JP2017125695A - Inspection system, display device, program, and inspection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display technology that enables a user to easily visually recognize a result of inspection of an object.SOLUTION: An inspection system comprises: an inspection part that inspects abnormality in shape of an object on the basis of a plurality of photographed images obtained by photographing the object from a plurality of directions; and a display part that can communicate with the inspection part and displays respective representative photographed images in the plurality of directions side by side on a display screen. The respective representative photographed images photographed from the plurality of directions are displayed side by side on the display screen, which enables a user of the inspection system to easily visually recognize a result of inspection of the object.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a technique for inspecting and displaying a form abnormality in an object.

  For parts such as connecting rods and hubs used in automobile drive units, an inspection is performed to check whether there are any abnormalities such as scratches on the parts. Conventionally, such inspection of parts has been performed visually by an operator.

  However, depending on the visual observation of the worker, the time required for the inspection and the inspection result vary among the plurality of workers. Further, even the same worker may take a long time for inspection or cause an oversight of an abnormality due to poor physical condition or reduced concentration. For this reason, there is a demand for development of an apparatus that can automatically and rapidly inspect parts.

  An apparatus for inspecting a component is proposed in, for example, Patent Document 1. The inspection apparatus of patent document 1 is provided with the illumination part which has a some light irradiation part, and one imaging part which images components. The apparatus acquires a plurality of inspection images having different light irradiation directions from the illumination unit by controlling the illumination unit and the imaging unit. Then, the part is inspected based on the acquired inspection image.

Japanese Patent Laying-Open No. 2015-68668

  Patent Document 1 does not disclose how to display the acquired inspection image to the user of the apparatus.

  Therefore, there is a need for a technique for displaying the inspection result so that the user can easily see the inspection result of the object. Such a problem is a common problem when not only parts related to automobiles but also various finished products and parts are inspected.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a display technique in which a user can easily visually recognize a test result of an object.

  In order to solve the above-described problem, an inspection system according to a first aspect includes an inspection unit that inspects an abnormality of a form of an object based on a plurality of captured images obtained by imaging the object from a plurality of directions. And a display unit that is communicable with the inspection unit and displays the representative captured images in each of the plurality of directions side by side on a display screen.

  An inspection system according to a second aspect is the inspection system according to the first aspect, wherein the plurality of directions are along a first direction along a reference axis and a plurality of axes rotationally symmetric about the reference axis. A plurality of second captured images captured from the plurality of second directions around the representative captured image captured from the first direction on the display screen. Are arranged corresponding to the positional relationship of each axis.

  An inspection system according to a third aspect is the inspection system according to the first or second aspect, wherein the display unit has an abnormality imaged from a direction in which an abnormality is detected among the plurality of representative captured images. The representative captured image is displayed on the display screen in a manner different from that of the no-abnormal representative captured image captured from the direction in which no abnormality is detected among the plurality of representative captured images.

  The inspection system according to a fourth aspect is the inspection system according to the third aspect, wherein the display unit is a part where abnormality is detected in the representative captured image with abnormality. Is displayed on the display screen in a different manner.

  The inspection system according to a fifth aspect is the inspection system according to the third or fourth aspect, wherein the display unit is configured to display the abnormality-present representative when the representative captured image with abnormality is selected by a user. Each captured image captured from the same direction as the captured image is displayed on the display screen.

  The inspection system according to a sixth aspect is the inspection system according to any one of the first to fifth aspects, wherein the inspection unit further includes the plurality of objects in addition to the plurality of captured images. An abnormality in the object is inspected using at least one captured image obtained by imaging from at least one direction different from the direction of the object.

  An inspection system according to a seventh aspect is the inspection system according to any one of the first to sixth aspects, wherein a result of the inspection is communicated in real time from the inspection unit to the display unit, and the display unit is The plurality of representative captured images are displayed side by side on the display screen in real time.

  An inspection system according to an eighth aspect is the inspection system according to any one of the first to sixth aspects, further comprising a storage unit that stores a result of the inspection in the inspection unit, and the inspection unit After the results of the plurality of examinations are accumulated in the storage unit, the display unit displays the selected result of the one examination when one is selected from the results of the plurality of examinations by the user. A plurality of representative captured images are displayed side by side on the display screen.

  The display device according to the ninth aspect is capable of communicating with an inspection unit that inspects abnormalities in the form of the object based on a plurality of captured images obtained by imaging the object from a plurality of directions. The representative captured images in the respective directions are displayed side by side on the display screen.

  The program according to the tenth aspect is installed in a computer and executed by the CPU, thereby causing the computer to function as the display device according to the ninth aspect.

  An inspection method according to an eleventh aspect is an inspection method executed in an inspection system configured by communicably connecting an inspection unit and a display unit, and the inspection unit includes a plurality of objects. A step of inspecting abnormality of the form in the object based on a plurality of captured images obtained by imaging from the direction, and then the display unit displays each representative captured image in each of the plurality of directions. And displaying them side by side.

  In any of the inspection system according to the first to eighth aspects, the display device according to the ninth aspect, the program according to the tenth aspect, and the inspection method according to the eleventh aspect, images are taken from a plurality of directions. The representative captured images are displayed side by side on the display screen, and the user of the inspection system can easily visually recognize the inspection result of the object.

1 is a diagram illustrating a configuration of an inspection system 100. FIG. 3 is a perspective view showing an appearance of an object 9. FIG. 4 is a top view schematically showing a configuration of a first inspection unit 13. FIG. 3 is an end view schematically showing a configuration of a first inspection unit 13. FIG. It is a figure which shows an example of the flow after imaging the target object until displaying a test result on the display screen. It is a conceptual diagram which shows the example which the main-body part 102 classifies each captured image virtually. It is a figure which shows the example of a display of the test result in real time. It is a figure which shows the example of a display of the test result selected from the log | history. It is a figure which shows the example of a display when the selected representative captured image is enlarged and displayed.

  Hereinafter, embodiments will be described with reference to the drawings.

<1 embodiment>
<1.1 Configuration of Inspection System 100>
FIG. 1 is a diagram showing a configuration of the inspection system 100. The inspection system 100 can communicate with the appearance inspection apparatus 1 and the appearance inspection apparatus 1 for inspecting the appearance abnormality of the object 9 based on a plurality of captured images obtained by imaging the object 9 from a plurality of directions. And a personal computer (hereinafter referred to as a PC) 101 that displays each representative captured image in each of a plurality of directions side by side on the display screen 103.

  FIG. 2 is a perspective view showing the appearance of the object 9. The object 9 is, for example, a metal part formed by forging, and the surface thereof has a matte shape with minute irregularities. The surface of the object 9 has a gloss that diffusely reflects light. In the present embodiment, the object 9 is a crank connector shaft, and the first surface (for example, the front surface in FIG. 2) and the second surface (the surface opposite to the first surface) have the same shape. It is.

  In the appearance inspection apparatus 1, a plurality of objects 9 are inspected while being sequentially conveyed. Therefore, there are a plurality of objects 9 in the appearance inspection apparatus 1 in operation at the same time, and conveyance and inspection are performed on each object 9 in parallel.

  The appearance inspection apparatus 1 includes a first inspection unit 10, a posture changing mechanism 20, a second inspection unit 30, a sorting / discharging mechanism 40, and a control unit 50.

  The first inspection unit 10 is a processing unit for inspecting the first surface of the object 9. As shown in FIG. 1, the first inspection unit 10 includes a first carry-in mechanism 11, a first holding mechanism 12, a first inspection unit 13, and a first carry-out mechanism 14.

  The first carry-in mechanism 11 is a mechanism that carries the object 9 between the carry-in start position P1 and the first inspection position P2 inspected by the first inspection unit 13. The appearance inspection apparatus 1 is provided with an opening 60 that can be opened and closed. The user of the appearance inspection apparatus 1 opens the insertion port 60 and places the object 9 on the placement table of the first carry-in mechanism 11 located at the carry-in start position P1.

  An object 9 is placed on a substantially horizontal mounting table with the first surface facing upward. Thereafter, the first carry-in mechanism 11 moves the mounting table and the object 9 on the mounting table to the first inspection position P2.

  The first holding mechanism 12 is a mechanism capable of switching between a holding state in which the object 9 placed at the first inspection position P2 is held and a non-holding state in which the object 9 is not held. For example, the first holding mechanism 12 includes a pair of holding members that are spaced apart in the horizontal direction, and switches the two states by moving the pair of holding members closer to and away from each other.

  When the first carry-in mechanism 11 transports the object 9 to the first inspection position P2, the first holding mechanism 12 is switched to the holding state. Thus, the object 9 is transferred from the mounting table of the first carry-in mechanism 11 to the pair of holding members in the first holding mechanism 12 with the first surface thereof facing upward. And the said holding | maintenance state is maintained during the test | inspection period which test | inspects the target object 9 by the 1st test | inspection part 13. FIG.

  In addition, after the target 9 is delivered from the 1st carrying-in mechanism 11 to the 1st holding mechanism 12, the 1st carrying-in mechanism 11 moves a mounting base to the carrying-in start position P1 again. Then, the mounting table waits for the next object 9 to be input at the loading start position P1.

  FIG. 3 is a top view schematically showing the configuration of the first inspection unit 13. FIG. 4 is a view as seen from the IV-IV cross section of FIG. 3 and is an end view schematically showing the configuration of the first inspection unit 13.

  The first inspection unit 13 is a mechanism that inspects the first surface of the object 9 arranged at the first inspection position P2. The first inspection unit 13 includes a plurality of light irradiation units 131 that irradiate light from different directions toward the first inspection position P2, and a plurality of imaging units 132 that image the first inspection position P2 from different directions. The plurality of light irradiation units 131 and the plurality of imaging units 132 surround the object 9 in a hemispherical shape (dome shape) in a space above the horizontal plane including the first inspection position P2. However, the distance from the first inspection position P2 to each light irradiation unit 131 and the distance from the first inspection position P2 to each imaging unit 132 are not necessarily the same.

  The plurality of light irradiation units 131 include, for example, one upper light irradiation unit 131a disposed vertically above the first inspection position P2, and eight oblique portions disposed at equal angular intervals obliquely above the first inspection position P2. A side light irradiating part 131b and eight side light irradiating parts 131c arranged at equiangular intervals outside the first inspection position P2 in the substantially horizontal direction are configured. For each light irradiation unit 131, for example, an LED (light emitting diode) that can be switched on and off in a short time is used.

  The plurality of imaging units 132 are, for example, one upper imaging unit 132a arranged vertically above the first inspection position P2, and eight oblique imagings arranged at equiangular intervals obliquely above the first inspection position P2. Part 132b and eight side imaging parts 132c arranged at equiangular intervals outside the first inspection position P2 in the substantially horizontal direction. For each imaging unit 132, for example, an imaging unit having a light receiving element such as a CCD or CMOS and capable of acquiring a multi-gradation digital image is used.

  And each light irradiation part 131 and each image pick-up part 132 are each arrange | positioned close together. The operation timing of each light irradiation unit 131 and each imaging unit 132 will be described in detail in <1.2 Example of inspection> described later.

  The 1st test | inspection part 13 performs the imaging by the several imaging part 132, changing the illumination pattern with respect to the target object 9 by changing the combination of the light irradiation part 131 to light-emit among the several light irradiation parts 131. FIG. . Thus, a large number of captured image groups with different illumination / angles are acquired for one object 9. The acquired captured image group is input to the control unit 50 described later. The control unit 50 compares the captured image group of the object 9 with a reference image prepared in advance, thereby causing abnormalities in the form of the first surface of the captured object 9 (defects on the first surface and the first surface). Inspect the adhering material to. Here, the reference image is an image obtained by imaging an object having the same shape as that of the object 9 and having no abnormality such as a defect or a deposit from the same direction. Therefore, when the degree of coincidence between the image actually obtained by imaging and the reference image is larger than a certain threshold value, it is determined that the imaged target 9 has no abnormality (non-defective product). On the other hand, when the degree of coincidence between the image actually obtained by imaging and the reference image is smaller than the threshold value, it is determined that the imaged target 9 is abnormal (defective product).

  The first carry-out mechanism 14 is a mechanism for bringing the mounting table close to the lower surfaces of the pair of holding members and waiting, and carrying out the object 9 inspected by the first inspection unit 13 from the first inspection position P2. A first delivery position P3 for delivering the object 9 to / from a posture changing mechanism 20 described later is disposed vertically below the first inspection position P2. The inspected object 9 is transferred from the pair of holding members in the first holding mechanism 12 to the mounting table of the first carry-out mechanism 14. Thereafter, the first carry-out mechanism 14 conveys the object 9 vertically downward from the first inspection position P2 to the first delivery position P3 that is lower than the first inspection position P2.

  The posture changing mechanism 20 is a mechanism that changes the posture of the object 9 between the first inspection unit 10 and the second inspection unit 30. As shown in FIG. 1, the posture changing mechanism 20 includes a reversing arm 21 that holds the object 9 and an arm driving mechanism 22 that operates the reversing arm 21. When the object 9 is lowered to the first delivery position P3, the reversing arm 21 receives the object 9 from the mounting table. Then, the arm drive mechanism 22 rotates the reversing arm 21 by 180 ° in the horizontal plane and reverses the posture of the object 9 by 180 ° around the axis of the reversing arm 21. Thereby, the target object 9 is arrange | positioned in the 2nd delivery position P4 in the state which orient | assigned the 2nd surface which is the other side of a 1st surface upward. At this time, the mounting table of the second carry-in mechanism 31 is waiting at the second delivery position P4. The reversing arm 21 places the object 9 on the placement table of the second carry-in mechanism 31.

  The second inspection unit 30 is a processing unit for inspecting the second surface of the object 9. As shown in FIG. 1, the second inspection unit 30 includes a second carry-in mechanism 31, a second holding mechanism 32, a second inspection unit 33, and a second carry-out mechanism 34.

  The second carry-in mechanism 31 is a mechanism that conveys the object 9 obliquely upward from the second delivery position P4 to the second inspection position P5 inspected by the second inspection unit 33. Since the structure of the 2nd carrying-in mechanism 31 is substantially the same as the structure of the 1st carrying-in mechanism 11 mentioned above, duplication description is abbreviate | omitted.

  The second holding mechanism 32 is a mechanism that holds the object 9 at the second inspection position P5 during the inspection by the second inspection unit 33. The object 9 conveyed obliquely upward by the second carry-in mechanism 31 is delivered to the second holding mechanism 32. Since the structure of the second holding mechanism 32 is substantially the same as the structure of the first holding mechanism 12 described above, a duplicate description is omitted.

  The second inspection unit 33 is a mechanism that inspects the second surface of the object 9 arranged at the second inspection position P5. The second inspection unit 33 includes a plurality of light irradiation units 331 that irradiate light from different directions toward the second inspection position P5, and a plurality of imaging units 332 that image the second inspection position P5 from different directions.

  The configuration and arrangement of the plurality of light irradiation units 331 are the same as those of the plurality of light irradiation units 131 described above. The configuration and arrangement of the plurality of imaging units 332 are the same as those of the plurality of imaging units 132. Therefore, the duplicate description about a structure and arrangement | positioning is abbreviate | omitted.

  The second inspection unit 33 performs imaging by the plurality of imaging units 332 while changing the illumination pattern for the object 9 by changing the combination of the light irradiation units 331 to emit light among the plurality of light irradiation units 331. . Thus, a large number of captured image groups with different illumination / angles are acquired for one object 9. The acquired captured image group is input to the control unit 50 described later. The control unit 50 compares the captured image group of the objects 9 with a reference image prepared in advance, thereby causing abnormalities in the form of each object 9 on the second surface (defects on the second surface and the second surface). Check for deposits. As a result, the non-defective product or the defective product is determined for each object 9.

  The second unloading mechanism 34 is a mechanism for unloading the object 9 from the second inspection position P5. Below the second inspection position P5, a third delivery position P6 for delivering the object 9 to and from the sorting / discharging mechanism 40 described later is disposed. The second carry-out mechanism 34 conveys the object 9 vertically downward from the second inspection position P5 to the third delivery position P6 that is lower than the second inspection position P5. Since the structure of the second carry-out mechanism 34 is substantially the same as the structure of the first carry-out mechanism 14 described above, a duplicate description is omitted.

  The sorting and discharging mechanism 40 is a mechanism that discharges the inspection target 9 while sorting it into a non-defective product and a defective product. As shown in FIG. 1, the separation discharge mechanism 40 includes a discharge arm 41, an arm drive mechanism 42 that operates the discharge arm 41, and a discharge conveyor 43. When the object 9 is lowered to the third delivery position P6, the discharge arm 41 receives the object 9 from the carry-out stand of the second carry-out mechanism 34. Subsequently, the arm drive mechanism 42 moves the discharge arm 41 to above the discharge conveyor 43. Then, the grasping of the object 9 by the discharge arm 41 is released. As a result, the object 9 is delivered from the discharge arm 41 to the discharge conveyor 43.

  The discharge conveyor 43 has an annular conveyance belt 431 for placing and conveying the object 9. The discharge conveyor 43 can switch the rotation direction of the transport belt 431 in accordance with an instruction from the control unit 50. In the first inspection unit 10 and the second inspection unit 30, when the object 9 for which no defect is detected is placed on the transport belt 431, the control unit 50 rotates the transport belt 431 in one direction. Accordingly, the object 9 is discharged as a non-defective product to one of the left and right sides of the appearance inspection apparatus 1 (for example, the back side in FIG. 1). On the other hand, in the first inspection unit 10 or the second inspection unit 30, when the object 9 in which a defect is detected is placed on the transport belt 431, the control unit 50 rotates the transport belt 431 in the other direction. . As a result, the object 9 is discharged as a defective product to the other of the left and right sides of the appearance inspection apparatus 1 (for example, the front side in FIG. 1).

  The control unit 50 is a means for controlling the operation of each unit of the appearance inspection apparatus 1. As conceptually shown in FIG. 1, the control unit 50 is configured by a computer having an arithmetic processing unit 51 such as a CPU, a memory 52 such as a RAM, and a storage unit 53 such as a hard disk drive. In the storage unit 53, a program 54 for executing conveyance and inspection of the object 9 is installed.

  The control unit 50 includes the first carry-in mechanism 11, the first holding mechanism 12, the first inspection unit 13, the first carry-out mechanism 14, the attitude changing mechanism 20, the second carry-in mechanism 31, the second hold mechanism 32, and the second. The inspection unit 33, the second carry-out mechanism 34, and the separation / discharge mechanism 40 are electrically connected to each other. The control unit 50 temporarily reads the program 54 stored in the storage unit 53 into the memory 52, and the arithmetic processing unit 51 performs arithmetic processing based on the program 54, thereby controlling the operation of each unit described above. Thereby, conveyance and inspection of a plurality of objects 9 progress sequentially.

  The controller 50 is communicably connected in a direction along the PC 101 provided outside the appearance inspection apparatus 1. Each data obtained by the appearance inspection apparatus 1 is automatically transmitted to the PC 101. When the user of the inspection system 100 inputs operation information from the PC 101, the operation information is transmitted to the control unit 50, and the control unit 50 controls each unit in the appearance inspection apparatus 1 according to the operation information.

  The PC 101 includes a main body unit 102 that performs various processes, a display screen 103, and an input unit 104 for a user to input various information.

  Similar to the control unit 50, the main body unit 102 includes an arithmetic processing unit 151 such as a CPU, a memory 152 such as a RAM, and a storage unit 153 such as a hard disk drive. A program 154 for displaying various types of information on the display screen 103 is installed in the storage unit 153. For this reason, when the program 154 is executed by the arithmetic processing unit 151, the PC 101 functions as a display unit that displays representative captured images to be described later side by side on the display screen 103.

  The program 154 is a program related to GUI (Graphical User Interface). The program 154 is provided in a form (program product) recorded on a recording medium such as a CD-ROM, a DVD-ROM, or an external flash memory, in addition to the form stored in the storage unit 153 in advance as in the present embodiment. Or a mode provided by downloading from an external server via a network.

  The display screen 103 is a screen of a liquid crystal display device, for example. The input unit 104 is configured with, for example, a keyboard and a mouse. The display mode on the display screen 103 will be described in detail in <1.3 Display example on the display screen 103> described later.

<1.2 Example of inspection>
Below, an example when the 1st test | inspection part 13 test | inspects the 1st surface of the target object 9 is demonstrated. FIG. 5 is a diagram illustrating an example of a flow from imaging the object 9 to displaying the inspection result on the display screen 103.

  Each imaging unit 132 images the object 9 (step ST1). First, the upper imaging unit 132a images the object 9 under ten different types of light irradiation conditions.

  At the time of the first to eighth imaging by the upper imaging unit 132a, the eight oblique light irradiation units 131b sequentially irradiate light one by one, and the other parts in the appearance inspection apparatus 1 do not emit light. The Thereby, eight captured images with different light irradiation conditions are acquired.

  At the time of the ninth imaging by the upper imaging unit 132a, only the upper light irradiation unit 131a emits light, and the other units in the appearance inspection apparatus 1 are not in a state of emitting light. Thereby, one picked-up image with different light irradiation conditions from the eight picked-up images is acquired.

  At the time of the tenth imaging by the upper imaging unit 132a, all of the upper light irradiation unit 131a and the eight oblique light irradiation units 131b emit light, and the other units in the appearance inspection apparatus 1 do not emit light. Is done. Thereby, one captured image having different light irradiation conditions from the nine captured images is acquired.

  As a result, a total of ten captured images are acquired by the upper imaging unit 132a.

  Next, the eight oblique imaging units 132b image the object 9 under six different types of light irradiation conditions. First, one oblique imaging unit 132b is designated.

  During the first to fifth imaging by the oblique imaging unit 132b, among the eight oblique light irradiation units 131b, the five oblique light irradiation units 131b at positions close to the oblique imaging unit 132b sequentially emit light one by one. The other parts in the appearance inspection apparatus 1 are set to a state that does not emit light. Thereby, five captured images with different light irradiation conditions are acquired.

  At the time of the sixth imaging by the oblique imaging unit 132b, all of the five oblique light irradiation units 131b emit light, and the other parts in the appearance inspection apparatus 1 are not in a state of emitting light. Thereby, one captured image having different light irradiation conditions from the five captured images is acquired.

  As a result, a total of six captured images are acquired by one oblique imaging unit 132b. Subsequently, a total of six captured images are similarly acquired by the other seven oblique imaging units 132b. Therefore, a total of 48 captured images are acquired by the eight oblique imaging units 132b as a whole.

  Next, the eight side imaging units 132c image the object 9 under six different types of light irradiation conditions. First, one side imaging unit 132c is designated.

  During the first to fifth imaging by the side imaging unit 132c, among the eight side light irradiation units 131c, the five side light irradiation units 131c at positions close to the side imaging unit 132c sequentially emit light one by one. The other parts in the appearance inspection apparatus 1 are set to a state that does not emit light. Thereby, five captured images with different light irradiation conditions are acquired.

  At the time of the sixth imaging by the side imaging unit 132c, all of the five side light irradiation units 131c irradiate light, and the other units in the appearance inspection apparatus 1 are in a state of not emitting light. Thereby, one captured image having different light irradiation conditions from the five captured images is acquired.

  As a result, a total of six captured images are acquired by one side imaging unit 132c. Subsequently, a total of six captured images are similarly acquired by the other seven side imaging units 132c. Therefore, a total of 48 captured images are acquired in the entire eight side imaging units 132c.

  Based on a total of 106 captured images acquired by each imaging unit 132 in this manner, the control unit 50 inspects the abnormality of the first surface of the object 9 and determines whether it is a non-defective product or a defective product (step ST2). Further, the control unit 50 transmits these 106 captured images to the PC 101.

  So far, an example in which the first inspection unit 13 inspects the first surface of the object 9 has been described. However, in the present embodiment, the second inspection unit 33 may inspect the second surface of the object 9. It is the same. That is, based on a total of 106 captured images acquired by each imaging unit 332, the control unit 50 inspects the abnormality of the second surface of the object 9 and determines whether it is a non-defective product or a defective product. Further, the control unit 50 transmits these 106 captured images to the PC 101.

<1.3 Display example on display screen 103>
A user of the inspection system 100 can grasp the inspection result of the object 9 in real time by viewing the display screen 103 while the object inspection 9 is inspecting the object 9. In addition, the user of the inspection system 100 operates the PC 101 after the plurality of objects 9 are inspected by the appearance inspection apparatus 1 and looks at the display screen 103 so that the objects having a history remain. 9 inspection results can be grasped. Below, the example of a display when a test result is displayed on the display screen 103 is demonstrated.

<1.3.1 Real-time test result display example>
In the inspection system 100, the inspection result is communicated from the appearance inspection apparatus 1 to the PC 101 in real time, and the PC 101 displays a plurality of representative captured images side by side on the display screen 103 in real time.

  The display period in which each representative captured image for one object 9 is displayed on the display screen 103 is substantially the same as the period from when one object 9 is unloaded to the next object 9 in the appearance inspection apparatus 1. Are the same. Therefore, for example, if the appearance inspection apparatus 1 is an apparatus that inspects and carries out the object 9 every 5 seconds, the representative captured images of the object 9 displayed on the display screen 103 are also switched every 5 seconds.

  Hereinafter, a display example of the inspection result in real time will be described with reference to FIGS. 6 and 7.

  FIG. 6 is a conceptual diagram illustrating an example in which the main body unit 102 virtually classifies each captured image. In FIG. 6, each captured image in the same group is represented by a rectangle with an interval in the vertical direction. Further, in FIG. 6, the position from the top in a group of a certain captured image means the captured image captured in that group.

  The main body 102 virtually classifies the 106 captured images of the first surface into 17 groups GF1 to GF17 (step ST3). Here, the 17 groups GF <b> 1 to GF <b> 17 are configured by captured images captured by the 17 image capturing units 132. Specifically, the group GF1 is composed of 10 captured images captured by the upper imaging unit 132a. The groups GF <b> 2 to GF <b> 9 are each composed of six captured images captured by each oblique imaging unit 132 b. The groups GF10 to GF17 are each composed of six captured images captured by the side imaging units 132c.

  FIG. 7 is a diagram illustrating a display example of inspection results in real time for a certain object 9.

  The main body 102 extracts each candidate captured image (step ST4). In FIG. 6, the candidate captured image is represented by a hatched rectangle. Here, the candidate captured image is an image that can be a representative captured image. On the display screen 103 illustrated in FIG. 7, either a candidate captured image or a reference image is displayed as a representative captured image for each of a plurality of directions in which the object 9 is captured.

  As shown in FIG. 6, in this display example, candidate captured images are extracted one by one from the groups GF1 to GF9, while no candidate captured images are extracted from the groups GF10 to GF17. Therefore, the captured images captured by the upper imaging unit 132a and the eight oblique imaging units 132b can be used for both inspection and screen display, whereas the captured images captured by the eight lateral imaging units 132c It is used only for inspection and not for screen display. Hereinafter, the imaging directions when the upper imaging unit 132a and the eight oblique imaging units 132b capture the object 9 may be collectively referred to as nine directions.

  In other words, in addition to the 58 captured images captured from nine directions, the appearance inspection apparatus 1 further includes at least one direction different from the nine directions (specifically, the eight side imaging units 132c). An abnormality in the object 9 is inspected using 48 captured images obtained by imaging the object 9 from eight directions.

  In the aspect of the present embodiment, a smaller number of representative captured images are displayed on the display screen 103 than in the aspect in which the representative captured images in 17 directions are displayed on the display screen 103 for both the first surface and the second surface. To do. As a result, the size of each representative captured image displayed on the display screen 103 can be increased, and the visibility when the user views each representative captured image is improved.

  Further, in the aspect of the present embodiment, the inspection is performed based on more groups GF1 to GF17 as compared to the aspect in which the inspection is performed based only on the groups GF1 to GF9 from which the candidate captured images are extracted. As a result, the accuracy of inspection is improved.

  Next, an example when the main body 102 extracts candidate captured images one by one from the groups GF1 to GF9 will be described.

  The main body 102 extracts, as candidate captured images, one image captured under a specific light irradiation condition from each captured image group in each of the nine directions. The specific light irradiation condition in the present embodiment is, for example, a condition that the average luminance is the highest in each captured image group.

  In the group GF1, this condition is satisfied during the tenth imaging, and the tenth captured image is extracted as a candidate captured image. In the groups GF2 to GF9, the sixth imaging satisfies this condition, and the sixth captured image is extracted as a candidate captured image. If an image having a high average luminance is extracted as a candidate captured image in this way, the user can easily view the representative captured image when the candidate captured image is displayed on the display screen 103 as the representative captured image.

  Up to this point, an example has been described in which candidate imaged images are extracted one by one from the groups GF1 to GF9 among the groups GF1 to GF17 related to the imaged image of the first surface of the object 9. The same applies to the second surface of the object 9. That is, one candidate captured image is extracted from each of the groups GR1 to GR9 among the groups GR1 to GR17 related to the captured image of the second surface of the object 9. Here, the group GR1 includes ten captured images captured by the upper imaging unit 332a. Each of the groups GR2 to GR9 includes six captured images captured by each oblique imaging unit 332b. Each of the groups GR10 to GR17 includes six captured images captured by each side imaging unit 332c.

  In the following, the imaging directions when the upper imaging unit 332a and the eight oblique imaging units 332b image the object 9 are collectively referred to as the directions displayed on the display screen 103, and may be referred to as nine directions. is there.

  As shown in FIG. 7, on the display screen 103 that displays the real-time inspection results, the representative captured images of the groups GF1 to GF9 are arranged on the left side in the form of 3 rows and 3 columns, and the groups GR1 to GR9 are displayed. The representative captured images are arranged on the right side of the figure in the form of 3 rows and 3 columns.

  In each group GF1 to GF9 and each group GR1 to GR9, the nine directions are the first direction along the reference axis (vertical axis in this embodiment) and the eight directions along the eight axes that are rotationally symmetric about the reference axis. It consists of two directions. Then, on the display screen 103, the PC 101 arranges eight representative picked-up images picked up from eight second directions around the representative picked-up images picked up from the first direction corresponding to the positional relationship of each axis.

  Thus, since each representative captured image is displayed on the display screen 103 according to the imaging positional relationship, the user of the inspection system 100 can easily visually recognize not only the inspection result of the object 9 but also the imaging positional relationship. . As described above, in the inspection result display in real time, the object 9 to be displayed is switched in a relatively short period (for example, every 5 seconds). For this reason, it is particularly desirable that the visibility by the user is improved.

  Further, the PC 101 detects an abnormality based on at least one captured image included in a group to which the representative captured image belongs (that is, an abnormal representative captured image captured from the direction in which the abnormality is detected among the plurality of representative captured images). Is detected from the direction in which no abnormality is detected among a plurality of captured images (that is, any image included in the group to which the representative captured image belongs). Even on the basis of the image, the image is displayed on the display screen 103 in a mode different from a representative captured image when no abnormality is detected. In the example illustrated in FIG. 7, only a representative captured image with an abnormality is displayed surrounded by a dotted frame 501. Therefore, the user of the inspection system 100 can visually recognize the imaging direction in which the abnormality is detected.

  There are the following two cases where a representative captured image of a certain group (for example, group GF1) corresponds to a representative captured image with an abnormality.

  The first is a case where an abnormality is detected from a single piece of at least one captured image belonging to the group GF1. Here, “abnormality is detected from a single captured image” means that the degree of coincidence is small in at least one part by comparing the captured image with the reference image.

  The second case is a case where no abnormality is detected from a single captured image belonging to the group GF1, but an abnormality is detected when two or more captured images belonging to the group GF1 are considered in combination. Here, when two or more captured images are considered in combination, an abnormality is detected. When the two or more captured images and the reference image are compared with each other, the degree of coincidence is small in the same part, and abnormality is detected in that part. It is estimated that there is.

  That is, even if no abnormality is recognized in the representative captured image alone, if an abnormality is detected in the group when viewed in the entire group to which the representative captured image belongs, the representative captured image is an abnormal representative captured image. It becomes an image, and the imaging direction of the group is the direction in which the abnormality is detected.

  For example, when a certain imaging unit is overdetecting (detecting a normal part as being abnormal), a representative captured image with an abnormality is likely to appear in the representative captured image viewed from the imaging direction. . Therefore, the user of the inspection system 100 can identify an imaging unit that is suspected of being overdetected at an early stage, and can adjust detection parameters related to the imaging unit as necessary.

  In addition, the PC 101 displays a part of the representative captured image with an abnormality on the display screen in a manner different from the part where the abnormality is not detected in the captured image included in the group to which the representative captured image with the abnormality belongs. indicate. In the example shown in FIG. 7, only the part where the abnormality is detected is displayed surrounded by a round black frame 500. Therefore, the user of the inspection system 100 can visually recognize the site where the abnormality is detected at a glance.

  Here, in the representative captured image with abnormality, the abnormality was not detected in the plurality of parts in which the abnormality was detected in the state where the plurality of parts in which the abnormality was detected were added in the group to which the representative captured image belongs. Displayed in a different form from the site. That is, when an abnormality in the first part is detected based on a certain captured image belonging to a certain group and an abnormality in the second part is detected based on another captured image belonging to the same group, the PC 101 represents the representative imaging with abnormality. The parts corresponding to the first part and the second part in the image are displayed on the display screen in a manner different from the part where no abnormality is detected.

  The display screen 103 displays nine representative captured images on each of the first surface and the second surface (18 representative captured images in total). All of the 18 representative captured images are the same as either the candidate captured image or the reference image. In this embodiment, when an abnormality is detected in at least one captured image included in a certain group (for example, group GF1), the candidate captured image of the group is determined as a representative captured image with an abnormality, and a certain group (for example, for example) When no abnormality is detected in all the captured images included in the group GF1), a reference image viewed from the same direction as the group is determined as a representative captured image without abnormality (step ST5). Each confirmed representative captured image is displayed on the display screen 103 (step ST6).

  Here, the purpose of the user of the inspection system 100 viewing the display screen 103 is to visually recognize a representative captured image with an abnormality (and thus an abnormal part) of the object 9 that is actually the inspection target. In the aspect of the present embodiment, an actual captured image is transmitted from the appearance inspection apparatus 1 to the PC 101 and displayed on the display screen 103 as an abnormal representative captured image that is a visual recognition target, and is displayed on the display screen 103 as an abnormal representative captured image that is not a visual recognition target. Displays a reference image registered in advance in the PC 101. As a result, the amount of data communication in real time from the appearance inspection apparatus 1 to the PC 101 can be significantly reduced while achieving the user's purpose, and the PC 101 can display the real-time inspection result well.

<1.3.3 Display example of test results selected from history>
Next, a display example of the inspection results remaining in the history will be described with reference to FIGS. FIG. 8 is a diagram illustrating a display example of the inspection result selected from the history for the first surface of a certain object 9. FIG. 9 is a diagram illustrating a display example when the selected representative captured image is enlarged and displayed.

  In the inspection system 100, the inspection result is communicated from the appearance inspection apparatus 1 to the PC 101, and the storage unit 153 of the PC 101 stores the inspection result. After the results of the plurality of inspections in the appearance inspection apparatus 1 are accumulated as a history in the storage unit 153, the user selects one of the results of the plurality of inspections from the input unit 104, and the first surface or the second surface is selected. Specify one. As a result, the PC 101 displays a plurality of representative captured images on the specified surface among the results of the selected single inspection on the display screen 103.

  In the display example shown in FIG. 8, representative captured images are extracted one by one from the captured image groups belonging to the groups GF1 to GF17 under the condition that the average luminance is the highest. More specifically, as shown in FIG. 8, on the display screen 103, the representative captured images of the groups GF1 to GF9 are arranged on the left side in the form of 3 rows and 3 columns, and the groups GF1 and GF10 to GF17 are arranged. These representative captured images are arranged on the right side in the figure in the form of 3 rows and 3 columns.

  On the examination history display screen 103 shown in FIG. 8, a representative captured image can be selected (specifically, for example, the representative captured image is clicked with a cursor on the screen by the mouse of the input unit 104). The selected representative captured image is enlarged and displayed as shown in FIG. 9 with the selected location (for example, the location of the cursor at the time of clicking) being placed at the center of the screen.

  Therefore, the user of the inspection system 100 can visually recognize the enlarged representative captured image with abnormality as shown in FIG. 9 by selecting the representative captured image with abnormality on the display screen 103 shown in FIG. . Thereby, the user can visually recognize the representative captured image with abnormality in the object 9 in detail.

  In the display screen 103 shown in FIG. 9, unlike the display screen 103 shown in FIG. 8, the round black frame 500 (part specifying element) surrounding the part where the abnormality is detected is not displayed. Therefore, the user of the inspection system 100 can visually recognize the part where the abnormality is detected in detail without the part specifying element.

  The user operates the light irradiation condition selection bar 201 (specifically, for example, operates the cursor on the screen with the mouse of the input unit 104), and is captured from the same direction as the representative captured image with abnormality. Each captured image can be displayed on the display screen 103. In the example shown in FIG. 9, the light irradiation condition selection bar 201 matches the leftmost scale among the 10 scales. Then, when the user sequentially matches the light irradiation condition selection bar 201 to each scale, ten captured images captured from the upper imaging unit 132a under different light irradiation conditions are sequentially displayed on the display screen 103. The

  When the inspection result selected from the history is displayed on the display screen 103, the display period is not limited, and the user can view each representative captured image over a sufficient time. Further, when the inspection result selected from the history is displayed on the display screen 103, unlike the case where the real-time inspection result is displayed, the user can also visually recognize the captured images captured by the eight side imaging units 132c. . Thereby, the user can visually recognize each representative captured image in detail over a sufficient time.

<2 Modification>
While the embodiments of the present invention have been described above, the present invention can be modified in various ways other than those described above without departing from the spirit of the present invention.

  In the above embodiment, in the inspection unit for inspecting abnormality of the form of the object 9 based on a plurality of captured images obtained by imaging the object 9 from a plurality of directions, the object 9 is imaged in the visible region. An appearance inspection apparatus 1 for inspecting appearance abnormality was used. In addition, as the inspection unit, an internal inspection device that inspects an abnormality in the internal structure of the object 9 (for example, a crack inside the member) by imaging in the X-ray region may be used.

  In the above embodiment, the inspection system 100 in which the appearance inspection apparatus 1 that functions as an inspection unit and the PC 101 (display device) that functions as a display unit are separate has been described. However, the inspection unit and the display unit are integrated. It does not matter even if it is a system. At this time, the control part 50 and PC101 which control each part of the appearance inspection apparatus 1 may each have an independent arithmetic processing part, a memory, and a memory | storage part, and may have these as integral.

  Moreover, in the said embodiment, although the control part 50 is provided as a means for carrying out operation control of each part of the external appearance inspection apparatus 1, regarding implementation of this invention, it is not restricted to this. The first carry-in mechanism 11, the first holding mechanism 12, the first carry-out mechanism 14, the attitude changing mechanism 20, the second carry-in mechanism 31, the second holding mechanism 32, the second carry-out mechanism 34, and the separation discharge mechanism 40 described above are electrically connected to each other. Connected to each other and electrically connected to the transport control unit for controlling the transport operation of the object 9, the first inspection unit 13 and the second inspection unit 33, respectively. An inspection control unit for controlling the inspection operation may be provided as separate bodies, and the conveyance control unit and the inspection control unit may be configured to control the operation of each unit of the appearance inspection apparatus 1 while being synchronized with each other.

  In the above embodiment, the plurality of light irradiation units 131 irradiate light from different directions toward the first inspection position P2, and the plurality of light irradiation units 331 irradiate light from different directions toward the second inspection position P5. Although the embodiment has been described, the color of the light is not limited. These lights may be white light, light with strong blueness, or light with strong redness. It is only necessary for the user to visually recognize the object 9 on the display screen 103, and various light colors can be adopted according to the reflectance spectrum of the object 9.

  In the above embodiment, the specific light irradiation condition for extracting one candidate captured image from each captured image group in each group GF1 to GF9 is a condition that the average brightness is the highest among the captured image groups. Met. In addition to this, the specific light irradiation condition may be a condition that the mode value (or median value) of the luminance is the highest in each captured image group. The specific light irradiation condition may be another condition.

  In the above embodiment, as a specific example of the display mode in which the representative captured image with abnormality is displayed on the display screen 103 in a mode different from the representative captured image without abnormality, only the representative captured image with abnormality is displayed surrounded by the dotted frame 501. An example to be described. In addition to this, various display modes can be adopted. For example, the representative captured image with abnormality may be displayed with a brightness different from that of the representative captured image without abnormality. In addition, the representative captured image with abnormality may be displayed in a different color from the representative captured image without abnormality. Further, the representative captured image with abnormality may be displayed in a different size from the representative captured image without abnormality. Also, only the representative image with abnormality may be lit up.

  As for the display mode of the site where the abnormality is detected, various display modes can be adopted as in the display mode of the representative captured image with abnormality. Further, different display modes may be employed depending on the type of abnormality detected (for example, a defect of a member or attachment of an unnecessary object).

  In the above embodiment, the aspect in which the part specifying element is not displayed on the display screen 103 illustrated in FIG. 9 has been described, but the present invention is not limited to this. 9 may be displayed on the display screen 103 shown in FIG. 9, or the user may be able to switch between display and non-display of the part specifying element.

  In the above embodiment, the metal part formed by forging is given as an example of the object 9. However, the object to be inspected may be a metal part formed by casting, or a material other than metal (for example, resin). ). Moreover, although the said embodiment demonstrated the case where the 1st surface and 2nd surface of the target object 9 were the same shapes, the shape from which the 1st surface and 2nd surface of a target object differ may be sufficient.

  In the above embodiment, a mode has been described in which a plurality of imaging units 132 (or a plurality of imaging units 332) obtain a total of 106 captured images, but the number of captured images can be changed as appropriate.

  The inspection system, display device, program, and inspection method according to the embodiment and the modifications thereof have been described above, but these are examples of the preferred embodiment of the present invention and limit the scope of the present invention. It is not a thing. Within the scope of the invention, the present invention can be freely combined with each embodiment, modified with any component in each embodiment, or increased or decreased with any component in each embodiment.

DESCRIPTION OF SYMBOLS 1 Appearance inspection apparatus 9 Inspection object 10 1st inspection unit 20 Posture change mechanism 30 2nd inspection unit 40 Sorting discharge mechanism 50 Control part 60 Input port 100 Inspection system 101 PC
DESCRIPTION OF SYMBOLS 102 Main body part 103 Display screen 104 Input part 131 Light irradiation part 131a Upper light irradiation part 131b Oblique light irradiation part 131c Lateral light irradiation part 132 Imaging part 132a Upper imaging part 132b Oblique imaging part 132c Side imaging part 331 Light irradiation Unit 331a Upper light irradiation unit 331b Oblique light irradiation unit 331c Side light irradiation unit 332 Imaging unit 332a Upper imaging unit 332b Oblique imaging unit 332c Side imaging unit GF1 to GF17, GR1 to GR17 group P1 Loading start position P2 First Inspection position P3 First delivery position P4 Second delivery position P5 Second inspection position P6 Third delivery position

Claims (11)

An inspection unit that inspects abnormalities in the form of the object based on a plurality of captured images obtained by imaging the object from a plurality of directions;
A display unit that is communicable with the inspection unit, and displays the representative captured images in each of the plurality of directions side by side on a display screen;
An inspection system comprising: The inspection system according to claim 1,
The plurality of directions includes a first direction along a reference axis, and a plurality of second directions along a plurality of axes rotationally symmetric about the reference axis,
The display unit includes a plurality of the representative captured images captured from the plurality of second directions around the representative captured image captured from the first direction on the display screen in accordance with a positional relationship of each axis. Inspection system to be placed. The inspection system according to claim 1 or 2,
The display unit includes an abnormality-captured representative captured image captured from a direction in which an abnormality is detected among the plurality of representative captured images, and an abnormality captured from a direction in which no abnormality is detected among the plurality of representative captured images. An inspection system for displaying on the display screen in a manner different from that of a representative representative captured image. The inspection system according to claim 3,
The said display part is a test | inspection system which displays the site | part in which abnormality was detected on the said display screen in the aspect different from the site | part in which abnormality was not detected in the said representative imaging image with abnormality. The inspection system according to claim 3 or 4, wherein
The said display part is a test | inspection system which displays each captured image imaged from the same direction as the said representative captured image with an abnormality on the said display screen, when the said representative captured image with an abnormality is selected by the user. An inspection system according to any one of claims 1 to 5,
In addition to the plurality of captured images, the inspection unit further uses at least one captured image obtained by capturing the object from at least one direction different from the plurality of directions. Inspection system that checks for abnormalities. The inspection system according to any one of claims 1 to 6,
An inspection system in which an inspection result is communicated from the inspection unit to the display unit in real time, and the display unit displays the plurality of representative captured images side by side on the display screen in real time. The inspection system according to any one of claims 1 to 6,
A storage unit for storing a result of the inspection in the inspection unit;
Further comprising
After the results of the plurality of examinations in the examination unit are accumulated in the storage unit, the display unit displays the selected one examination when one is selected from the results of the plurality of examinations by the user. An inspection system that displays the plurality of representative captured images in a result side by side on the display screen.   It is possible to communicate with an inspection unit that inspects abnormalities in the form of the object based on a plurality of captured images obtained by imaging the object from a plurality of directions, and each representative captured image in each of the plurality of directions is A display device that displays side by side on the display screen.   The program which makes the said computer function as a display apparatus of Claim 9 by being installed in a computer and being performed by CPU. An inspection method that is executed in an inspection system configured by connecting an inspection unit and a display unit in a communicable manner,
The step of inspecting the form for abnormality in the object based on a plurality of captured images obtained by imaging the object from a plurality of directions;
Thereafter, the display unit displays the representative captured images in each of the plurality of directions side by side on a display screen;
An inspection method comprising:

Images