JPH0315681B2 - - Google Patents
Info
- Publication number
- JPH0315681B2 JPH0315681B2 JP13235982A JP13235982A JPH0315681B2 JP H0315681 B2 JPH0315681 B2 JP H0315681B2 JP 13235982 A JP13235982 A JP 13235982A JP 13235982 A JP13235982 A JP 13235982A JP H0315681 B2 JPH0315681 B2 JP H0315681B2
- Authority
- JP
- Japan
- Prior art keywords
- dimensional object
- shape
- shadow
- light
- image memory
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
【発明の詳細な説明】 本発明は立体物の形状検査装置に関する。[Detailed description of the invention] The present invention relates to an apparatus for inspecting the shape of a three-dimensional object.
従来、立体物の形状欠陥を認識する方法として
は、ITVカメラやイメージセンサ等を使用して
いるが、立体物、特に小さい立体物の欠陥の場
合、照明方法や検出角度の問題で１つの形状欠陥
を認識するのにITVカメラ等に見る角度等を変
えた多くの画面を取り込むなどの方法が採られ、
この場合それぞれの画面を処理する必要があるた
め、多くの処理時間を要すると共に、それだけコ
ストも上つてしまうという欠点があつた。 Conventionally, ITV cameras, image sensors, etc. have been used to recognize shape defects in three-dimensional objects, but in the case of defects in three-dimensional objects, especially small three-dimensional objects, it is difficult to recognize defects in one shape due to lighting methods and detection angles. In order to recognize defects, methods such as capturing many screens from different viewing angles using ITV cameras, etc., are used.
In this case, it is necessary to process each screen, which has the drawback of requiring a lot of processing time and increasing costs accordingly.
本発明は上記の点に鑑み提案されたもので、平
面上に載置された突起物のない立体物または突起
物を有する立体物等の形状欠陥を簡単な構成及び
処理方法で容易に検出し得る立体物の形状検査装
置を提供することを目的とするものである。 The present invention has been proposed in view of the above points, and is capable of easily detecting shape defects of three-dimensional objects without protrusions or three-dimensional objects with protrusions placed on a flat surface using a simple configuration and processing method. The object of the present invention is to provide an apparatus for inspecting the shape of a three-dimensional object.
以下、図面に沿つて本発明を説明する。 The present invention will be described below with reference to the drawings.
第１図は本発明にかかる立体物の形状検査装置
を示すもので、図中１は光を反射する三角プリズ
ムの如きミラーで、このミラー１はモータの如き
回転装置２の回転軸と下部が連結され、かつ矢印
で示すように略水平方向に回転するように構成さ
れている。３は中空円筒状のミラーで、このミラ
ー３の内周面にはミラー１の斜面状の反射面１ａ
に照射された光源４からの光が矢印で示すように
入射され、かつその入射光は同じく矢印で示すよ
うに平面状の支台５の上に載置された立体物６の
斜め上方に向つて反射されるように構成されてい
る。しかして、ミラー１、回転装置２およびミラ
ー３等により立体物６の全周方向に光が照射でき
るようになつている。７は円筒状ミラー３の略中
央部に配設され、かつ立体物６の上方に位置する
ITVカメラで、立体物６に光を照射した場合に
生ずる瞬時の立体像の影を撮影するためのもので
ある。８はITVカメラ７からのビデオ信号が加
えられ、かつそれを処理するビデオ信号処理部で
あり、その出力は後続の２値化回路９に加えられ
ビデオ信号は２進信号に変換されるようになつて
いる。１０は２値化信号をメモリする第１の画像
メモリ、１１は、ビデオ信号処理部８、２値化回
路９および第１の画像メモリ１０等からの各信号
をモニタし、かつ認識・処理等を行う画像メモリ
出力部、１２は第１の画像メモリ１０と第２の画
像メモリ１３とのデータ信号をANDまたはOR処
理等を行う演算処理部、１４は演算処理部１２か
らの信号が加えられ、かつ処理状態に応じてモー
タ２の如き回転装置の回転を制御するコントロー
ル部である。 FIG. 1 shows an apparatus for inspecting the shape of a three-dimensional object according to the present invention. In the figure, 1 is a mirror such as a triangular prism that reflects light. This mirror 1 has a rotating shaft and a lower part of a rotating device 2 such as a motor. They are connected and configured to rotate in a substantially horizontal direction as shown by the arrow. Reference numeral 3 denotes a hollow cylindrical mirror, and the inner peripheral surface of this mirror 3 has the inclined reflective surface 1a of the mirror 1.
The light emitted from the light source 4 is incident as shown by the arrow, and the incident light is directed diagonally upward to the three-dimensional object 6 placed on the flat support 5, as also shown by the arrow. It is configured so that it is reflected. Thus, the mirror 1, the rotating device 2, the mirror 3, etc. can irradiate light all around the three-dimensional object 6. 7 is arranged approximately at the center of the cylindrical mirror 3 and located above the three-dimensional object 6.
The ITV camera is used to photograph the instantaneous shadow of a three-dimensional image that occurs when a three-dimensional object 6 is irradiated with light. 8 is a video signal processing unit to which a video signal from the ITV camera 7 is applied and processes it, and its output is applied to the subsequent binarization circuit 9 so that the video signal is converted into a binary signal. It's summery. Reference numeral 10 denotes a first image memory for storing binary signals; 11 monitors each signal from the video signal processing unit 8, the binary conversion circuit 9, the first image memory 10, etc., and performs recognition, processing, etc. 12 is an arithmetic processing section that performs AND or OR processing on data signals from the first image memory 10 and second image memory 13; 14 is an arithmetic processing section to which signals from the arithmetic processing section 12 are added; , and a control section that controls the rotation of a rotating device such as the motor 2 according to the processing state.
次に本発明の動作を説明する。 Next, the operation of the present invention will be explained.
先ず、第２図イに示すように立体物６が円柱で
ある場合においてその円柱に矢印で示すように光
を照射すると影６ａが生ずるがその光を回転装置
２を駆動して回転させながら照射すると、立体物
６が正常な形状の円柱であれば、例えばそれを上
から見た場合第３図イに示すように円形の影の軌
跡ができる。また、立体物が角柱の場合には第３
図ロに示すような影の軌跡ができる。すなわち、
円柱の如き立体物へ光を照射する場合、第２図ロ
に示すように円柱への投光角度で異なる影が得ら
れる。すなわち、矢印l1に示すような光である場
合にはそれに対応してS1で示す如き影が生じる。
また、矢印l2の光の場合にはS2の如き影が、矢印
loの光の場合にはSoの如き影が生じるものであ
る。 First, when the three-dimensional object 6 is a cylinder as shown in FIG. Then, if the three-dimensional object 6 is a cylinder with a normal shape, for example, when viewed from above, a circular shadow locus is created as shown in FIG. 3A. Also, if the three-dimensional object is a prism, the third
A shadow trajectory as shown in Figure B is created. That is,
When a three-dimensional object such as a cylinder is irradiated with light, different shadows are obtained depending on the angle at which the light is projected onto the cylinder, as shown in FIG. 2B. That is, when the light is as shown by the arrow l1 , a corresponding shadow as shown by S1 is generated.
In addition, in the case of the light of arrow l 2 , a shadow like S 2 is created by the arrow
In the case of light of l o , a shadow like that of so appears.
しかるに、立体物の上部の一部が破損するなど
し、外形にカケなどの形状欠陥がある場合、すな
わち第４図イに示すように円柱の一部にカケ６′
がある場合には影の軌跡は第３図イの状態とはな
らず第４図イの下方に示す如く歪む。また、第４
図ロに示すように円柱の長さＬが短かい場合には
第３図イに比べ影の軌跡は小さくなる。更に、立
体物が角柱である場合において第４図ハに示すよ
うにその一部にカケ６′がある場合には影の軌跡
は第３図ロの状態とはならず、第４図ハの下方に
示すように、カケ６′がある側の歪となる。 However, if a part of the upper part of the three-dimensional object is damaged and there is a shape defect such as a chip in the external shape, that is, a part of the cylinder has a chip 6' as shown in Fig. 4A.
If there is, the trajectory of the shadow will not be in the state shown in FIG. 3A, but will be distorted as shown in the lower part of FIG. 4A. Also, the fourth
As shown in Figure 3B, if the length L of the cylinder is short, the trajectory of the shadow will be smaller than in Figure 3B. Furthermore, if the three-dimensional object is a prism and there is a chip 6' in a part of it as shown in Fig. 4C, the shadow locus will not be in the state shown in Fig. 3B, but as shown in Fig. 4C. As shown below, the distortion is on the side where the chip 6' is present.
このような影の軌跡を得る方法として、光源を
回転させながら立体物に照射してできる影の
ITVカメラ７等の出力をビデオ信号処理部８に
取り込み、かつ２値化回路９により２値化し、第
１の画像メモリ１０と第２の画像メモリ１３に夫
夫メモリする。そして、次の取り込み信号のタイ
ミングで第１の画像メモリ１０にメモリしたデー
タと第２の画像メモリ１３のデータとの演算処理
を演算処理部１２を介し行なう。 One way to obtain such a shadow trajectory is to rotate a light source while shining it on a three-dimensional object.
The output of the ITV camera 7 and the like is taken into a video signal processing section 8, and is binarized by a binarization circuit 9 and stored in a first image memory 10 and a second image memory 13. Then, at the timing of the next capture signal, the data stored in the first image memory 10 and the data in the second image memory 13 are subjected to arithmetic processing via the arithmetic processing section 12.
この場合、第５図イに示すように影の部分を
１、明るい部分をＯ＼とした場合はOR処理、逆に
第５図ロに示すように影の部分をＯ＼、明るい部分
を１にした場合はAND処理をする回路を構成す
れば良い。その演算結果を第２の画像メモリ１３
にメモリし、照明回転コントロール部１４により
回転装置２を駆動して照明角度を変化させ、同様
に第１の画像メモリ１０にメモリしたデータと、
第２の画像メモリ１３のデータとを演算し、その
結果を第２の画像メモリ１３にメモリする。これ
を任意の回数だけ繰り返す。その演算結果は立体
物６の形状に応じ第３図イ，ロないし第４図イ〜
ハ等に示す如き影の軌跡ができていることにな
る。 In this case, as shown in Figure 5A, if the shadow part is set to 1 and the bright part to O\, the OR process is performed, and conversely, as shown in Figure 5B, the shadow part is set to O\ and the bright part to 1. If this is the case, you just need to configure a circuit that performs AND processing. The calculation result is stored in the second image memory 13.
data stored in the first image memory 10, driven by the illumination rotation control unit 14 to change the illumination angle, and
The data in the second image memory 13 is calculated, and the result is stored in the second image memory 13. Repeat this any number of times. The calculation results are shown in Figure 3 A, B or Figure 4 I, depending on the shape of the three-dimensional object 6.
This results in the formation of a shadow trajectory as shown in (c).
しかして、正常な立体物であれば立体物の形状
に応じてきれいな円、楕円またはトラツク形の影
となるのに対し、立体物に欠陥のある場合には第
４図イ〜ハに示すように歪となる。従つて、この
歪な形の特徴を抽出することで、例えば目視測
定、パターン認識等の手段により容易に形状欠陥
を検出することができる。 If the three-dimensional object is normal, the shadow will be a beautiful circle, ellipse, or track shape depending on the shape of the three-dimensional object, but if the three-dimensional object has a defect, it will cast a shadow as shown in Figure 4 A to C. becomes distorted. Therefore, by extracting the features of this distorted shape, shape defects can be easily detected by means such as visual measurement or pattern recognition.
以上のように本発明によれば平面上に載置され
た立体物の形状欠陥を検査する装置において、立
体物に斜め上方から照射する光を該立体物の全周
方向に照射できるよう回転させる装置と、前記の
照射光によつて生じる立体物の影の部分を２値化
像として取り出しかつ照明方向の回転による影の
移動をORまたはAND処理する演算処理部とを備
え、最終処理画像のパターン検査により立体物の
形状欠陥を検査するように構成したため全体の処
理回路構成が簡単である。また、一度のパターン
認識で形状欠陥が簡単かつ迅速に認識できる等の
利点がある。 As described above, according to the present invention, in an apparatus for inspecting shape defects of a three-dimensional object placed on a flat surface, the three-dimensional object is rotated so that light irradiated from diagonally above can be applied to the entire circumference of the three-dimensional object. It is equipped with a device and an arithmetic processing unit that extracts the shadow part of the three-dimensional object caused by the irradiation light as a binary image and performs OR or AND processing on the movement of the shadow due to the rotation of the illumination direction. Since the configuration is configured to inspect shape defects in three-dimensional objects by pattern inspection, the overall processing circuit configuration is simple. Further, there are advantages such as the ability to easily and quickly recognize shape defects through one-time pattern recognition.
第１図は本発明の立体物の形状検査装置の実施
例、第２図イ，ロは本発明の動作原理説明図、第
３図イ，ロは立体物の形状が正常である場合に生
じる影の説明図、第４図イ〜ハは立体物の形状が
異常である場合に生じる影の説明図、第５図イ，
ロは本発明の動作説明図である。
１……ミラー、２……回転装置、３……ミラ
ー、４……光源、５……支台、６……立体物、
６′……カケ、６ａ……影、７……ITVカメラ、
８……ビデオ信号処理部、９……２値化回路、１
０，１３……画像メモリ、１１……画像モニタ出
力、１２……演算処理部、１４……照明回路コン
トロール部。
Fig. 1 is an embodiment of the three-dimensional object shape inspection device of the present invention, Fig. 2 A and B are explanatory diagrams of the operating principle of the present invention, and Fig. 3 A and B are what occurs when the shape of the three-dimensional object is normal. Explanatory diagrams of shadows, Figures 4 (a) to (c) are explanatory diagrams of shadows that occur when the shape of a three-dimensional object is abnormal, and Figures 5 (a),
B is an explanatory diagram of the operation of the present invention. 1... Mirror, 2... Rotating device, 3... Mirror, 4... Light source, 5... Support, 6... Three-dimensional object,
6'...Bake, 6a...Shadow, 7...ITV camera,
8... Video signal processing section, 9... Binarization circuit, 1
0, 13... Image memory, 11... Image monitor output, 12... Arithmetic processing section, 14... Lighting circuit control section.
Claims (1)
する装置において、立体物に斜め上方から照射す
る光を、該立体物の全周方向に照射できるように
回転させる装置と、前記の照射光によつて生じる
立体物の影の部分を２値化像として取り出し、か
つ照明方向の回転による影の移動をORまたは
AND処理する演算処理部とを備え、最終処理画
像のパターン検査により立体物の形状欠陥を検査
することを特徴とした立体物の形状検査装置。1. In an apparatus for inspecting shape defects of a three-dimensional object placed on a flat surface, there is provided a device that rotates the three-dimensional object so that it can be irradiated with light obliquely from above to the entire circumference of the three-dimensional object, and the above-mentioned irradiation device. The shadow part of a three-dimensional object caused by light is extracted as a binary image, and the movement of the shadow due to rotation of the illumination direction is OR or
What is claimed is: 1. A shape inspection device for a three-dimensional object, comprising an arithmetic processing unit that performs AND processing, and inspecting a shape defect of the three-dimensional object by pattern inspection of a final processed image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13235982A JPS5920805A (en) | 1982-07-28 | 1982-07-28 | Configuration inspecting device for cubic body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13235982A JPS5920805A (en) | 1982-07-28 | 1982-07-28 | Configuration inspecting device for cubic body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5920805A JPS5920805A (en) | 1984-02-02 |
| JPH0315681B2 true JPH0315681B2 (en) | 1991-03-01 |
Family
ID=15079514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13235982A Granted JPS5920805A (en) | 1982-07-28 | 1982-07-28 | Configuration inspecting device for cubic body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5920805A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6082904A (en) * | 1983-10-14 | 1985-05-11 | Hitachi Denshi Ltd | How to detect the outline of the object to be tested |
| US4792696A (en) * | 1987-06-05 | 1988-12-20 | Trustees Of Columbia University In The City Of New York | Method and an apparatus for determining surface shape utilizing object self-shadowing |
| JPH0638671U (en) * | 1992-11-12 | 1994-05-24 | マンズトレーディング株式会社 | Desk with garbage discharge function |
| US7489727B2 (en) | 2002-06-07 | 2009-02-10 | The Trustees Of Columbia University In The City Of New York | Method and device for online dynamic semantic video compression and video indexing |
-
1982
- 1982-07-28 JP JP13235982A patent/JPS5920805A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5920805A (en) | 1984-02-02 |
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