WO2022190523A1 - 光学式センサ、光学式センサの制御方法及び光学式センサの制御プログラム - Google Patents
光学式センサ、光学式センサの制御方法及び光学式センサの制御プログラム Download PDFInfo
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- WO2022190523A1 WO2022190523A1 PCT/JP2021/046927 JP2021046927W WO2022190523A1 WO 2022190523 A1 WO2022190523 A1 WO 2022190523A1 JP 2021046927 W JP2021046927 W JP 2021046927W WO 2022190523 A1 WO2022190523 A1 WO 2022190523A1
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- 238000007689 inspection Methods 0.000 claims abstract description 100
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- 210000002858 crystal cell Anatomy 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and 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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
- G01B11/272—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes using photoelectric detection means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
Definitions
- the present invention relates to an optical sensor, an optical sensor control method, and an optical sensor control program.
- Patent Literature 1 discloses a ToF (Time of Flight) sensor that detects distance by measuring the time it takes for detection light projected onto an inspection object to be reflected and returned.
- ToF Time of Flight
- Optical sensors are installed in production lines and are sometimes used to measure the characteristic shape of parts flowing through the production line to determine the product type and quality.
- optical sensors are often attached to structures associated with the manufacturing line 300, but may not always be attached near the object to be inspected. Therefore, in recent years, a wide-range type optical sensor with a detection range of several meters has also been developed.
- the wide-range type optical sensor if even a slight angular error occurs during installation, the detected light will deviate from the target portion of the inspection object.
- an optical sensor is attached via a mounting device, it is difficult to precisely adjust the optical axis of the detection light, and the operator must check the spot of the detection light while loosening and tightening the mounting device, which is a cumbersome task. was there.
- the present invention has been made to solve such problems, and provides an optical sensor or the like that does not require complicated optical axis adjustment work even when detecting a relatively distant detection target. It provides.
- An optical sensor comprises a light projecting element that projects detection light, an optical axis adjustment element that adjusts the optical axis of the detection light projected from the light projecting element, and a sensor that reflects off an object.
- a light-receiving element that receives the detected light and outputs a detection signal;
- the direction of the detection light that has obtained the detection result corresponding to the specified condition accepted by the reception unit is the inspection direction.
- the optical axis adjustment element is driven so that the detection light is projected in the determined inspection direction to the inspection object that is determined and installed instead of the preliminary object, and the light emitting element and the light receiving element detect it. and a control unit for executing the process.
- the user can automatically determine the detection direction for the optical sensor to perform the detection process by setting specified conditions regarding the object in advance. You can save the trouble of readjusting the direction.
- the receiving unit may be configured to receive a condition regarding distance as a specified condition. For example, if the target location of the object to be inspected protrudes toward the sensor side, the "closest location" can be specified as the specification condition, and the target location can be intuitively specified according to the characteristics of the target location. be able to.
- control unit preferably executes notification light projection in which the detection light is projected in the determined inspection direction so that the user can visually recognize it.
- notification light projection the user can confirm which direction the detection direction has been determined.
- the above optical sensor may include a display unit that indicates the inspection direction determined by the control unit. If such a display unit exists, the user can confirm which direction the detection direction has been determined.
- the control unit uses the detection results obtained around the fixed inspection direction among the detection results obtained by scanning the detection light to set the detection conditions for the detection process for the inspection object. May be set. Detection results around the determined inspection direction can also be obtained by scanning, so if the detection conditions for detection processing are set using that information, accurate detection processing can be performed according to the shape of the object to be inspected. can.
- a method for controlling an optical sensor includes a light projecting element that projects detection light, an optical axis adjustment element that adjusts the optical axis of the detection light projected from the light projecting element, and a target
- a control method for an optical sensor provided with a light receiving element for receiving detection light reflected by an object and outputting a detection signal, wherein a specified condition regarding a detection result obtained by preliminarily detecting an object is received in advance.
- a receiving step a scanning step of obtaining a plurality of detection results based on the detection signals by driving an optical axis adjustment element with respect to a preliminarily set preliminary object to scan the detection light, and a scanning step of obtaining a plurality of detection results based on the detection signals;
- a determination step of determining the direction of the detection light for which the detection result corresponding to the specified condition received in the reception step is determined as the inspection direction; and an inspection step of driving the optical axis adjustment element so that the detection light is projected in the determined inspection direction, and causing the light projecting element and the light receiving element to perform detection processing.
- a control program for an optical sensor includes a light projecting element that projects detection light, and an optical axis adjustment element that adjusts the optical axis of the detection light projected from the light projecting element. and a light-receiving element that receives detection light reflected by an object and outputs a detection signal, wherein a specified condition related to a detection result obtained by preliminary detecting the object is preliminarily set.
- a scanning step for obtaining a plurality of detection results based on the detection signals by driving the optical axis adjusting element to scan the detection light with respect to a preliminarily set preliminary object; a determination step of determining, as an inspection direction, the direction of the detection light for which a detection result corresponding to the specified condition received in the reception step is obtained among the plurality of detection results received; Then, the computer executes an inspection step of driving the optical axis adjustment element so that the detection light is projected in the determined inspection direction, and causing the light projecting element and the light receiving element to perform the detection process.
- the user can set the detection direction for the optical sensor to perform the detection process by setting the specified conditions regarding the object in advance. Since it is automatically determined, you can save the trouble of readjusting the orientation of the optical sensor.
- an optical sensor or the like that does not require complicated optical axis adjustment work even when detecting a relatively distant detection target.
- FIG. 1 is an external perspective view of an optical sensor;
- FIG. 1 is a system configuration diagram of an optical sensor;
- FIG. 11 is a diagram for explaining an input example of a specified condition;
- FIG. 10 is a diagram showing how a search scan is performed on a preliminary object;
- FIG. 10 is a diagram showing a state when an inspection direction is determined; It is a figure explaining the setting of the detection conditions in a detection process. It is a figure which shows a mode that an inspection target is inspected. It is a flow figure explaining the processing procedure of a control part.
- FIG. 1 is an external perspective view of an optical sensor 100.
- the optical sensor 100 according to the present embodiment is a sensor that detects the presence or absence of a partial shape of a workpiece to be inspected, the distance to a specific location, and the like, and is installed and used in a manufacturing line of a factory, for example.
- the optical sensor 100 projects detection light L1 toward the work and receives detection light L2 that is reflected back from the work.
- the optical sensor 100 described below is a ToF sensor that detects distance information by measuring the round trip time of detection light. When the optical sensor 100 cannot receive the detection light L2, it outputs non - detection information indicating that the workpiece is not detected, and when it receives the detection light L2, it outputs distance information.
- the detection light L1 is transmitted through a transmission window 102 provided on one surface of the housing 101 and projected.
- the optical sensor 100 includes an optical axis adjusting element that adjusts the projection direction of the detection light L1 projected from the light projecting element.
- the optical axis adjusting element can deflect the optical axis of the detection light L1 in two orthogonal directions (the X-axis direction and the Y-axis direction in the drawing) at a predetermined pitch.
- the optical axis of the detection light L 1 can be aligned in any direction (x m , y n ) indicated by dots within the deflectable range.
- the optical sensor 100 can detect the distance in the range from Dn to Df along the projection direction of the detection light L1. That is, the range indicated by halftone dots in the figure is the detectable range, and the optical sensor 100 outputs non-detection information if no workpiece exists within this range, and detects light L 1 if the workpiece exists within this range. output the distance information to the reflection point of
- An operation button 150 is provided on one surface of the housing 101, and the operation button 150 receives an operation from the user.
- a display panel 160 is provided on one surface of the housing 101, and the display panel 160 displays the determined inspection direction and the like, as will be described later.
- a cable 103 is connected to a PLC or a PC, which are external devices, and transmits output signals to these devices.
- the X-axis, Y-axis and Z-axis are defined as shown in the figure. In the following drawings, the same coordinate axes as in FIG. 1 are used to indicate the directions of the constituent elements shown in each drawing.
- FIG. 2 is a system configuration diagram of the optical sensor 100.
- the control system of the optical sensor 100 is mainly composed of a control section 110, a light emitting element 120, an optical axis adjusting element 130, a light receiving element 140, an operation button 150, a display panel 160, an input/output IF 170, and a storage section 180.
- the control unit 110 is a processor (CPU: Central Processing Unit) that controls the optical sensor 100 and executes programs.
- the control unit 110 may be configured to include an arithmetic processing chip such as an ASIC (Application Specific Integrated Circuit) or a processing circuit that processes various electrical signals.
- the control unit 110 executes a control program read from the storage unit 180 or given from an external device via the input/output IF 170 to perform various processes related to workpiece detection processing.
- ASIC Application Specific Integrated Circuit
- the light projecting element 120 is a laser diode that emits laser light (eg, red light of 635 nm to 680 nm), and emits detection light L1 modulated to a specific frequency (eg, 12 MHz) under the control of the controller 110 . If the wavelength band of the detection light L1 is in the visible band, the spot irradiated onto the workpiece can be visually recognized. It is convenient when you want to Note that the light projecting element 120 is not limited to a laser diode that emits coherent light, and an element that emits incoherent light, such as an LED, may be used.
- the optical axis adjustment element 130 is an element that adjusts the optical axis of the detection light L1 projected from the light projecting element 120, as described above.
- a liquid crystal device is used that realizes deflection by applying a voltage to a liquid crystal cell to control on/off.
- the liquid crystal device is formed by laminating a liquid crystal diffraction grating in which liquid crystal cells are arranged (for example, the journal "Optics” Vol. 30 No. 1: “Research Trends in Liquid Crystal Optical Devices” p.
- This device incorporates a control circuit that controls the voltage applied to the liquid crystal cell so that the amount of deflection of the incident laser light can be controlled according to the signal.
- optical axis adjustment element 130 a MEMS mirror, an optical phased array, an electro-optic crystal, or the like can be used.
- a slow light or the like using near-infrared light can be used as long as visible light is not required.
- the light receiving element 140 is, for example, a CMOS sensor having photoelectric conversion pixels arranged two -dimensionally, converts the received detection light L2 into an electric signal, and transmits the electric signal to the control unit 110 .
- the optical paths of the detection light L1 projected toward the workpiece and the detection light L2 received by the light receiving element 140 are shown separately, but they are actually the same optical path as shown in FIG .
- a dichroic mirror is used to separate the optical path of the detection light L2 toward the light receiving element 140 from the optical path of the detection light L1.
- the optical axis adjusting element 130 is accommodated in the housing 101 together with the light emitting element 120 and the light receiving element 140, it is necessary to provide a movable part outside the housing 101 for adjusting the optical axis of the detection light L1. There is no Therefore, since the housing 101 can be directly fixed to a structure associated with a manufacturing line, for example, the optical sensor 100 can be easily installed and is less susceptible to accidental contact by an operator.
- the operation button 150 is an operation member that receives designation from the user, and may include, for example, an UP button, a DOWN button, a cross button, and the like.
- the operation button 150 cooperates with the control unit 110 to function as a reception unit that receives in advance a specified condition related to a detection result obtained by preliminarily detecting an object.
- the operation button 150 also functions as a reception section that receives input of various items of the optical sensor 100 in addition to the function as the reception section.
- the operation member is not limited to the operation button, and may be another device such as a touch sensor.
- the display panel 160 is, for example, a liquid crystal panel, and displays the setting state of the optical sensor 100, distance information as detection results, undetected information, and the like.
- a device indicating the setting state of the optical sensor 100 an LED or the like may be provided.
- the input/output IF 170 is an interface for exchanging information with an external device via the cable 103, and includes, for example, an Ethernet (registered trademark) unit and a LAN unit. Note that the input/output IF 170 is not limited to a wired connection via the cable 103, and may include a wireless connection unit compatible with a wireless LAN or Bluetooth (registered trademark).
- the control unit 110 can also receive operations performed by the user on the external device via the input/output IF 170 .
- the input/output IF 170 cooperates with the control unit 110 to accept Functions as a department.
- the storage unit 180 is a non-volatile storage medium, and is configured by flash memory, for example.
- the storage unit 180 can store various parameter values, functions, lookup tables, etc. used for control and calculation, in addition to programs for executing control and processing of the optical sensor 100 .
- the storage unit 180 stores the specified condition received by the receiving unit and the determined inspection direction of the detection light L1.
- the control unit 110 also serves as a functional calculation unit that executes various calculations according to the processing instructed by the control program.
- the control unit 110 can function as a light projection adjustment unit 111 and a distance calculation unit 112 .
- the light projection adjustment unit 111 adjusts the optical axis according to a command from the program so that the detection light L1 is scanned within the changeable range and that the detection light L1 is projected in the determined inspection direction. drive the adjustment element 130;
- the distance calculation unit 112 calculates the time difference between the projected detection light L1 and the received detection light L2 using, for example, the phase difference between the two , and converts it into the distance to the inspection object.
- the control unit 110 structures the calculation result of the distance calculation unit 112 into data and outputs it as distance information. Alternatively, when the light receiving element 140 does not receive the detection light L2, it outputs prescribed non - detection information.
- the user can pre-specify the specification condition regarding the inspection object for determining the inspection direction to which the detection light L1 should be directed via the operation button 150 or the like.
- the control unit 110 selects the direction in which the detection result corresponding to the specified condition specified by the user among the detection results obtained by scanning the detection light L1 on the preliminarily set preliminary object is the inspection direction. to be confirmed. After that, the projection direction of the detection light L1 is fixed to the fixed inspection direction, and the detection process for the inspection object is executed. The procedure will be specifically described below.
- FIG. 3 is a diagram for explaining an input example of a specified condition.
- the optical sensor 100 is fixed to a structure associated with the production line toward an inspection position on the production line 300 .
- the user places a preliminary workpiece 210, which is a preliminary object of the same type as the intended inspection object, on the production line 300 so that the target inspection point 211 is positioned around the inspection position.
- the inspection point 211 only needs to be included in the deflectable range of the detection light L1, and the user can place the preliminary work 210 on the production line 300 at an approximate location without paying much attention. good.
- the preliminary work 210 is desirably a standard product in which the inspection point 211 is determined to be good.
- the inspection point 211 is the screw head of the hexagonal screw, and that the hexagonal screw is correctly tightened in the preliminary work 210 as well.
- the user operates the operation button 150 to specify the specified conditions regarding the inspection object.
- the conditions that can be specified are listed on the display panel 160 as selection items 161 as shown.
- the selection items 161 are "Far”, in which the light projection direction in which the farthest distance is detected is the inspection direction, "Near”, in which the light projection direction in which the shortest distance is detected is the inspection direction, "Average” is prepared in which the light projection direction closest to the average value of all the distances is set as the inspection direction.
- These selection items are prepared as specific items so that the user can easily select the detection results obtained by preliminarily detecting the object to be inspected.
- the user can align the selection index 162 with any of the selection items 161 by operating the operation button 150 .
- the selection index 162 is aligned with "Near”.
- "Near" is confirmed as the specified condition.
- the options are not limited to these.
- the user himself/herself may input/specify the detection distance numerically. For example, if you specify "3m20cm", you can set the light projecting direction in which the closest distance is detected as the inspection direction. The projected light direction can be set as the inspection direction.
- conditions based on the shape of the object may be prepared as options, such as "place depressed with respect to surroundings".
- the designation of the designated condition is not limited to the case of receiving the operation of the operation button 150, and the control unit 110 can receive the designation of the designated condition performed by the user on the external device via the input/output IF 170. There may be.
- FIG. 4 is a diagram showing how search scanning is performed on a preliminary work 210, which is a preliminary object.
- the control unit 110 accepts the specified condition in advance as described above, and upon accepting an instruction to start the search scan, starts the search scan as shown in FIG. 4A.
- the projection adjustment unit 111 drives the optical axis adjustment element 130 to sequentially deflect the projection direction of the detection light L1 from the upper left to the lower right within the deflectable range in a unicursal manner.
- the control unit 110 controls the light emitting element 120 and the light receiving element 140, and sequentially stores the distance information in each light projecting direction calculated by the distance calculating unit 112 in the storage unit 180 together with the coordinates of the light projecting direction. do.
- the direction coordinates (x T , y T ) and the detected distance DT are stored in the storage unit 180 .
- the projection direction of the deflectable detection light L1 is indicated by the directional coordinates (x, y), but the parameters that define the projection direction are not limited to this. It may be defined by the deflection angle and the deflection angle around the yaw axis.
- the control unit 110 extracts from the obtained distances those that meet specified conditions specified in advance, and determines the direction coordinates associated with the distances as the inspection direction. Specifically, if " Near " is designated as the designation condition as shown in FIG. y T ) to be the inspection direction.
- FIG. 5 is a diagram showing the state when the inspection direction is determined.
- the control unit 110 executes notification light projection for projecting the detection light L1 in the confirmed inspection direction so that the user can visually recognize it.
- the notification light projection is a light projection mode different from the normal detection light L1, for example, the output intensity is increased or flashing light is projected. As a result, a highly visible spot is formed at the inspection location 211, and the user can confirm the location where the inspection is to be performed.
- the control unit 110 simply displays the determined inspection direction on the display panel 160 .
- a range frame 163 representing the deflection range is displayed in the display area of the display panel 160
- a direction indicator 164 representing which direction in the deflection range is the inspection direction is displayed in the range frame 163. Display at a position relative to . Therefore, the user can confirm the inspection direction by observing the display panel 160 .
- the inspection direction is automatically determined in this way, the user can loosen the attachment tool while confirming the spot of the detection light even when detecting a detection target relatively far from the optical sensor 100. It is possible to omit complicated work such as tightening and tightening.
- FIG. 6 is a diagram illustrating an example of setting detection conditions in the detection process.
- the control unit 110 can also set the detection conditions for the detection process for the inspection object using the detection results obtained around the determined inspection direction among the detection results obtained by scanning the detection light L1. can. For example, if it is expected that the distance D 0 will be detected if the inspection location has the shape as designed, the detection distance D with respect to the inspection object is (D 0 ⁇ S) ⁇ D ⁇ (D 0 +S) It is assumed that the product will be accepted if it satisfies the following conditions. At this time, S can be determined according to the difference between the distance D T ( ⁇ D 0 ) of the inspection location and the surrounding distance D R of the preliminary workpiece 210 .
- the direction coordinates of the inspection direction are determined to be ( xT, yT)
- S is calculated according to the detection distance D T and the distance D R which is the average value of the detection distances in the surrounding direction coordinates.
- the control unit 110 outputs an inspection result of “pass”. be able to.
- the size and shape of the inspected portion are taken into consideration. good.
- a user may input specific numerical values in advance, or a range in which a detection result similar to the detection result of the direction coordinates (x T , y T ) can be obtained is determined to be on the same plane as the detection point. , may be automatically set to avoid the plane.
- FIG. 7 is a diagram showing how an inspection workpiece 220, which is an object to be inspected, is inspected.
- the light projection adjustment unit 111 fixes the projection direction of the detection light L 1 to the determined direction coordinates (x T , y T ).
- the user removes the preliminary works 210 and operates the production line 300 such that the target inspection works 220 flow sequentially.
- the control unit 110 sends a control command to the light emitting element 120 and the light receiving element 140 to execute detection processing each time the workpiece 220 to be inspected reaches a specified position on the manufacturing line 300, and outputs the detection result to an external device. .
- the hexagonal screw is correctly tightened in a certain workpiece 220a to be inspected, and the optical sensor 100 outputs the distance Da to the external device as the detected distance at the inspection point 221a.
- the external device confirms that the distance Da is included in the allowable range, and determines "pass". For example, if the allowable range is set to ⁇ with respect to D 0 described above, (D 0 ⁇ ) ⁇ D a ⁇ (D 0 + ⁇ ) is “passed”.
- " ⁇ " is a fixed value determined in advance.
- the hexagon screw is floating due to insufficient tightening of the next work 220b to be inspected, and the optical sensor 100 outputs the distance Db to the external device as the detection distance at the inspection location 221b.
- the external device confirms that the distance Db is not included in the allowable range, and judges it as "failed”. According to the above example, D b ⁇ (D 0 ⁇ ), so it is “failed”. In this manner, the optical sensor 100 can be used to determine whether the workpiece 220 to be inspected is good or bad.
- the optical sensor 100 may make pass/fail judgment and output the result to an external device.
- FIG. 8 is a flowchart for explaining the processing procedure of the control unit 110. As shown in FIG. The flow starts when the optical sensor 100 is fixed to a structure attached to the manufacturing line 300 and the preliminary work 210 is placed on the manufacturing line 300, and the power is turned on.
- step S101 the control unit 110 accepts the specified condition regarding the object through the operation of the operation button 150 by the user.
- step S102 an instruction to start scanning is accepted through the operation of the operation button 150 by the user.
- control unit 110 Upon receiving an instruction to start scanning, control unit 110 executes search scanning on preliminary workpiece 210 in step S103. That is, the light projection adjustment unit 111 drives the optical axis adjustment element 130 to scan the detection light L1, controls the light projection element 120 and the light reception element 140, and causes the distance calculation unit 112 to sequentially calculate the distance. The calculation results are stored in the storage unit 180 together with the direction coordinates.
- step S104 the control unit 110 extracts from the obtained distances those that meet the specified condition specified in step S101, and converts the direction coordinates associated with the distances into the inspection direction. to be confirmed.
- step S105 control unit 110 performs notification light projection in the determined inspection direction, and simply displays the inspection direction on display panel 160.
- step S106 the control unit 110 waits until an instruction to start examination is received through the operation of the operation button 150 by the user, and when the instruction is received, the process proceeds to step S107.
- the control unit 110 causes the light projection adjustment unit 111 to direct the projection direction of the detection light L1 to the determined inspection direction, and causes the light projecting element 120 and the light receiving element 140 to execute detection processing.
- Control unit 110 outputs the detection result to an external device via input/output IF 170 .
- the specified condition can be set in various ways other than the condition related to distance according to the configuration of the optical sensor. For example, if a light-receiving element capable of detecting changes in the amount of received light is adopted, even if the object to be inspected is positioned at the same distance from the optical sensor, the amount of reflected light will change depending on the color of the reflection point. Conditions can be set to specified conditions. For example, if the surface of the object is coated with black paint and another with non-black paint, the amount of reflected light decreases when the surface is coated with black paint. can be done.
- scanning search will detect “black areas” and “non-black areas” even if the distance is the same. can do.
- the optical sensor 100 is not limited to a ToF sensor that detects distance information by measuring the round-trip time of detection light, but is also a distance sensor that measures the arrival position of reflected light that changes according to the distance of an object to be detected.
- a triangulation sensor for detecting information may be used.
- a lookup table that associates the measurement distance with the projection direction of the detection light L1 and the light reception position of the detection light L2 should be prepared in advance. For example, distance information can be generated as a detection result.
- the optical sensor 100 described above uses the entire deflectable range as the search scanning range, but the entire deflectable range does not necessarily have to be scanned.
- the scanning range may be specified by the user operating the operation button 150, or the scanning range may be automatically limited based on the information of the inspection object sent from the external device.
- detection of distance information for judging the quality of an object to be inspected has been described, but the usage of the output distance information is not limited to the quality judgment. For example, it is conceivable to use a characteristic partial shape as an inspection object and detect the distance to determine the type of the inspection object.
- the optical axis adjustment element (130) is driven so that the detection light is projected in the determined inspection direction
- the light emitting element (120) and the light receiving element (140) are an optical sensor (100) comprising a control unit (110) for causing a detection process to be performed by the optical sensor (100).
- SYMBOLS 100 Optical sensor, 101... Housing, 102... Transmission window, 103... Cable, 110... Control part, 111... Light emission adjustment part, 112... Distance calculation part, 120... Light emission element, 130... Optical axis adjustment element , 140... Light receiving element, 150... Operation button, 160... Display panel, 161... Selection item, 162... Selection index, 163... Range frame, 164... Direction index, 170... Input/output IF, 180... Storage section, 210... Reserve Work 211 Inspection location 220, 220a, 220b Inspection workpiece 221a, 221b Inspection location 300 Production line
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Abstract
Description
検出光(L1)を投光する投光素子(120)と、
前記投光素子(120)から投光された前記検出光(L1)の光軸を調整する光軸調整素子(130)と、
対象物で反射した前記検出光(L2)を受光して検出信号を出力する受光素子(140)と、
対象物を予備的に検出して得られる検出結果に関する指定条件を事前に受け付ける受付部(150、170)と、
予め設置された予備対象物(210)に対して前記光軸調整素子(130)を駆動することにより前記検出光(L1)を走査させて得た前記検出信号に基づく検出結果のうち、前記受付部(150、170)が受け付けた前記指定条件に対応する検出結果が得られた前記検出光の方向を検査方向に確定し、前記予備対象物(210)に代えて設置される検査対象物(220)に対して、確定した前記検査方向へ前記検出光が投光されるように前記光軸調整素子(130)を駆動して、前記投光素子(120)と前記受光素子(140)に検出処理を実行させる制御部(110)と
を備える光学式センサ(100)。
Claims (7)
- 検出光を投光する投光素子と、
前記投光素子から投光された前記検出光の光軸を調整する光軸調整素子と、
対象物で反射した前記検出光を受光して検出信号を出力する受光素子と、
対象物を予備的に検出して得られる検出結果に関する指定条件を事前に受け付ける受付部と、
予め設置された予備対象物に対して前記光軸調整素子を駆動することにより前記検出光を走査させて得た前記検出信号に基づく検出結果のうち、前記受付部が受け付けた前記指定条件に対応する検出結果が得られた前記検出光の方向を検査方向に確定し、前記予備対象物に代えて設置される検査対象物に対して、確定した前記検査方向へ前記検出光が投光されるように前記光軸調整素子を駆動して、前記投光素子と前記受光素子に検出処理を実行させる制御部と
を備える光学式センサ。 - 前記受付部は、前記指定条件として距離に関する条件を受け付ける請求項1に記載の光学式センサ。
- 前記制御部は、確定した前記検査方向へ前記検出光をユーザが視認可能なように投光する告知投光を実行する請求項1又は2に記載の光学式センサ。
- 前記制御部が確定した前記検査方向を示す表示部を備える請求項1から3のいずれか1項に記載の光学式センサ。
- 前記制御部は、前記検出光を走査させて得た検出結果のうち、確定した前記検査方向の周辺で得られた検出結果を用いて、前記検査対象物に対する検出処理の検出条件を設定する請求項1から4のいずれか1項に記載の光学式センサ。
- 検出光を投光する投光素子と、前記投光素子から投光された前記検出光の光軸を調整する光軸調整素子と、対象物で反射した前記検出光を受光して検出信号を出力する受光素子とを備える光学式センサの制御方法であって、
対象物を予備的に検出して得られる検出結果に関する指定条件を事前に受け付ける受付ステップと、
予め設置された予備対象物に対して光軸調整素子を駆動することにより前記検出光を走査させて前記検出信号に基づく複数の検出結果を得る走査ステップと、
前記走査ステップで得られた前記複数の検出結果のうち、前記受付ステップで受け付けた前記指定条件に対応する検出結果が得られた前記検出光の方向を検査方向に確定する確定ステップと、
前記予備対象物に代えて設置される検査対象物に対して、確定した前記検査方向へ前記検出光が投光されるように前記光軸調整素子を駆動して、前記投光素子と前記受光素子に検出処理を実行させる検査ステップと
を有する光学式センサの制御方法。 - 検出光を投光する投光素子と、前記投光素子から投光された前記検出光の光軸を調整する光軸調整素子と、対象物で反射した前記検出光を受光して検出信号を出力する受光素子とを備える光学式センサの制御プログラムであって、
対象物を予備的に検出して得られる検出結果に関する指定条件を事前に受け付ける受付ステップと、
予め設置された予備対象物に対して光軸調整素子を駆動することにより前記検出光を走査させて前記検出信号に基づく複数の検出結果を得る走査ステップと、
前記走査ステップで得られた前記複数の検出結果のうち、前記受付ステップで受け付けた前記指定条件に対応する検出結果が得られた前記検出光の方向を検査方向に確定する確定ステップと、
前記予備対象物に代えて設置される検査対象物に対して、確定した前記検査方向へ前記検出光が投光されるように前記光軸調整素子を駆動して、前記投光素子と前記受光素子に検出処理を実行させる検査ステップと
をコンピュータに実行させる光学式センサの制御プログラム。
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