側輪郭(第2輪郭)
41 ロッド側補正画像
42 キャップ側補正画像
53 輪郭情報取得部
54 補正量算出部
55 三次元画像補正部
56 判定部
57 記憶部
102b ロッド側大端部(第1破断部品)
102c キャップ側大端部(第2破断部品)
102d ロッド側破断面(第1破断部品の破断面)
102e キャップ側破断面(第2破断部品の破断面)
220 保持部
BC 基準輪郭
1 Fracture
32 Cap side contour (second contour)
41 Rod side correction image 42 Cap
102c Cap side large end (second breaking part)
102d Rod side fracture surface (fracture surface of the first fractured part)
102e Cap side fracture surface (fracture surface of the second fractured part)
220 Holding part BC reference contour
Claims (8)
- 破断分割により生じた第1破断部品と第2破断部品のそれぞれの破断面を検査する破断面検査方法であって、
前記第1破断部品の破断面である第1破断面の二次元画像データと三次元画像データとを取得する第1破断面画像取得工程と、
前記第1破断面に対応する前記第2破断部品の破断面である第2破断面の二次元画像データと三次元画像データとを取得する第2破断面画像取得工程と、
前記第1破断面の輪郭である第1輪郭及び第2破断面の輪郭である第2輪郭に関する画像データを、前記第1及び第2破断面の各二次元画像データからそれぞれ取得する破断面輪郭取得工程と、
前記第1及び第2輪郭の各画像データが、所定の基準輪郭を示す画像データに適合するように、前記第1及び第2輪郭の各画像データをそれぞれ補正する際の補正量を算出する補正量算出工程と、
前記補正量算出工程で取得した前記補正量に基づいて、前記第1及び第2破断面の各三次元画像データをそれぞれ補正して、第1及び第2補正画像データをそれぞれ取得する画像補正工程と、
前記第1補正画像データと前記第2補正画像データとを比較して、前記第1及び第2破断面が良品であるか否かを判定する判定工程と、を含むことを特徴とする破断面検査方法。 It is a fracture surface inspection method for inspecting the fracture surface of each of the first fractured part and the second fractured part generated by the fracture division.
The first fracture surface image acquisition step of acquiring the two-dimensional image data and the three-dimensional image data of the first fracture surface, which is the fracture surface of the first fractured part,
The second fracture surface image acquisition step of acquiring the two-dimensional image data and the three-dimensional image data of the second fracture surface, which is the fracture surface of the second fractured part corresponding to the first fracture surface,
Image data relating to the first contour which is the contour of the first fracture surface and the second contour which is the outline of the second fracture surface are acquired from the two-dimensional image data of the first and second fracture surfaces, respectively. Acquisition process and
Correction for calculating the correction amount when correcting each image data of the first and second contours so that the image data of the first and second contours match the image data showing a predetermined reference contour. Quantity calculation process and
An image correction step of correcting each of the three-dimensional image data of the first and second fracture surfaces based on the correction amount acquired in the correction amount calculation step and acquiring the first and second corrected image data, respectively. When,
A fracture surface characterized by comprising a determination step of comparing the first corrected image data and the second corrected image data to determine whether or not the first and second fracture surfaces are non-defective products. Inspection method. - 請求項1に記載の破断面検査方法において、
前記補正量算出工程は、前記第1輪郭の画像データが前記基準輪郭の画像データに適合するように、前記第1輪郭の画像データをアフィン変換する際の第1アフィン変換量と、前記第2輪郭の画像データが前記基準輪郭の画像データに適合するように、前記第2輪郭の画像データをアフィン変換する際の第2アフィン変換量とをそれぞれ算出する工程であり、
前記画像補正工程は、前記第1アフィン変換量でもって前記第1破断面の三次元画像データを補正しかつ前記第2アフィン変換量でもって前記第2破断面の三次元画像データを補正する工程であることを特徴とする破断面検査方法。 In the fracture surface inspection method according to claim 1,
In the correction amount calculation step, the first affine conversion amount at the time of affine conversion of the image data of the first contour and the second affine conversion amount so that the image data of the first contour matches the image data of the reference contour. This is a step of calculating the amount of the second affine conversion when the image data of the second contour is affine-converted so that the image data of the contour matches the image data of the reference contour.
The image correction step is a step of correcting the three-dimensional image data of the first fracture surface with the first affine transformation amount and correcting the three-dimensional image data of the second fracture surface with the second affine transformation amount. A fracture surface inspection method characterized by being. - 請求項1又は2に記載の破断面検査方法において、
前記基準輪郭の画像データは、前記判定工程において良品と判定された破断面の輪郭の画像データ、又はコンピュータにより作成された破断部品の三次元モデルにおける破断面の輪郭の画像データであることを特徴とする破断面検査方法。 In the fracture surface inspection method according to claim 1 or 2,
The image data of the reference contour is characterized by being image data of the contour of the fracture surface determined to be a good product in the determination step, or image data of the contour of the fracture surface in a three-dimensional model of the fractured part created by a computer. The fracture surface inspection method. - 破断分割により生じた第1破断部品と第2破断部品のそれぞれの破断面を検査する破断面検査装置であって、
前記第1破断部品の破断面である第1破断面及び該第1破断面に対応する前記第2破断部品の破断面である第2破断面の二次元画像データと三次元画像データとをそれぞれ取得する画像取得部と、
前記画像取得部が取得した前記第1及び第2破断面の各二次元画像データから、前記第1破断面の輪郭である第1輪郭及び第2破断面の輪郭である第2輪郭に関する画像データをそれぞれ取得する輪郭情報取得部と、
前記第1及び第2輪郭の各画像データが所定の基準輪郭の画像データに適合するように、前記第1及び第2輪郭の各画像データを補正する際の補正量をそれぞれ算出する補正量算出部と、
前記補正量算出部が算出した前記補正量に基づいて、前記第1及び第2破断面の各三次元画像データをそれぞれ補正して、第1及び第2補正画像データをそれぞれ取得する三次元画像補正部と、
前記第1補正画像データと前記第2補正画像データとを比較して、前記第1及び第2破断面が良品であるか否かを判定する判定部と、を備えることを特徴とする破断面検査装置。 It is a fracture surface inspection device that inspects the fracture surface of each of the first fractured part and the second fractured part generated by the fracture division.
The two-dimensional image data and the three-dimensional image data of the first fracture surface, which is the fracture surface of the first fractured part, and the second fracture surface, which is the fracture surface of the second fractured part corresponding to the first fracture surface, are respectively. The image acquisition unit to be acquired and
From each of the two-dimensional image data of the first and second fracture surfaces acquired by the image acquisition unit, image data relating to the first contour which is the contour of the first fracture surface and the second contour which is the contour of the second fracture surface. The contour information acquisition unit that acquires each
Correction amount calculation to calculate the correction amount when correcting each image data of the first and second contours so that each image data of the first and second contours matches the image data of a predetermined reference contour. Department and
Based on the correction amount calculated by the correction amount calculation unit, each of the three-dimensional image data of the first and second fracture surfaces is corrected, and the first and second corrected image data are acquired respectively. The correction part and
The fracture surface is characterized by comprising a determination unit for comparing the first corrected image data with the second corrected image data and determining whether or not the first and second fracture surfaces are non-defective products. Inspection equipment. - 請求項4に記載の破断面検査装置において、
前記補正量算出部は、前記第1輪郭の画像データが前記基準輪郭の画像データに適合するように、前記第1輪郭の画像データをアフィン変換する際の第1アフィン変換量と、前記第2輪郭の画像データが前記基準輪郭の画像データに適合するように、前記第2輪郭の画像データをアフィン変換する際の第2アフィン変換量とをそれぞれ算出し、
前記三次元画像補正部は、前記第1アフィン変換量でもって前記第1破断面の三次元画像データを補正しかつ前記第2アフィン変換量でもって前記第2破断面の三次元画像データを補正することを特徴とする破断面検査装置。 In the fracture surface inspection apparatus according to claim 4,
The correction amount calculation unit includes a first affine conversion amount at the time of affine conversion of the image data of the first contour and the second affine conversion amount so that the image data of the first contour matches the image data of the reference contour. The second affine conversion amount when the image data of the second contour is affine-converted is calculated so that the image data of the contour matches the image data of the reference contour.
The three-dimensional image correction unit corrects the three-dimensional image data of the first fracture surface with the first affine transformation amount and corrects the three-dimensional image data of the second fracture surface with the second affine transformation amount. A fracture surface inspection device characterized by - 請求項4又は5に記載の破断面検査装置において、
前記基準輪郭の画像データを記憶する記憶部を更に備え、
前記基準輪郭の画像データは、前記判定部が良品と判定した破断面の輪郭の画像データ、又はコンピュータにより作成された破断部品の三次元モデルにおける破断面の輪郭の画像データであることを特徴とする破断面検査装置。 In the fracture surface inspection apparatus according to claim 4 or 5,
Further provided with a storage unit for storing the image data of the reference contour,
The image data of the reference contour is characterized by being image data of the contour of the fracture surface determined by the determination unit as a non-defective product or image data of the contour of the fracture surface in a three-dimensional model of the fractured part created by a computer. Fracture surface inspection device. - 請求項4~6のいずれか1つに記載の破断面検査装置において、
前記第1及び第2破断部品を保持する保持部を更に備え、
前記保持部は、前記第1破断面と前記第2破断面とが上下方向に相隣接しかつ前記画像取得部に対する距離が等しくなるように、前記第1及び第2破断部品をそれぞれ保持し、
前記画像取得部は、前記第1及び第2破断面の画像を同時に取得可能に構成されていることを特徴とする破断面検査装置。 In the fracture surface inspection apparatus according to any one of claims 4 to 6.
Further provided with a holding portion for holding the first and second broken parts,
The holding portion holds the first and second fractured parts, respectively, so that the first fracture surface and the second fracture surface are adjacent to each other in the vertical direction and the distances to the image acquisition unit are equal.
The image acquisition unit is a fracture surface inspection device characterized in that images of the first and second fracture surfaces can be acquired at the same time. - 請求項7に記載の破断面検査装置において、
前記画像取得部はカメラであり、
前記保持部は、前記カメラの光軸に対する前記第1破断面の距離と、前記カメラの光軸に対する前記第2破断面の距離とが等しくなるように、前記第1及び第2破断部品をそれぞれ保持することを特徴とする破断面検査装置。 In the fracture surface inspection apparatus according to claim 7,
The image acquisition unit is a camera.
The holding portion holds the first and second fractured parts so that the distance of the first fracture surface to the optical axis of the camera and the distance of the second fracture surface to the optical axis of the camera are equal to each other. A fracture surface inspection device characterized by holding.
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JP2006269710A (en) * | 2005-03-24 | 2006-10-05 | Toshiba Corp | Pattern evaluation method and manufacturing method of semiconductor device |
JP2012073142A (en) * | 2010-09-29 | 2012-04-12 | Fuji Heavy Ind Ltd | Method for determination of fracture surface and device for determination of fracture surface |
JP2016170624A (en) * | 2015-03-12 | 2016-09-23 | 富士通株式会社 | Correction device, correction method and correction program |
JP2017211195A (en) * | 2016-05-23 | 2017-11-30 | ジック株式会社 | Method for inspecting fractured surface, and inspection device |
JP6591131B1 (en) * | 2019-02-07 | 2019-10-16 | 三菱電機株式会社 | Structure measuring apparatus and structure measuring method |
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JP2006269710A (en) * | 2005-03-24 | 2006-10-05 | Toshiba Corp | Pattern evaluation method and manufacturing method of semiconductor device |
JP2012073142A (en) * | 2010-09-29 | 2012-04-12 | Fuji Heavy Ind Ltd | Method for determination of fracture surface and device for determination of fracture surface |
JP2016170624A (en) * | 2015-03-12 | 2016-09-23 | 富士通株式会社 | Correction device, correction method and correction program |
JP2017211195A (en) * | 2016-05-23 | 2017-11-30 | ジック株式会社 | Method for inspecting fractured surface, and inspection device |
JP6591131B1 (en) * | 2019-02-07 | 2019-10-16 | 三菱電機株式会社 | Structure measuring apparatus and structure measuring method |
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