JPS6186879A - Label attachment device to hole - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical field to which the invention pertains] The present invention relates to defect inspection of a planar part (referred to as a planar part) having a plurality of holes as a part to be judged, using a visual sensor, for example. When identifying parts, each hole is labeled (numbered) in order to extract and judge the planar part itself and the feature values of each hole (area, perimeter, center of gravity, position, etc.). Regarding the equipment for performing.

[Prior art and its problems]

In the following figures, the same reference numerals indicate the same or corresponding parts.

Conventionally, as a method for labeling a plurality of holes in a planar component, there has been an apparatus and method as shown in FIGS. 4 and 5. That is, in FIG. 4, parts to be determined 100 that have been aligned in advance and have a plurality of holes are transported by a parts transport means (such as a belt conveyor) 101 under a two-dimensional imaging device 102, and are imaged by the imaging device. 102 to analog image signal 10 of the part to be determined 100
2a is output. The component inspection/judgment device 103 digitizes (binarizes) the image signal 102a, performs segmentation (pattern separation) between the background and the region of the component 100 to be determined, and then first calculates the feature amount (area 1 circumference) of the component 100 itself. Length 1 center of gravity 9 position.

posture, etc.). Next, each of the multiple holes inside the hole is labeled, and the feature value (area 2
(perimeter, center of gravity, two positions, posture, etc.) are extracted, and finally a comprehensive judgment is performed to perform gap inspection or identification of the part to be judged 100.

In this case, the method of labeling each hole is to align the parts 100 in advance so that they have a predetermined posture, and then display the binary value of part machining 00 as shown on the display device 104 attached to the judgment device 103. Hole numbers or names are assigned in the order in which the scanning lines 105 of the converted image are scanned. For example, the labeling (numbering) of the three holes of the triangular planar component shown in the display device 104 in FIG. 4 is the top hole H1.
is the number ■, the hole H2 on the right below it is the number ■, and the hole H on the left
3 becomes the number ■. Such a determination apparatus and method has a drawback in that the parts 100 to be determined must be aligned in advance by a person or by some other method.

That is, FIG. 5(5) shows labeling of the aligned parts 100A. This figure (5) is the same as what is displayed on the display device 104 of the determination processing contents in FIG. On the other hand, FIG. 5(B) shows parts 100B that are not aligned.
labeling. The labels of numbers ■ and ■ in Figure (8) have been switched in Figure (B). As described above, in the conventional labeling method, unique labeling cannot be performed unless the parts to be determined 100 are aligned. However, it is strongly desired that the parts to be determined can be inspected and identified in the same posture as they are processed, without going through the process of aligning them.

[Purpose of the invention]

This invention eliminates the above-mentioned drawbacks and provides an apparatus that can uniquely label each hole regardless of the orientation of the flat part when inspecting and identifying each hole in a flat part with a plurality of holes. The purpose is to provide

[Key points of the invention]

The gist of the present invention is to capture an image of a part to be determined that has a plurality of holes using a two-dimensional imaging means, binarize it using a predetermined function value, and separate the background from the part. The coordinates of the center of gravity (referred to as the center of gravity of the part), the area and circumference of each hole, the coordinates of the center of gravity (referred to as the center of gravity of the hole), the length of each line segment from the part gravity to the center of gravity of each hole, and the adjacent line segments. Find each of the angles formed by , and from those values (1
) a hole with the maximum area, or (2) a hole with the maximum circumference, or (3) a hole that is the line segment of i & large length, or (4
) Label the first hole in one of the two line segments that makes the angle where the above angle is the maximum, and use that as the base point to label the hole with the center of gravity of the part as the center. The point is to sequentially label in a certain direction (clockwise or counterclockwise).

In this case, the four types of feature amounts (area) described above (1) to (4) are used.

It is possible to give any priority to the perimeter, line segment length (distance), angle), and if there are multiple largest holes of a certain feature, or the largest hole of a certain feature If the size of each feature quantity between the hole and the next feature quantity hole is almost equal (the difference in size is less than or equal to a predetermined value),
The hole that will be the base point for labeling is determined using the feature with the next lower priority. Furthermore, even when using the feature with the next lower priority, the same thing as above (the largest feature is more than one, or is almost equal to the next largest feature) occurs. In such cases, the same determination method is repeated one after another.

In other words, the gist of the present invention is that the two-dimensional binarized image of an object to be judged (such as a part to be judged) is specified by a two-dimensional in-plane shape and has a plurality of holes in a direction perpendicular to the nuclear surface. On the basis of the,
Numbering each of the holes: A body center calculation means (such as a component gravity center calculation circuit) for calculating the gravity center of the binarized image of the object to be determined (such as a component gravity center, hereinafter referred to as the body gravity center); of each hole mentioned above.

2 (Hole center of gravity calculation means (hole type center calculation circuit, etc.) for determining the center of gravity of the Wakaka 1 virtual image (hereinafter referred to as the hole center of gravity), and each hole gravity center calculation means (such as a hole type center calculation circuit) that determines the center of gravity of the object (hereinafter referred to as the hole center of gravity), and each hole shape determined from the shape of each hole or the relative arrangement between the center of gravity of each hole and the center of gravity of the body. A hole feature calculation means for calculating the feature of the hole, a base point determining means (such as a position/rotation normalization circuit) for comparing the feature of each hole and determining the center of gravity of the hole as a base point, and a A hole labeling means (hole labeling circuit, etc.) for numbering each hole while sequentially tracing the center of gravity of each hole in a predetermined rotation direction (clockwise or counterclockwise) from the base point, or Furthermore, the hole feature calculation means includes a hole area calculation means (hole detection circuit, etc.) that calculates the area of each hole;
Or a hole perimeter calculation means (hole perimeter calculation circuit, etc.) that calculates the perimeter of each hole, or the distance between the center of gravity of each hole and the center of gravity of the main body (hereinafter referred to as a line segment corresponding to the center of gravity and a similar distance adjacent to the line segment). An angle calculation circuit (such as an angle calculation circuit) that calculates the angle formed by any of the line segments on the side of the predetermined rotation direction as the angle corresponding to each hole. be.

[Implementation sequence of the invention]

The present invention will be described in detail below based on FIGS. 1 to 3. FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, FIG. 2 is a diagram showing an example of feature values for labeling holes in a flat part with three holes, and FIG. 2 is a flowchart showing an example of the operation procedure of FIG. 1 for determining the center of gravity of the hole at the base point;

In Figs. 1 and 2, first, a plurality of holes H (H11 to H
13) The unaligned cow parts 100 with 2
An image is captured by the dimensional imaging device 102 and binarized by the binarization circuit 302 according to a predetermined value, thereby obtaining a binarized image (referred to as a component image) in which the component is separated from the background. Next, the component gravity center calculation circuit 313 calculates the hole H1l~
The coordinates of the center of gravity (part center of gravity) GO of the part 100 including H13, etc. Other feature quantities of the part image are determined by the i++ elephant feature counter 314. At the same time, the hole detection circuit 30
6 H11 to H13 that exist in the part image by 3)
is detected, and based on this detection data, the large area calculation circuit 304 calculates the areas S1 to S3 of each hole H1l to H13.
Similarly, the hole circumference calculation circuit 305 calculates the circumference 1 of each hole.
1 to 13, the coordinates of the center of gravity 01 to G3 of each hole are calculated by the hole type center calculation circuit 306. Next, the center-to-gravity distance calculation circuit 307 inputting the calculation results of the hole type center calculation circuit 306 and the component gravity center calculation circuit 313 calculates the center of gravity by the length of the line segment connecting the component gravity center Go and the gravity centers 01 to G3 of each hole. L1 to L3 (referred to as distance between each other) are calculated. At the same time, angles 01 to θ3 between the adjacent line segments are determined by an angle calculation circuit 308 to which the calculation results are input. However, θ1.
θ2. θ3 is the line segment Gl, Go and 02. Go
, City 7 [Yes] and 03 GO1G3, GO and GIGO
It means the angle formed by Position/rotation normalization circuit 3
09 is the above-mentioned feature quantity (large area, hole circumference, distance between centroids,
The same hole is labeled the same no matter how the part 100 is rotated or misaligned based on the angle.

For this purpose, in advance, the large surface 1is (81 to S3), the hole circumference 1 (11 to 13), the distance between the centers of gravity L (1,1 to L3),
Prioritize the angles θ (θ1 to θ3). For example, in this case, area 1 perimeter 2 distance between centroids.

Priority shall be given in order of angle.

Next, the hole that will serve as the base point is determined by the procedure shown in FIG. That is, in the same figure, in step 501, it is determined whether or not there are a plurality of holes with the largest large area S, or the largest large area.
It is determined whether the difference from the next largest area is less than or equal to a predetermined value. If not (N), there is only one hole that has a significant maximum area, so in step 502, the hole with the maximum area is set as the base point.

In the case of g(Y) in step 501, in step 503, the value of the hole circumference l as the next priority feature is used to perform the same determination as in step 501 (i.e., if there are multiple holes with the maximum circumference l) Whether or not there is, or the maximum hole circumference,
Next, a determination is made as to whether the difference with the next hole circumference is less than or equal to a predetermined value.

If no (N), the hole with the maximum circumference is used as the base point in step 504, and if yes (Y), the value of the distance between centroids as the next priority feature is used in step 501, The same judgment as in step 503 is made, and if no (N'), the hole with the maximum distance between the centers of gravity is used as the base point in step 506, and if yes (Y), the process moves to step 507 and the feature value of the next priority is determined. The hole corresponding to the maximum angle θ (for example, in the example in Fig. 2, the area containing the angle θ centered around the component gravity center GO among the two line segments between the centroids forming the angle θ) When measuring the angle θ, the hole (H) whose center of gravity is on a line segment located on the clockwise side is used as the base point.

In this way, in the example of FIG. 2, if the value of each feature amount is large area S1:S2>83. Hole circumference 11=12=63
．． When the relationship between the centers of gravity Ll>L2>L3 is established, the maximum distance between the centers of gravity L1 is determined by the procedure shown in FIG.
The hole H1l having the shape is determined as the base point.

Returning to FIG. 1 again, the hole labeling circuit 310 follows other hole nail centers in a predetermined direction (counterclockwise in the example of FIG. 2) from the center of gravity of the component center Go in a predetermined direction (counterclockwise in the example of FIG. 2) and sequentially labels them. Attach. Therefore, the hole) 111. HI3. The large numbers ■, ■, ■ will be labeled in the order of HI3.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, in a flat part having a plurality of holes, the shapes of the holes can be changed.

Characteristics of each hole determined from the arrangement: large area, hole circumference, distance between two centers of gravity (distance between the center of gravity of the part and the center of gravity of the hole), and angle (the angle between adjacent line segments corresponding to the above distance) ), etc. to determine the hole that will serve as the base point, then trace the center of gravity of each hole in a predetermined clockwise or counterclockwise direction from the center of gravity of the hole that will be the base point, centering on the center of gravity of the part, and label each hole. As a result, each hole on the planar component can be uniquely labeled regardless of the position of one circuit on the planar component.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, and FIG.
The figure is a diagram showing an example of the feature amount of each hole on the part image of the part to be determined, Figure 3 is a flowchart showing an example of the procedure for determining the center of gravity of the hole, which is the base point for labeling, and Figure 4 is the conventional FIG. 5 is a block diagram showing the configuration of the labeling device. FIG. 5 is a diagram showing component images for explaining the labeling operation of FIG. 4. 100... Part to be determined, Work 02... Two-dimensional imaging device, 302... Binarization circuit, 303... Hole detection circuit,
304... Large area calculation circuit, 305... Hole perimeter calculation circuit, 306... Hole center calculation circuit, 307... Center of gravity distance calculation circuit, 308... Angle calculation circuit, 309.
... Position/rotation normalization circuit, 310 ... Hole labeling circuit, 311 ... Memo IJ, 312 ... Comprehensive judgment circuit, 313 ... Part gravity center calculation circuit, 314 ... Other image features Counting Figure 2 Figure 3

Claims (1)

[Scope of Claims] 1) Based on the two-dimensional binarized image of the object to be determined, which is specified by a shape in a two-dimensional plane and has a plurality of holes in a direction perpendicular to the plane, each of the above-mentioned The apparatus for numbering holes includes a main body center of gravity calculation means for calculating the center of gravity of the binarized image of the object to be determined (hereinafter referred to as the body center of gravity), and a center of gravity of the binarized image of each hole (hereinafter referred to as the hole gravity center). ), and a hole feature calculation means that calculates the feature amount of each hole determined from the shape of each hole or the relative arrangement between the center of gravity of each hole and the center of gravity of the main body, and the feature amount of each hole is compared. and a hole labeling means for sequentially tracing the center of gravity of each hole in a predetermined rotation direction from the base point with the center of gravity of the main body as the center and numbering each hole. A hole labeling device featuring: 2) In the apparatus according to claim 1, the hole feature calculation means includes hole area calculation means for calculating the area of each hole, or hole perimeter calculation means for calculating the perimeter of each hole; Or a center-of-gravity distance calculation means that calculates the distance between the center of gravity of each hole and the center of gravity of the main body (hereinafter referred to as the center-of-gravity distance), or a line segment corresponding to the distance between the center of gravity of the hole and a similar line segment adjacent to the line segment. A hole labeling device comprising an angle calculation means for calculating an angle formed with one of the holes on the side in the predetermined rotation direction as an angle corresponding to each hole.