JP7254327B2 - PRESS PARTS INSPECTION DEVICE AND PRESS PARTS INSPECTION METHOD - Google Patents

Description

The technology disclosed herein belongs to a technical field related to an inspection apparatus for pressed parts and an inspection method for pressed parts.

2. Description of the Related Art Conventionally, a press-formed part inspection apparatus for inspecting the quality of a formed state of a pressed part after forming is known in a production line for press-formed parts.

For example, the inspection apparatus for pressed parts described in Patent Document 1 includes transport means for transporting pressed parts, a camera for photographing the pressed parts from a direction perpendicular to the conveying direction, and an image of the pressed parts entering the photographing area of the camera. A first light source that irradiates light perpendicularly to the flat portion and a second light source that irradiates light obliquely to the flat portion of the pressed part that has entered the photographing area of the camera to determine the quality of the pressed part. and determination means. The judging means has an arithmetic unit for arithmetically processing an image of the pressed part photographed by the camera, and a storage unit in which reference data of the surface finishing state of the pressed part is stored. The judging means judges whether the pressed part is good or bad by comparing the calculated data of the pressed part processed by the calculator with the reference data.

JP 2014-37977 A

By the way, when a pressed part has a flat part and a side part continuous with the periphery of the flat part, defects in the pressed part such as scratches and cracks can occur in both the flat part and the side part. . In an inspection apparatus such as that disclosed in Patent Literature 1, the camera only photographs from a direction perpendicular to the conveying direction of the pressed part, so it is difficult to photograph the side portion. Therefore, when the inclination angle of the side surface portion with respect to the flat surface portion is large, it becomes difficult to determine whether the pressed part is defective. Therefore, there is room for improvement from the viewpoint of improving the accuracy of determining the quality of pressed parts.

The technology disclosed herein has been made in view of the above points, and the purpose thereof is to improve the accuracy of determining the quality of pressed parts.

In order to solve the above problems, a first aspect of the technology disclosed herein is an inspection for pressed parts for inspecting a panel-shaped pressed part consisting of a flat portion and a side portion continuous to the peripheral edge of the flat portion. For an apparatus, a conveying means for conveying the press part with the flat portion in a posture along the conveying direction, and a corrector for photographing the press part conveyed by the conveying means from a direction orthogonal to the conveying direction. a pair of cameras, an oblique camera arranged adjacent to the front camera and inclined with respect to the conveying direction so as to have a photographing angle different from the photographing angle of the front camera, and the front and tilt cameras inspection means for inspecting the forming state of the pressed parts based on the images taken respectively in the first inclined camera arranged in a posture facing the counter-advancing side of the conveying direction; and a second tilting camera arranged in a posture facing the advancing side in the conveying direction, wherein the facing camera and the first and second tilting cameras continuously move the pressed part every unit time. The inspecting means comprises a computing section for performing arithmetic processing on the captured image, and a plurality of judging the quality of the formed state of the pressed part based on the image data computed by the computing section. a camera processing unit having a determination unit for each of the facing camera and the tilted camera, and the plurality of determination units are configured to execute determination processing independently; When it is necessary to make a new determination while all the determination processes are being executed, the determination process of the above determination section having the longest execution time of the determination process at the present time is stopped, and a new determination process is performed by the determination section. is configured to execute

A second aspect of the technology disclosed herein is, in the first aspect, each of the camera processing units includes a transmission unit that transmits a detection signal of the pressed part to the other camera processing unit; a receiving unit that receives the detection signal transmitted from the camera processing unit of and a temporary storage unit that temporarily stores image data captured by the corresponding front and tilt cameras and processed by the computing unit. and, respectively, the inspection means uses some of the cameras as main cameras and the remaining cameras as sub cameras, and when the main cameras detect the pressed part, the inspection means detects the pressed parts. The main camera processing unit that is the camera processing unit transmits the detection signal to the sub camera processing unit that is the camera processing unit of the sub camera, and the main camera processing unit and the sub camera processing unit perform the detection It is characterized in that it is configured such that after transmitting or receiving a signal, each of the determination units described above performs determination processing.

A third aspect of the technology disclosed herein is the second aspect, wherein the front camera and the first and second tilt cameras continuously photograph the pressed part per unit time. each of the camera processing units sequentially stores image data captured continuously for each unit time and arithmetically processed by the arithmetic unit in the temporary storage unit; Using the front camera as the main camera and the first and second tilt cameras as the sub cameras, the determination unit of the main camera processing unit captures images during a first predetermined period immediately after detecting the pressed part. The image data of the captured image is read out from the temporary storage unit and subjected to determination processing, and the determination unit of the sub-camera processing unit of the first tilt camera performs the determination process during a second predetermined period prior to the first predetermined period. The image data of the captured image is read from the temporary storage unit and subjected to determination processing, and the determination unit of the sub-camera processing unit of the second tilt camera performs a third predetermined period after the first predetermined period. It is characterized in that the image data of the image shot during the period is read out from the temporary storage unit and the determination process is performed.

A fourth aspect of the technology disclosed herein is that, in the second or third aspect, the computing units of the main camera and sub-camera processing unit determine the color of each pixel of the image captured by the main camera. Intensity is calculated for each pixel, and when the number of pixels whose color intensity has changed by a predetermined amount or more from the color intensity of each pixel of the image taken before the pressed part is detected is a predetermined number or more, the above It is characterized by transmitting the detection signal to the sub-camera processing section assuming that the pressed part is detected.

A fifth aspect of the technology disclosed herein is a technology related to an inspection method for pressed parts. Specifically, a method for inspecting a panel-shaped pressed part consisting of a flat part and a side part continuous to the peripheral edge of the flat part is targeted, and the pressed part is conveyed in a posture in which the flat part is along the conveying direction. a process, a facing camera for photographing the conveyed pressed parts from a direction orthogonal to the conveying direction, and a facing camera arranged adjacent to the facing camera so as to have a photographing angle different from the photographing angle of the facing camera. a photographing step of photographing with an oblique camera disposed obliquely with respect to the conveying direction; A computing step in which each image is divided into an image and independently processed, and a part of the above cameras are used as main cameras and the remaining cameras are used as sub cameras, and each image captured by the main camera is processed. a detecting step of detecting the pressed part based on the image data; and a determining step of determining whether the pressed part is formed in a good or bad state based on the image data processed in the computing step. includes a first inclined camera arranged in a posture facing the counter-advancing side of the conveying direction and a second inclined camera arranged in a posture facing the advancing side in the conveying direction; It is a step of continuously photographing the pressed part per unit time by the front camera, the first tilt camera, and the second tilt camera, and the determination step is a step of photographing the photographed by the front camera. a step of independently executing determination based on the image data of the image and determination based on the image data of the image taken by the tilt camera, and performing the determination after the pressed part is detected in the detection step; Further, the determination step is a step in which a plurality of determination units execute determination processing independently, and when all of the determination units are executing determination processing, it is necessary to make a new determination. When there is, it is a step of stopping the determination processing of the determination unit having the longest execution time of the determination processing at the present time, and executing a new determination processing in the determination unit.

A sixth aspect of the technology disclosed herein is directed to a press part inspection apparatus for inspecting a panel-shaped pressed part consisting of a flat portion and a side portion continuous to the peripheral edge of the flat portion. a conveying means for conveying the part in a posture in which the flat portion extends along the conveying direction and the side portion spreads in a direction intersecting the conveying direction; and a tilting camera arranged adjacent to the front camera for photographing from the direction to which the camera is directed, and tilted with respect to the conveying direction so that the photographing angle is different from the photographing angle of the front camera. and an inspection means for inspecting the forming state of the pressed part based on the images taken by the facing and tilting cameras, respectively, wherein the tilting camera faces the advancing side or the counter-advancing side in the conveying direction. The facing camera and the inclined camera are configured to continuously photograph the pressed part per unit time, and the inspection means is an arithmetic unit that arithmetically processes the photographed images. and a plurality of judging units for judging whether the molded state of the pressed part is good or bad based on the image data calculated by the arithmetic unit, for each of the facing camera and the inclined camera, The plurality of determination units are configured to execute determination processing independently, and when it is necessary to make a new determination while all of the determination units are executing determination processing, and the determination processing of the determination unit having the longest determination processing execution time at the present time is stopped, and the determination unit executes new determination processing.

According to the first aspect of the technique disclosed herein, since the front camera and the tilt camera are provided, it is possible to photograph the plane portion and the side portion of the pressed part at appropriate photographing angles. Also, the inspection means has a camera processing section for each of the front camera and the tilt camera. For example, when a pressed part has a wide flat portion and a narrow side portion, the number of images required for quality determination differs between the front camera and the oblique camera. If a camera processing unit is provided for each of the front camera and the tilt camera, appropriate processing can be performed for each camera. Therefore, it is possible to improve the accuracy of determining whether the pressed parts are good or bad.

Also, by arranging the front camera and the tilt camera adjacent to each other, the installation space of the inspection apparatus can be made as compact as possible.

According to the second aspect, since only the main camera detects pressed parts, the load on the sub-camera processing section can be reduced. As a result, it is possible to shorten the judgment time of the quality judgment of the pressed part in the judging section of the sub-camera processing section, and to further improve the judgment accuracy. In addition, since the camera and the sensor are used together, the installation space of the inspection apparatus can be reduced and the cost can be reduced as compared with the case where the sensor is arranged separately.

According to the third aspect, since the first tilt camera is tilted toward the counter-advance side of the conveying direction, it is possible to photograph the pressed parts at an earlier stage than the front-facing camera. On the other hand, since the second tilt camera is arranged tilting toward the advancing side in the conveying direction, it is possible to photograph the pressed parts only at a later stage than the forward facing camera. Therefore, when the front-facing camera as the main camera detects a pressed part, the first tilt camera has already taken an image necessary for judgment, while the second tilt camera takes a further time after detection. The image required for judgment cannot be taken until after

On the other hand, in the third mode, the main camera processing section (the camera processing section of the front-facing camera) performs determination processing using images captured during the first predetermined period immediately after detecting the pressed part. The sub-camera processing unit of the first tilt camera performs processing on images captured during a second predetermined period before the first predetermined period. A sub-camera processing unit of the second tilt camera performs determination processing on an image captured during a third predetermined period after the first predetermined period. As a result, it is possible to determine the quality of the conveyed pressed parts using images taken at appropriate timings, while detecting the pressed parts only with the main camera. As a result, it is possible to further improve the accuracy of determining whether the pressed part is good or bad.

According to the fourth aspect, the conveyed pressed parts can be appropriately detected by the main camera according to the color of the conveying means and the color of the pressed parts. As a result, it is possible to further improve the accuracy of determining whether the pressed parts are good or bad.

According to the fifth aspect, for example, it is possible to determine the flat portion of the pressed part from the image data of the front camera and only determine the side portion of the pressed part from the image data of the tilt camera. As a result, it is possible to make a judgment according to the shape of the pressed part, and to improve the judgment accuracy of the quality of the pressed part. Also, by allowing only the main camera to detect pressed parts, it is possible to reduce the processing load based on the images captured by the sub-camera. As a result, it is possible to further improve the accuracy of determining whether the pressed parts are good or bad.

1 is a schematic diagram showing the configuration of an inspection device for pressed parts; FIG. It is a block diagram which shows the structure of a computer. It is a figure which shows the positional relationship between the press parts conveyed, and each camera, (a) is the state which became able to image|photograph the 1st side part of a press part with a 1st inclination camera, (b) (c) shows a state in which the front-facing camera detects the pressed part, and (c) shows a state in which the second tilt camera can photograph the second side surface of the pressed part. FIG. 10 is an operation diagram showing a state when changing shooting angles of the first and second tilt cameras; FIG. 4 is a schematic diagram showing an image sent to a determination unit among images captured by each camera; 4 is a flow chart showing processing operations during inspection of pressed parts by a computer.

Exemplary embodiments are described in detail below with reference to the drawings.

FIG. 1 schematically shows a pressed part inspection apparatus 1 according to this embodiment. This inspection apparatus 1 is an apparatus for inspecting the molding state of a panel-shaped pressed part 10 that is press-molded from a predetermined plate material so as to have a flat portion 11 and two side portions 12 continuous to the periphery of the flat portion 11. is. Specifically, the inspection device 1 inspects the presence or absence of scratches, cracks, wrinkles, and the like occurring in the pressed part 10 and determines whether the molded state of the pressed part 10 is good or bad. An inspection device 1 is arranged in a production line for molding pressed parts 10 .

The inspection apparatus 1 includes a belt-type conveyor 2 (conveying means) that conveys the pressed part 10 with the plane portion 11 aligned in the conveying direction. The conveyor 2 conveys the pressed parts 10 horizontally at a speed of 0.3 m/s, for example. Press parts 10 are intermittently conveyed to the conveyor 2 at regular intervals. In the following description, of the conveying direction of the conveyor 2, the side on which the pressed parts 10 advance is called the advancing side, and the side opposite to the advancing side is called the counter-advancing side.

The inspection device 1 includes a plurality of cameras 3 (18 cameras in this embodiment) for photographing pressed parts conveyed by the conveyor 2 . The plurality of cameras 3 includes six front-facing cameras 30 for photographing the pressed parts 10 conveyed by the conveyor 2 from a direction orthogonal to the conveying direction. The plurality of cameras 3 includes six first tilting cameras 31 arranged adjacent to the front facing camera 30 and for photographing the pressed parts 10 conveyed by the conveyor 2 from the advancing side in the conveying direction. The plurality of cameras 3 includes six second tilting cameras 32 arranged adjacent to the facing camera 30 and for photographing the pressed parts 10 conveyed by the conveyor 2 from the opposite side of the conveying direction. As shown in FIG. 3, the first and second tilt cameras 31 and 32 are arranged at different shooting angles from the front camera 30. As shown in FIG. The front camera 30 is a camera mainly for photographing the plane portion 11 of the pressed part 10 . The first tilt camera 31 is a camera mainly for photographing the vicinity of the side portion 12 (hereinafter referred to as first side portion 12a) of the pressed part 10 on the advancing side in the conveying direction. The second tilt camera 32 is a camera mainly for photographing the periphery of the side surface portion 12 (hereinafter referred to as the second side surface portion 12b) of the pressed part 10 on the opposite side of the conveying direction. In the following description, the front camera 30 and the first and second tilt cameras 31 and 32 are simply referred to as cameras 3 when they are not distinguished from each other.

Each camera 3 is, for example, a CCD camera that continuously takes pictures at a shooting speed of 0.1 msec. As shown in FIG. 3, each camera 3 is supported by a support device 4 in a posture facing downward above the conveyor 2 . Specifically, each front-facing camera 30 is supported by the horizontal portion 40 of the support device 4 in a posture facing vertically downward. Each of the first tilt cameras 31 is supported by the first tilt portion 41 of the support device 4 in a posture facing the counter-advance side of the transport direction. Each of the second tilt cameras 32 is supported by the second tilt portion 42 of the support device 4 in such a posture as to face the advancing side in the transport direction.

As shown in FIG. 4, the first and second inclined portions 41 and 42 of the support device 4 are configured such that the inclination angle with respect to the horizontal portion 40 can be changed. The inclination angles of the first and second inclined portions 41 and 42 with respect to the horizontal portion 40 are changed according to the shape of the pressed parts 10 conveyed by the conveyor 2 . For example, in the press part 10, when the inclination angle of the side surface portion 12 with respect to the flat surface portion 11 is large, the inclination angles of the first and second inclined portions 41 and 42 with respect to the horizontal portion 40 are large. Make it close to a right angle. On the other hand, when the inclination angle of the side surface portion 12 with respect to the plane portion 11 is small, the inclination angles of the first and second inclined portions 41 and 42 with respect to the horizontal portion 40 are made small, that is, so as to approach the horizontal portion 40 horizontally. to As a result, the first and second side surfaces 12a and 12b can be appropriately photographed using the first and second tilt cameras 31 and 32, respectively.

Each camera 3 is configured to continuously photograph at a photographing speed of 0.1 msec regardless of whether the pressed part 10 is within the photographing area.

The inspection apparatus 1 includes a computer 5 (inspection means) for inspecting the molding state of the press part 10 based on the images captured by the front cameras 30 and the first and second tilt cameras 31 and 32, respectively. Prepare. In this embodiment, there are two computers 5, and each computer 5 is connected to nine cameras 3, respectively. Specifically, one front camera 30 and a plurality of first and second tilt cameras 31 and 32 adjacent to the front camera 30 in the transport direction (this embodiment Of the camera groups 130 (6 in the form), each camera 3 of three camera groups 130 is connected to one computer 5, and each camera 3 of the remaining three camera groups 130 is connected to the other computer 5. there is

In this embodiment, of the three cameras 3 that constitute each camera group 130, the front camera 30 constitutes a main camera, and the first and second tilt cameras 31 and 32 constitute sub-cameras, respectively. The main camera referred to in this specification is a camera that has a role of detecting that the pressed part 10 has been transported in addition to the role of photographing an image for determination for determining the molding state of the pressed part 10. That is. The user sets which of the three cameras 3 (the front camera 30, the first tilt camera 31, and the second tilt camera 32) constituting each camera group 130 is the main camera. It is possible.

The computer 5 has a camera processing section 50 for each camera 3 . In the following description, the camera processing unit 50 connected to the front camera 30, that is, the main camera, will be referred to as a main camera processing unit 50a, while the first and second tilt cameras 31, 32, that is, the sub cameras, will be referred to as a main camera processing unit 50a. The camera processing unit 50 is called a sub-camera processing unit 50b. The main camera processing section 50a and the sub camera processing section 50b are simply referred to as the camera processing section 50 when not distinguished from each other. Although FIG. 2 shows only the camera processing units 50 of the cameras 3 that make up one camera group 130, the computer 5 actually has the camera processing units 50 corresponding to the cameras 3, respectively. have.

Each camera processing unit 50 has an arithmetic unit 51 that performs arithmetic processing on the image captured by each camera 3 . Each camera processing unit 50 has a determination unit 52 that determines whether the molded state of the pressed part 10 is good or bad based on the image data processed by the calculation unit 51 . Each camera processing section 50 has a detection section 53 for determining whether or not the pressed part 10 is detected by the camera 3 . Each camera processing unit 50 has a transmitting unit 54 that transmits a detection signal indicating that the pressed part 10 has been detected to the other camera processing units 50 . Each camera processing section 50 has a receiving section 55 that receives the detection signal transmitted from the other camera processing section 50 . Each camera processing unit 50 has a temporary storage unit 56 that temporarily stores an image captured by the corresponding camera 3 and processed by the computation unit 51 . Each camera processing unit 50 also has a storage unit 57 that stores various data. As shown in FIG. 2, each camera processing unit 50 has three determination units 52 in this embodiment.

The computing unit 51 sequentially computes each image continuously photographed by each camera 3 and generates image data from the brightness and color difference of the image. Specifically, the calculation unit 51 calculates, for example, the color intensity (R value+G value+B value) of each pixel of each image. The calculation unit 51 sequentially sends the image data that has undergone calculation processing to the detection unit 53 and the temporary storage unit 56, respectively.

Based on the image data sent from the calculation unit 51, the detection unit 53 detects that the pressed part 10 has been conveyed. Specifically, the detection unit 53 detects pixels whose color intensity has changed by a predetermined amount or more with respect to the color intensity of each pixel of an image captured before the press part 10 is detected (hereinafter referred to as a pre-detection image). When the number becomes equal to or greater than a predetermined number, it is determined that the pressed part 10 has been detected by the camera 3 . That is, the conveyor 2 is photographed in the pre-detection image. For example, if the color of the conveyor 2 is black, the color intensity of most pixels in the pre-detection image is close to zero. If a pressed part 10 having a color other than black flows there, the color intensity of many pixels in the photographed image of the pressed part 10 increases. On the other hand, for example, when the color of the conveyor 2 is white, most of the pixels in the pre-detection image have color intensities close to the maximum value. If a pressed part 10 having a color other than white flows there, the color intensity of many pixels in the photographed image of the pressed part 10 is reduced. From these facts, the pressed part 10 can be detected appropriately by calculating the number of pixels whose color intensity has changed by a predetermined amount or more. Although details will be described later, each camera processing unit 50 has a detection unit 53, but only the detection unit 53 in the main camera processing unit 50a actually operates. The predetermined color intensity is a color intensity that allows the background (for example, the color of the conveyor 2) to be distinguished from the pressed parts 10. FIG. Further, the predetermined number is the number of pixels that enables recognition that a part of the press part 10 on the advancing side in the conveying direction has entered the photographing area.

When the transmission unit 54 receives a signal indicating that the pressed part 10 has been detected from the detection unit 53 , the transmission unit 54 transmits the detection signal to the other camera processing unit 50 . Although details will be described later, each camera processing unit 50 has a transmitting unit 54, but only the transmitting unit 54 in the main camera processing unit 50a actually operates, as in the case of the detecting unit 53. be.

The receiving unit 55 receives the detection signal transmitted from the transmitting unit 54 of the other camera processing unit 50 and notifies each determining unit 52 that the detection has been received. Although details will be described later, each camera processing unit 50 has a receiving unit 55, but only the receiving unit 55 in the sub-camera processing unit 50b actually operates.

The temporary storage unit 56 sequentially stores the image data sent from the calculation unit 51 .

The determination unit 52 performs determination processing after the transmission unit 54 has transmitted the detection signal or the reception unit 55 has received the detection signal. Specifically, the determination unit 52 of the main camera processing unit 50a starts determination processing after the transmission unit 54 transmits the detection signal, while the determination unit 52 of the sub camera processing unit 50b determines that the reception unit 55 receives the detection signal. After receiving the detection signal, the determination process is started.

The three determination units 52 included in each camera processing unit 50 can perform determination processing independently. In the present embodiment, in each camera processing unit 50, after transmitting or receiving the detection signal, the non-operating determination unit 52 is selected from among the three determination units 52, and the selected determination unit 52 performs determination processing. is done. In each camera processing unit 50, if all the three determination units 52 are in the process of determination when the detection signal is transmitted or received, the execution time of determination processing among the three determination units 52 at the present time is The determination process of the longest one (the one that started the determination process at the earliest time) is stopped, and a new determination process is executed.

The storage unit 57 preliminarily stores reference data of the molding state when the pressed part 10 is a non-defective product. The determination unit 52 reads image data necessary for determination processing from the temporary storage unit 56 and compares the image data with the reference data to determine whether the pressed part 10 is good or bad. For example, if there is even one spot that can be regarded as a flaw in the photographed image, the determination unit 52 determines that the pressed part 10 in which the flaw is detected is a defective product.

Next, the relationship between the pressed parts 10 being conveyed by the conveyor 2 and the photographing areas of the respective cameras 3 will be described.

As shown in FIG. 3( a ), when the pressed part 10 after press molding is conveyed by the conveyor 2 , the pressed part 10 first enters the photographing area of the first tilt camera 31 . At this time, the pressed part 10 is out of the photographing areas of the front camera 30 and the second tilt camera 32 . Therefore, the first inclined camera 31 captures images of the pressed part 10 before the front camera 30, which is the main camera, detects the pressed part 10 .

When the pressed part 10 is conveyed, the pressed part 10 enters the photographing area of the front-facing camera 30 as shown in FIG. 3(b). Thereby, the front-facing camera 30 detects the pressed part 10 . At this time, the pressed part 10 is not within the photographing area of the second tilt camera 32 . After the front facing camera 30 detects the pressed part 10 , the front facing camera 30 photographs the pressed part 10 .

After that, the pressed part 10 is conveyed and, as shown in FIG. be done. As described above, the second tilt camera 32 cannot photograph the pressed part 10 until after a further period of time has elapsed since the front camera 30 detected the pressed part 10 .

As described above, when the first and second tilt cameras 31 and 32 are arranged tilting with respect to the conveying direction, the timing of photographing the image of the pressed part 10 required for the determination process is shifted. Although it is possible to detect the pressed part 10 by each camera 30, in this case, each camera processing unit 50 of each camera 30 simultaneously executes detection processing of the pressed part 10 and quality determination of the pressed part 10. Therefore, the load on each camera processing unit 50 is increased. As a result, it may take time to determine whether the pressed part 10 is good or bad, and the accuracy of the determination may be lowered.

Therefore, in this embodiment, only the main camera processing unit 50a executes the detection processing of the pressed part 10, and the sub camera processing unit 50b receives the detection signal transmitted from the transmission unit 54 of the main camera processing unit 50a. The determination process is executed after receiving by the unit 55. - 特許庁That is, in the computer 5 of the present embodiment, when the front camera 30 detects the pressed part 10, the main camera processing section 50a, which is the camera processing section 50 of the front camera 30, detects the first and second tilt cameras 31 , 32 of the sub-camera processing unit 50b.

FIG. 5 schematically shows an image used by each camera processing unit 50 to determine the quality of the pressed part 10. As shown in FIG. The hatched image in FIG. 5 is an image used for quality judgment of the pressed part 10 . Specifically, when the front-facing camera 30 detects the pressed part 10, the determination unit 52 of the main camera processing unit 50a outputs the image data of the image captured during the first predetermined period immediately after the detection signal is transmitted. It reads out from the temporary storage unit 56 and performs determination processing. When the front-facing camera 30 detects the pressed part 10, the determination unit 52 of the sub-camera processing unit 50b of the first tilt camera 31 detects the image captured during the second predetermined period before receiving the detection signal. The data is read out from the temporary storage unit 56 and the determination process is performed. When the front-facing camera 30 detects the pressed part 10, the determination unit 52 of the sub-camera processing unit 50b of the second tilt camera 32 detects the pressed part 10 after a predetermined specific period has passed since the detection signal was received. The image data of the image captured during the third predetermined period is read out from the temporary storage unit 56 and the determination process is performed. Note that "immediately after transmitting the detection signal" includes simultaneous transmission of the detection signal.

The first predetermined period is a period from when the front-facing camera 30 detects the pressed part 10 to when the corner portion between the flat portion 11 and the second side portion 12b enters the photographing area of the front-facing camera 30. is a period that includes The second predetermined period is a period in which the imaging area of the first tilt camera 31 includes the entire image of the first side surface portion 12a in the height direction. The third predetermined period is a period in which the imaging area of the second tilt camera 32 includes the whole image of the second side surface portion 12b in the height direction. Further, the specific period is the period from when the front-facing camera 30 detects the pressed part 10 to when the photographing area of the second tilt camera 32 includes the entire image of the second side surface portion 12b in the height direction. period.

The first to third predetermined periods and the specific period include the shape of the press part 10, the conveying speed of the conveyor 2, the photographing area of each camera 3, and the first and second inclined portions 41 and 42 of the support device 4. is set for each camera 3 based on the angle of inclination with respect to the horizontal portion 40 . Note that the first to third predetermined periods and the specific period may be the same for all camera groups 130 or may be different for each camera group 130 .

By controlling as described above, each camera processing unit 50 can determine the quality of the pressed part 10 using images captured at appropriate timing. As a result, it is possible to improve the accuracy of determining the quality of the pressed part 10 . Moreover, since the detection of the pressed part 10 is performed only by the main camera (here, the front-facing camera 30), the load on the sub-camera processing section 50b can be reduced. As a result, it is possible to increase the judgment speed of the quality judgment of the pressed part 10 in the judgment section 52 of the sub-camera processing section 50b, and to improve the judgment accuracy of the quality judgment.

Next, processing operations during inspection of the pressed part 10 by the computer 5 will be described based on the flow chart of FIG. Note that the flowchart shown in FIG. 6 is the processing operation of one camera group 130 . This flow chart is repeatedly executed while the production line is in operation.

First, in step S1, the computer 5 causes each camera 3 to start photographing.

In the next step S2, the computer 5 determines whether the front camera 30 has detected the pressed part 10 or not. This determination is based on whether or not the detection unit 53 of the main camera processing unit 50a has determined that the pressed part 10 has been detected. When it is determined that the detection unit 53 of the main camera processing unit 50a has detected the pressed part 10, the computer 5 proceeds to step S3, while the detection unit 53 of the main camera processing unit 50a detects the pressed part 10. If it is not determined that the determination has been made (NO), the process returns to step S2 and determination is made again.

In step S3, the computer 5 causes the transmission section 54 of the main camera processing section 50a to transmit a detection signal to the sub-camera processing section 50b.

In the next step S4, the computer 5 determines whether or not the second predetermined period has passed. If the answer is YES that the second predetermined period has elapsed, the process proceeds to step S5, while if the answer is NO that the second predetermined period has not yet elapsed, the process returns to step S4 to perform determination again.

In step S<b>5 , the computer 5 starts quality determination of the pressed part 10 by the sub-camera processing section 50 b of the first tilt camera 31 . This determination is performed by comparing the image data read from the temporary storage unit 56 with the reference data stored in the storage unit 57, as described above.

In the next step S6, the computer 5 determines whether or not the first predetermined period has passed. If the answer is YES that the first predetermined period has elapsed, the process proceeds to step S7, while if the answer is NO that the first predetermined period has not yet elapsed, the process returns to step S6 to perform determination again.

At step S7, the computer 5 starts quality determination of the pressed part 10 in the main camera processing section 50a. This determination method is the same as in step S5.

In the next step S8, the computer 5 determines whether or not the third predetermined period has passed. If the answer is YES that the third predetermined period has elapsed, the process proceeds to step S9, while if the answer is NO that the third predetermined period has not yet elapsed, the process returns to step S8 to perform determination again. Incidentally, when the third predetermined period of time has passed, the specific period of time has certainly passed.

In step S<b>9 , the computer 5 starts quality determination of the pressed part 10 by the sub-camera processing section 50 b of the second tilt camera 32 . This determination method is the same as in steps S5 and S7. After step S9, the process returns.

Therefore, according to this embodiment, since the front camera 30 and the first and second inclined cameras 31 and 32 are provided, the plane portion 11 and the side portion 12 of the pressed part 10 can be photographed at appropriate photographing angles. can be done. Further, since the computer 5 has a camera processing section 50 for each of the front facing camera 30 and the first and second tilt cameras 31 and 32, each appropriate processing can be performed. Therefore, it is possible to improve the accuracy of determining the quality of the pressed part 10 .

Also, since the first and second tilt cameras 31 and 32 are arranged adjacent to the front camera 30, the installation space of the inspection apparatus 1 can be made as compact as possible.

Furthermore, in the present embodiment, only the front camera 30 as the main camera detects the pressed part 10, so the load on the sub-camera processing section 50b can be reduced. As a result, it is possible to shorten the judgment time of the quality judgment of the pressed part 10 in the judging section 52 of the sub-camera processing section 50b, and to further improve the judgment accuracy. Moreover, since the camera 3 and the sensor are used together, the installation space of the inspection apparatus 1 can be reduced and the cost can be reduced as compared with the case where the sensor is arranged separately.

Further, in the present embodiment, the main camera processing section 50a performs determination processing on an image captured during the first predetermined period immediately after the detection signal is transmitted, and the sub-camera processing section 50b of the first tilt camera 31 performs determination processing. is performed with an image captured during the second predetermined period before receiving the detection signal, and the sub-camera processing unit 50b of the second tilt camera 32 receives the detection signal, and the preset Judgment processing is performed using an image captured during the third predetermined period after the specific period has passed. As a result, while the detection of the pressed parts 10 is performed only by the main camera (here, the front-facing camera 30), the quality of the conveyed pressed parts 10 can be determined using images taken at appropriate timing. It can be carried out. As a result, it is possible to further improve the accuracy of determining whether the pressed part is good or bad.

Furthermore, in the present embodiment, the detection unit 53 of the main camera processing unit 50a determines whether the main camera has detected the pressed part 10 based on the color intensity (R value+G value+B value) and the number of pixels of the captured image. Therefore, the conveyed pressed parts 10 can be appropriately detected by the main camera according to the color of the conveyor 2 and the color of the pressed parts 10 . As a result, it is possible to further improve the accuracy of determining the quality of the pressed part 10 .

Further, in the present embodiment, the first and second inclined portions 41 and 42 in the support device 4 that supports each camera 3 are configured so that the inclination angle with respect to the horizontal portion 40 can be changed, so that the conveyed press The photographing angles of the first and second tilt cameras 31 and 32 can be set to appropriate angles according to the shape of the component 10 . As a result, it is possible to further improve the accuracy of determining the quality of the pressed part 10 .

The technology disclosed herein is not limited to the above-described embodiments, and substitutions are possible without departing from the scope of the claims.

For example, in the above embodiment, the sub-camera processing section 50b extracts an image used for determination by the determination section 52 based on the time when the detection signal from the main camera processing section 50a is received. Alternatively, the sub-camera processing unit 50b may extract an image to be used for determination by the determination unit 52 based on the time when the image of the pressed part 10 detected by the main camera was captured. That is, each camera 3 is provided with a time stamp function, and the time at which the image is captured by each camera 3 is recorded as a time stamp. When the main camera detects the pressed part 10, the transmission section 54 of the main camera processing section 50a transmits the detection signal and the time stamp information added to the image of the detected pressed part 10 to the sub-camera processing section 50b. do. After acquiring the detection signal and the time stamp information, the sub-camera processing unit 50b obtains the time when the image of the pressed part 10 detected by the main camera was taken from the time stamp information. After that, the sub-camera processing unit 50b extracts an image to be used for determination by the determination unit 52 based on the image captured by the corresponding sub-camera at the time closest to the above time. According to this configuration, even if there is a delay in transmission and reception of the detection signal due to, for example, a delay in program parallel processing or a delay in image data transfer buffering, the main camera processing unit 50a and the sub camera processing unit 50b can be properly synchronized with Thereby, the improvement of the determination precision in the determination part 52 can be aimed at.

Further, in the above-described embodiment, each camera 3 continuously shoots at a constant shooting speed. You may do so. That is, since the press parts 10 are intermittently conveyed by the conveyor 2 at regular intervals, the press parts 10 do not enter the photographing area for a while after photographing one press part 10 . Therefore, for example, after the third predetermined period of time has passed, the photography with each camera 3 may be stopped for a preset period of time. According to this, since the arithmetic processing in the arithmetic unit 51 can be reduced, the load on each camera processing unit 50 can be further reduced.

Furthermore, in the above embodiment, the press part 10 has the first and second side portions 12a and 12b, and the first and second tilt cameras 31 and 32 are provided correspondingly. However, not limited to this, in the production line of the pressed part 10 composed of the plane portion 11 and one side portion 12, in addition to the front camera 30, the first tilt camera 31 or the second tilt camera 32 Only one of the above may be provided. Furthermore, in the case of a production line in which the pressed parts 10 composed of the flat part 11 and two side parts 12 and the pressed parts 10 composed of the flat part 11 and one side part 12 flow together, , when the former pressed part 10 is conveyed, all the cameras 3 are operated, while when the latter pressed part 10 is conveyed, either the first inclined camera 31 or the second inclined camera 32 is operated. You may make it stop operation.

Further, although each camera 3 is a CCD camera in the above embodiment, it may be a CMOS camera. In addition, although the photographing speed of each camera 3 was about 0.1 msec, the photographing speed may be increased or decreased in consideration of the size of the press part 10, the conveying speed of the conveyor 2, and the like. .

Furthermore, although there are two computers 5 as inspection means in the above-described embodiment, the number of computers 5 is not limited to this, and may be one or three or more. However, considering the load of the computer 5 and the installation space of the inspection apparatus 1, it is desirable to set the number to about two.

In the above-described embodiment, the camera group 130 is composed of three cameras 3, namely, one front camera 30 and two tilt cameras 31 and 32. However, the present invention is not limited to this. A camera group may be composed of nine cameras 3, that is, the front camera 30 and the six tilt cameras 31 and 32. FIG. In this case, one of nine cameras 3 is used as a main camera, and the remaining cameras 3 (remaining eight cameras 3) are used as sub cameras. Alternatively, all the cameras 3 (6 front cameras 30 and 12 tilt cameras 31 and 32, totaling 18 cameras) may constitute a camera group. In this case, one of the 18 cameras 3 is used as a main camera, and the remaining cameras 3 (remaining 17 cameras 3) are used as sub-cameras. Become.

The above-described embodiments are merely examples, and should not be construed as limiting the scope of the present disclosure. The scope of the present disclosure is defined by the claims, and all modifications and changes within the equivalent range of the claims are within the scope of the present disclosure.

The technique disclosed herein is useful as a press part inspection apparatus for inspecting a panel-shaped pressed part consisting of a flat portion and a side portion continuous to the periphery of the flat portion.

1 Inspection device for pressed parts 2 Conveyor (conveying means)
3 camera 5 computer (inspection means)
10 Press part 11 Plane part 12 Side part 30 Front camera 31 First tilt camera 32 Second tilt camera 50 Camera processing unit 50a Main camera processing unit 50b Sub camera processing unit 51 Calculation unit 52 Judging unit 54 Transmitting unit 55 Receiving Part 56 Temporary storage part

Claims (6)

A pressed part inspection device for inspecting a panel-shaped pressed part consisting of a flat portion and a side portion continuous to the peripheral edge of the flat portion,
a conveying means for conveying the press part in a posture in which the flat portion is along the conveying direction;
a facing camera for photographing the pressed part conveyed by the conveying means from a direction orthogonal to the conveying direction;
an inclined camera arranged adjacent to the front camera and arranged at an angle with respect to the conveying direction so as to have a photographing angle different from the photographing angle of the front camera;
inspection means for inspecting the molding state of the pressed part based on the images respectively captured by the facing and tilting cameras;
The tilt camera includes a first tilt camera arranged in a posture facing the counter-advancing side of the conveying direction, and a second tilt camera arranged in a posture facing the advancing side in the conveying direction,
The front-facing camera and the first and second tilt cameras are configured to continuously photograph the pressed part per unit time,
The inspection means has a camera processing unit that performs arithmetic processing on the photographed image, and a plurality of determination units that determine the quality of the molded state of the press part based on the image data that has been arithmetically processed by the arithmetic unit. a unit for each of the facing and tilting cameras ;
The plurality of determination units are configured to execute determination processing independently, and when it is necessary to make a new determination while all of the determination units are executing determination processing, An inspection apparatus for pressed parts, characterized in that the determination processing of the determination unit having the longest determination processing execution time at present is stopped, and a new determination processing is performed by the determination unit. In the inspection apparatus for pressed parts according to claim 1,
Each of the above camera processing units
a transmission unit that transmits a detection signal of the pressed part to the other camera processing unit;
a receiving unit that receives the detection signal transmitted from the other camera processing unit;
a temporary storage unit that temporarily stores image data captured by the corresponding front and tilt cameras and processed by the computation unit;
each having
The inspection means uses some of the cameras as main cameras and the remaining cameras as sub cameras. The camera processing section transmits the detection signal to the sub-camera processing section that is the camera processing section of the sub-camera, and the main camera processing section and the sub-camera processing section transmit or receive the detection signal. , an inspection apparatus for pressed parts, characterized in that it is configured so that each of the determination units performs determination processing. In the inspection apparatus for pressed parts according to claim 2,
each of the camera processing units sequentially stores in the temporary storage unit the image data that is continuously shot for each unit time and has been arithmetically processed by the arithmetic unit;
The inspection means uses the front camera as the main camera and the first and second inclined cameras as the sub cameras,
The determination unit of the main camera processing unit reads image data of an image captured in a first predetermined period immediately after the detection of the pressed part from the temporary storage unit and performs determination processing,
The determination unit of the sub-camera processing unit of the first tilt camera reads image data of an image captured during a second predetermined period before the first predetermined period from the temporary storage unit and performs determination processing. do,
The determination unit of the sub-camera processing unit of the second tilt camera reads image data of an image captured during a third predetermined period after the first predetermined period from the temporary storage unit and performs determination processing. An inspection apparatus for pressed parts, characterized in that it is configured to: In the inspection apparatus for pressed parts according to claim 2 or 3,
The calculation unit of the main camera processing unit calculates the color intensity of each pixel of the image captured by the main camera,
When the number of pixels whose color intensity has changed by a predetermined amount or more with respect to the color intensity of each pixel of the image captured before the pressed part is detected, the main camera processing unit A press part inspection apparatus, wherein the detection signal is transmitted to the sub-camera processing unit when the press part is detected. A method for inspecting a panel-shaped pressed part comprising a flat portion and a side portion continuous to the periphery of the flat portion, comprising:
A conveying step of conveying the pressed part in a posture in which the flat portion is along the conveying direction;
a facing camera for photographing the conveyed pressed parts from a direction perpendicular to the conveying direction; a photographing step of photographing with an oblique camera arranged obliquely with respect to a direction;
a computing step of dividing each image captured in the photographing step into an image captured by the front-facing camera and an image captured by the tilted camera, and subjecting each image to independent computation;
a detection step of detecting the pressed parts based on image data of each image taken by the main cameras, with some of the cameras being used as main cameras and the remaining cameras being used as sub cameras;
a judgment step of judging whether the molded state of the pressed part is good or bad based on the image data that has been arithmetically processed in the arithmetic step;
The tilt camera includes a first tilt camera arranged in a posture facing the counter-advancing side of the conveying direction, and a second tilt camera arranged in a posture facing the advancing side in the conveying direction,
The photographing step is a step of continuously photographing the pressed part per unit time with the front camera, the first tilt camera, and the second tilt camera,
In the determination step, determination based on image data of the image taken by the straight camera and determination based on image data of the image taken by the inclined camera are performed independently of each other, and the detection step is a step to be executed after the press part is detected in
Further, the determination step is a step in which a plurality of determination units execute determination processing independently, and when it is necessary to make a new determination while all of the determination units are executing determination processing, A method for inspecting pressed parts, characterized in that the step of stopping the determination processing of the determination unit having the longest execution time of the determination processing at the present time and executing a new determination processing in the determination unit. A pressed part inspection device for inspecting a panel-shaped pressed part consisting of a flat portion and a side portion continuous to the peripheral edge of the flat portion,
a conveying means for conveying the pressed part in a posture in which the flat portion extends along the conveying direction and the side portion extends in a direction intersecting the conveying direction;
a facing camera for photographing the pressed part conveyed by the conveying means from a direction orthogonal to the conveying direction;
an inclined camera arranged adjacent to the front camera and arranged at an angle with respect to the conveying direction so as to have a photographing angle different from the photographing angle of the front camera;
inspection means for inspecting the molding state of the pressed part based on the images respectively captured by the facing and tilting cameras;
The tilt camera is arranged in a posture facing the advancing side or the counter-advancing side in the conveying direction,
The front camera and the tilt camera are configured to continuously photograph the pressed part per unit time,
The inspection means is a camera having a calculation unit for performing arithmetic processing on a photographed image, and a plurality of determination units for determining the quality of the molded state of the press part based on the image data calculated by the calculation unit. a processing unit for each of the facing and tilting cameras;
The plurality of determination units are configured to execute determination processing independently, and when it is necessary to make a new determination while all of the determination units are executing determination processing, An inspection apparatus for pressed parts, characterized in that the determination processing of the determination unit having the longest determination processing execution time at present is stopped, and a new determination processing is performed by the determination unit.

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