Connector pin inspection apparatus and connector pin inspection method

Abstract

To provide a connector pin inspection apparatus and a connector pin inspection method capable of inspecting multiple connector pins provided in a connector with higher accuracy.SOLUTION: A connector pin inspection apparatus 10 according to the present disclosure is an inspection apparatus that inspects a plurality of connector pins 101 provided in a connector 100, and includes: a first acquisition unit 21 that acquires a first image indicating such a possibility that the connector pins are present; a second acquisition unit 22 that acquires a second image indicating heights of the connector pins and having greater noise than the first image; a tentative presence position identification unit 23 that identifies, as tentative presence positions, positions where the connector pins may be present in the first image acquired by the first acquisition unit; and a height identification unit 24 that identifies, as the height of the connector pin, the height indicated at the tentative presence position in the second image acquired by the second acquisition unit.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a connector pin inspection device and a connector pin inspection method for inspecting a plurality of connector pins provided in a connector. [Background technology]

[0002] Various technologies have been devised for inspecting multiple connector pins provided in a connector. For example, the pin bend detection device disclosed in Patent Document 1 is configured to capture images of the connector pins with a line sensor camera while illuminating the tips of the connector pins with an illumination device, and determine whether the connector pins are bent based on the spacing between the connector pins obtained from the captured image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-52966 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, in recent years, the trend toward electrification of automobiles has led to a diversification of the electrical and electronic components installed in automobiles. Connectors are important components for connecting electrical and electronic components. Therefore, improving the accuracy of inspection technology to check for defects in connectors, such as bent connector pins, has become an increasingly important issue.

[0005] The present disclosure provides a connector pin inspection device and a connector pin inspection method that are capable of inspecting a plurality of connector pins provided in a connector with higher accuracy. [Means for solving the problem]

[0006] The connector pin inspection device 10 of the present disclosure is an inspection device that inspects multiple connector pins 101 provided on a connector 100, and includes a first acquisition unit 21 that acquires a first image indicating the possibility of the connector pin being present, a second acquisition unit 22 that acquires a second image that indicates the height of the connector pin and has greater noise than the first image, a tentative presence position identification unit 23 that identifies a position in the first image acquired by the first acquisition unit where the connector pin may be present as a tentative presence position, and a height identification unit 24 that identifies the height shown at the tentative presence position in the second image acquired by the second acquisition unit as the height of the connector pin.

[0007] The connector pin inspection method of the present disclosure is an inspection method for inspecting a plurality of connector pins 101 provided on a connector 100, and includes a first acquisition process for acquiring a first image indicating the possibility of the connector pin being present, a second acquisition process for acquiring a second image indicating the height of the connector pin and having greater noise than the first image, a tentative presence position identification process for identifying a position in the first image acquired by the first acquisition process where the connector pin may be present as a tentative presence position, and a height identification process for identifying the height indicated at the tentative presence position in the second image acquired by the second acquisition process as the height of the connector pin.

[0008] According to the connector pin inspection device 10 and connector pin inspection method of the present disclosure, a position where a connector pin may exist is narrowed down as a tentative presence position based on a first image that is less affected by noise than a second image. The connector pin inspection device 10 then identifies the height indicated at the position corresponding to the tentative presence position in a second image that is more affected by noise than the first image as the height of the connector pin. This allows the height of the connector pin to be identified based on height information indicated in a portion of the second image where the connector pin is likely to exist, even if the second image is heavily affected by noise. In other words, the height of the connector pin can be identified while minimizing the effects of noise. This allows for more accurate inspection of whether multiple connector pins are properly installed in a connector. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration example of a connector pin inspection device according to the present disclosure. [Figure 2] FIG. 1 is a plan view schematically illustrating an example of a configuration of a connector according to the present disclosure. [Figure 3] FIG. 1 is a diagram illustrating a schematic configuration example of an imaging unit according to the present disclosure. [Figure 4] FIG. 1 is a block diagram illustrating an example of the configuration of a control system of a connector pin inspection device according to the present disclosure. [Figure 5] FIG. 1 is a diagram illustrating a case where the imaging unit according to the present disclosure functions in a first imaging mode. [Figure 6] FIG. 10 is a diagram illustrating a case where the imaging unit according to the present disclosure functions in a second imaging mode. [Figure 7] FIG. 1 is a diagram illustrating an example of a luminance image according to the present disclosure. [Figure 8] FIG. 1 is a diagram illustrating an example of a height image according to the present disclosure. [Figure 9] FIG. 10 is a diagram illustrating how a height image of a connector pin according to the present disclosure is affected by noise. [Figure 10] 1 is a flowchart illustrating an example of automatic registration control by the connector pin inspection device according to the present disclosure. [Figure 11] FIG. 10 is a diagram illustrating a state in which a brightness image and a height image of a master connector are acquired in automatic registration control by the connector pin inspection device according to the present disclosure. [Figure 12] FIG. 10 is a diagram illustrating a state in which a temporary position is identified in automatic registration control by the connector pin inspection device according to the present disclosure. [Figure 13] FIG. 10 is a diagram illustrating a state in which an existence area is set in automatic registration control by the connector pin inspection device according to the present disclosure. [Figure 14] FIG. 10 is a diagram illustrating a state in which a normal position is identified in automatic registration control by the connector pin inspection device according to the present disclosure. [Figure 15] 1 is a flowchart illustrating an example of inspection control by the connector pin inspection device according to the present disclosure. [Figure 16] FIG. 10 is a diagram illustrating a state in which a brightness image and a height image of a connector to be inspected are acquired in inspection control by the connector pin inspection device according to the present disclosure. [Figure 17] FIG. 10 is a diagram illustrating a state in which an existing area is arranged with reference to a reference position in inspection control by the connector pin inspection device according to the present disclosure. [Figure 18] FIG. 10 is a diagram illustrating a state in which a tentative presence position is identified in inspection control by the connector pin inspection device according to the present disclosure. [Figure 19] FIG. 10 is a diagram illustrating a state in which the height of a connector pin is specified in inspection control by the connector pin inspection device according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of a connector pin inspection device and a connector pin inspection method according to the present disclosure will be described below with reference to the drawings. The connector pin inspection device 10 illustrated in FIG. 1 is an apparatus for inspecting a plurality of connector pins 101 provided in a connector 100, i.e., an apparatus capable of determining whether the plurality of connector pins 101 are properly provided in the connector 100. A proper state can be specifically defined as a state in which the plurality of connector pins 101 are provided at predetermined positions, at predetermined intervals, and without bending or breaking. The connector 100 is provided on a circuit board of an electrical or electronic component mounted on, for example, an automobile, and a connection cable (not shown) is connected to the connector 100. If the plurality of connector pins 101 are properly arranged in the connector 100, it is possible to connect the connection cable (not shown) to the connector 100. If the plurality of connector pins 101 are not properly arranged in the connector 100, it is impossible or difficult to connect the connection cable (not shown) to the connector 100.

[0011] The connector pin inspection device 10 includes an imaging unit 11 capable of capturing an image of a connector 100, which is an example of an object. The connector 100 is held by a gripping device (not shown) in an imaging area set below the connector pin inspection device 10, i.e., below the imaging unit 11, and is movable by a conveying device (not shown). The imaging unit 11 is configured to be switchable between a plurality of imaging modes, in this case, a first imaging mode and a second imaging mode. The first imaging mode is an imaging mode that causes the imaging unit 11 to function as a camera known as an "area camera" or "area scan camera." The second imaging mode is an imaging mode that causes the imaging unit 11 to function as a camera known as a "line camera" or "line scan camera."

[0012] As shown in FIG. 2, the connector 100 has an inner bottom 103 surrounded by an outer wall 102. The connector 100 has an opening on the surface facing the inner bottom 103. A connection cable (not shown) is connected to the connector 100 through this opening. A plurality of connector pins 101 extend linearly from the inner bottom 103 toward the opening, inside the outer wall 102. A rectangular groove 104, for example, is formed in the inner bottom 103 at the base of the connector pin 101. Note that the groove 104 does not necessarily have to be formed.

[0013] 3, the imaging unit 11 includes a light emitter 12 and a light receiver 13. The light emitter 12 is disposed in an upper region of the connector 100 and is capable of emitting light toward the connector 100 from above. The light receiver 13 is disposed in a position outside the upper region of the connector 100 and is capable of receiving, at a position outside the upper region of the connector 100, light emitted from the light emitter 12 and reflected by various parts of the connector 100. Using the light emitter 12 and the light receiver 13, the imaging unit 11 can acquire various images such as a luminance image G1 and a height image G2, which will be described later.

[0014] Even if the light emitted from the light emitter 12 is reflected by each part of the connector 100, the light receiver 13 cannot receive the reflected light if there is an object that blocks the light, such as the outer wall 102, between the part that reflected the light and the light receiver 13. Therefore, even if there is a part of the connector 100 that reflected light, the part that the light receiver 13 cannot receive the reflected light from is reflected in the image as a part that did not reflect light or a part that does not easily reflect light.

[0015] The control device 20 illustrated in Fig. 4 is mounted on the connector pin inspection device 10. The control device 20 is mainly configured with, for example, a microcomputer, and controls the overall operation of the connector pin inspection device 10 based on a control program. By executing the control program, the control device 20 virtually realizes various processing units using software, such as a brightness image acquisition processing unit 21, a height image acquisition processing unit 22, a tentative existence position identification processing unit 23, a height identification processing unit 24, an existence area registration processing unit 25, and a reference position registration processing unit 26. These processing units 21 to 26 may be realized by hardware, or may be realized by a combination of software and hardware.

[0016] The luminance image acquisition processing unit 21 causes the imaging unit 11 to function as a camera known as an "area camera" or an "area scan camera." That is, as shown in Fig. 5, the luminance image acquisition processing unit 21 irradiates light L from the imaging unit 11 onto an object over a range having a certain area, and acquires an image.

[0017] The luminance image acquisition processing unit 21 moves the connector 100 using a transport device (not shown) below the imaging unit 11. This allows the luminance image acquisition processing unit 21 to partially image the connector 100 using light L irradiated over a certain area, and ultimately obtain an image of the entire connector 100.

[0018] The height image acquisition processing unit 22 causes the imaging unit 11 to function as a camera known as a "line camera" or a "line scan camera." That is, as shown in Fig. 6, the height image acquisition processing unit 22 irradiates a line of light L from the imaging unit 11 onto an object to acquire an image.

[0019] The height image acquisition processing unit 22 moves the connector 100 using a transport device (not shown) below the imaging unit 11. This allows the height image acquisition processing unit 22 to scan the connector 100 with the linearly irradiated light L, and ultimately obtain an image of the entire connector 100. The height image acquisition processing unit 22 can detect the height of each part of the connector 100 by utilizing the so-called "three-dimensional measurement method" or "triangulation method," etc.

[0020] The luminance image acquisition processing unit 21 is an example of a first acquisition unit and is capable of executing luminance image acquisition processing. The luminance image acquisition processing is an example of a first acquisition processing and includes processing for acquiring a luminance image G1 that can indicate the possibility of the presence of a connector pin 101 in the connector 100. That is, the luminance image acquisition processing unit 21 acquires a luminance image G1 as exemplified in FIG. 7 by capturing an image of the connector 100 in a state in which light is emitted from the light emitter 12 to the connector 100.

[0021] The luminance image G1 is an example of a first image, which is a two-dimensional image of the object at the time of image capture and shows the brightness of each part of the object. In the luminance image G1, parts of the object that are reached by light or easily reached by light are displayed bright, i.e., white. In addition, in the luminance image G1, parts of the object that are not reached by light or that are difficult to reach by light are displayed dark, i.e., black.

[0022] 7, portions of connector 100 that are reached by light or that are easily reached by light, such as the tips of connector pins 101 and portions of inner bottom 103 of connector 100 that are not blocked by outer wall 102, are areas where reflected light can be received by optical receiver 13 or that are easily received by reflected light, and therefore these portions are shown in white. On the other hand, portions of connector 100 that are not reached by light or that are difficult to reach by light, such as portions of inner bottom 103 of connector 100 that are blocked by outer wall 102, are areas where reflected light cannot be received by optical receiver 13 or that are difficult to receive by reflected light, and therefore these portions are shown in black.

[0023] According to the luminance image G1, not only the tip of the connector pin 101 but also parts that light reaches or that light is likely to reach are displayed in white with brightness similar to that of the tip of the connector pin 101. Therefore, just because a certain position is displayed in white, it cannot be determined that the connector pin 101 exists at that position. Therefore, the luminance image G1 is not an image that indicates that the connector pin 101 exists, but merely an image that indicates the possibility that the connector pin 101 may exist.

[0024] The height image acquisition processor 22 is an example of a second acquisition unit and is capable of executing height image acquisition processing. The height image acquisition processing is an example of a second acquisition processing and includes processing for acquiring a height image G2 that can indicate the positions of the connector pins 101 in the connector 100 and the heights of the connector pins 101 in the connector 100. That is, the height image acquisition processor 22 acquires a height image G2 as exemplified in FIG. 8 by capturing an image of the connector 100 while irradiating the connector 100 with light from the light emitter 12.

[0025] The height image G2 is an example of a second image, and is an image that captures the object in three dimensions at the time of image capture, and shows the position and height of each part of the object. In the height image G2, higher parts of the object, i.e., parts closer to the connector pin inspection device 10, are more likely to receive and reflect light, and are therefore displayed in light gray. In addition, in the height image G2, lower parts of the object, i.e., parts farther from the connector pin inspection device 10, are less likely to receive and reflect light, and are therefore displayed in dark gray.

[0026] 8, portions of the connector 100 where light reaches and is likely to be reflected, such as the tips of the connector pins 101 and portions of the inner bottom 103 of the connector 100 where light is not blocked by the outer wall 102, are portions where the light receiver 13 can receive reflected light or where reflected light is likely to be received, and therefore these portions are shown in light gray. On the other hand, portions of the connector 100 where light does not reach and where it is difficult to reflect light, such as the portions of the inner bottom 103 of the connector 100 where light is blocked by the outer wall 102, are portions where the light receiver 13 cannot receive reflected light or where reflected light is difficult to receive, and therefore these portions are shown in dark gray.

[0027] According to the height image G2, the parts of the connector 100 that have height, that is, the tips of the connector pins 101, are shown as light gray dots. Therefore, it can be shown that the connector pins 101 are present in the parts shown as dots that correspond to the size of the tips of the connector pins 101, among the parts shown in light gray.

[0028] However, the height image G2 is an image that is more affected by noise than the brightness image G1. That is, as illustrated in Fig. 9, the connector pin 101 has a tapered shape that gradually becomes thinner from the base end, which is the inner bottom portion 103 side, toward the tip end, which is the connector pin inspection device 10 side. In a connector pin 101 with such a shape, the height changes significantly at the inclined ridge line 101a. Therefore, in the height image G2, noise N tends to be easily generated at the ridge line 101a of the connector pin 101.

[0029] If the influence of such noise N could be removed from the height image G2, it would be possible to more accurately detect the position and height of the connector pin 101 in the connector 100. As described above, the brightness image G1 is an image that indicates the possibility that the connector pin 101 is present, but is characterized by being less influenced by noise than the height image G2.

[0030] The tentative existence position identification processing unit 23 is an example of a tentative existence position identification unit, and is capable of executing tentative existence position identification processing. The tentative existence position identification processing includes processing to identify a position where the connector pin 101 shown in the luminance image G1 acquired by the luminance image acquisition processing unit 21 may be present as the tentative existence position Pa.

[0031] The height identification processing unit 24 is an example of a height identification unit and is capable of executing height identification processing. The height identification processing includes processing for identifying the height shown at the provisional position Pa in the height image G2 acquired by the height image acquisition processing unit 22 as the height of the connector pin 101.

[0032] The presence area registration processing unit 25 is an example of a presence area registration unit and is capable of executing a presence area registration process. The presence area registration process includes a process of identifying, as a tentative position Pb, a position where the height of the connector pin 101 is indicated in a height image G2 acquired for the master connector 100M in which the connector pin 101 is normally installed. The presence area registration process also includes a process of registering, as a presence area Pc, a predetermined area within the luminance image G1 acquired for the master connector 100M that includes the tentative position Pb.

[0033] The reference position registration processing unit 26 is an example of a reference position registration unit and is capable of executing a reference position registration process. The reference position registration process includes a process of registering, as a reference position Pd, a position that is different from a position where the connector pin 101 may be present in the luminance image G1 acquired for the master connector 100M in which the connector pin 101 is normally installed.

[0034] The control device 20 includes a registration unit 27 that is configured with a storage medium such as a flash memory, a hard disk drive, etc. The registration unit 27 is capable of storing, or registering, various types of information, such as information indicating the position and range of the existence area Pc, information indicating the position of the reference position Pd, and information indicating the position of the normal position Pe, which will be described later.

[0035] The control device 20 is also configured to be able to control the operation of a gripping device (not shown) that grips the connector 100 and a transport device (not shown) that transports the connector 100 .

[0036] Control device 20 can execute automatic registration control to automatically register the normal positions of connector pins 101 in connector 100 as normal positions Pe. As illustrated in Fig. 10, when master connector 100M, in which multiple connector pins 101 are arranged in a normal manner, is grasped and transported to a predetermined imaging position (step A1: YES), control device 20 causes imaging unit 11 to acquire a brightness image G1 and a height image G2 of master connector 100M (step A2).

[0037] The control device 20 identifies the position where the height of the connector pin 101 is indicated in the height image G2 acquired for the master connector 100M as the tentative position Pb (step A3). At this time, the control device 20 particularly identifies a light gray dot-like portion of the height image G2 acquired for the master connector 100M, which has a size corresponding to the size of the tip of the connector pin 101, as the tentative position Pb.

[0038] The control device 20 sets a predetermined area including the tentative position Pb in the brightness image G1 acquired for the master connector 100M as an existing area Pc (step A4). The control device 20 registers the set existing area Pc in the registration unit 27 (step A5).

[0039] At this time, the control device 20 sets a predetermined position in the brightness image G1 acquired for the master connector 100M, in this case a position different from the position where the connector pin 101 may be present, as a reference position Pd, and sets the position of the presence area Pc based on the reference position Pd. The position different from the position where the connector pin 101 may be present in the brightness image G1 is, for example, a portion of the outer wall portion 102 of the connector 100 that has a characteristic shape, such as the position of a partition wall extending inward. The control device 20 registers the presence area Pc together with the reference position Pd in ​​the registration unit 27.

[0040] The control device 20 registers in the registration unit 27, in step A6, a position in the presence area Pc of the luminance image G1 acquired for the master connector 100M where the luminance is equal to or greater than a predetermined luminance value and the area is equal to or greater than a predetermined area value as the normal position Pe of the connector pin 101. This registers information on the position when the connector pin 101 is provided in a normal manner.

[0041] According to the automatic registration control exemplified above, as shown in Fig. 11, the control device 20 acquires a brightness image G1 and a height image G2 of the master connector 100M. The coordinate information of each part in the brightness image G1 and the height image G2 is consistent. Then, as shown in Fig. 12, the control device 20 identifies the position where the height of the connector pin 101 is indicated in the height image G2 acquired for the master connector 100M as the tentative position Pb.

[0042] 13, the control device 20 sets an area of ​​a predetermined range including the tentative position Pb in the brightness image G1 acquired for the master connector 100M as the presence area Pc and registers it in the registration unit 27. Then, as shown in FIG. 14, the control device 20 identifies and registers, as the regular position Pe of the connector pin 101, a position in the presence area Pc in the brightness image G1 acquired for the master connector 100M where the brightness is equal to or greater than a predetermined brightness value and the area is equal to or greater than a predetermined area value.

[0043] The control device 20 can utilize registration information registered by automatic registration control, such as the presence area Pc and the normal position Pe, to perform inspection control to check whether the multiple connector pins 101 provided on the connector 100 to be inspected are provided in the normal manner.

[0044] As illustrated in FIG. 15, when the connector 100 to be inspected is grasped and transported to a predetermined imaging position (step B1: YES), the control device 20 acquires a brightness image G1 and a height image G2 of the connector 100 to be inspected using the imaging unit 11 (step B2).

[0045] The control device 20 searches for a reference position Pd that has been registered in advance by automatic registration control in the brightness image G1 acquired for the connector 100 to be inspected (step B3). After searching for the reference position Pd, the control device 20 places an existence area Pc that has been registered in advance by automatic registration control on the brightness image G1 using the reference position Pd as a reference (step B4).

[0046] The control device 20 identifies a position in the presence area Pc of the luminance image G1 where the connector pin 101 may exist as a tentative existence position Pa (step B5). In this case, the control device 20 identifies a position in the presence area Pc of the luminance image G1 where the luminance is equal to or greater than a predetermined luminance value and the area is equal to or greater than a predetermined area value as the tentative existence position Pa.

[0047] The control device 20 determines the height of the connector pin 101 by averaging the height indicated at the provisional position Pa in the height image G2 and the heights indicated around the provisional position Pa in the height image G2 (step B6). In this case, the control device 20 calculates the average value of the height indicated at the provisional position Pa in the height image G2 and the heights indicated around the provisional position Pa in the height image G2, for example, using the "three sigma method." Note that the control device 20 may determine the height indicated at the provisional position Pa in the height image G2 as the height of the connector pin 101 as is. The control device 20 determines whether the height determined for the provisional position Pa is higher than a predetermined reference height (step B7). The predetermined reference height can be set appropriately to the height of the connector pin 101 when provided in a normal manner.

[0048] If the height determined for the tentative position Pa is higher than a predetermined reference height (step B7: YES), the control device 20 determines whether the tentative position Pa matches the regular position Pe registered in advance by automatic registration control (step B8). If the tentative position Pa matches the regular position Pe (step B8: YES), the control device 20 determines that the connector pin 101 is provided in a regular manner (step B9). In other words, the control device 20 confirms that the connector pin 101 is provided in a regular position and at a regular height.

[0049] If the height determined for the tentative position Pa is lower than a predetermined reference height (step B7: NO), or if the tentative position Pa does not match the correct position Pe (step B8: NO), the control device 20 determines that the connector pin 101 is not provided in a correct manner (step B10). That is, the control device 20 confirms that the connector pin 101 is not provided in a correct position or at a correct height. Alternatively, the control device 20 confirms that the connector pin 101 is not provided in a correct position and not at a correct height.

[0050] According to the inspection control exemplified above, as illustrated in FIG. 16, the control device 20 acquires a brightness image G1 and a height image G2 of the connector 100 to be inspected. The coordinate information of each part in the brightness image G1 and the height image G2 is consistent. Then, as illustrated in FIG. 17, the control device 20 searches for a reference position Pd that has been registered in advance by automatic registration control in the brightness image G1 acquired of the connector 100 to be inspected. Furthermore, the control device 20 places an existence area Pc that has been registered in advance by automatic registration control on the brightness image G1 acquired of the connector 100 to be inspected, using the searched reference position Pd as a reference.

[0051] 18, the control device 20 identifies a position in the presence area Pc of the brightness image G1 acquired for the connector 100 to be inspected, where the brightness is equal to or greater than a predetermined brightness value and the area is equal to or greater than a predetermined area value, as the tentative presence position Pa. Then, as shown in Fig. 19, the control device 20 identifies the height of the connector pin 101 as the average height of the height shown at the tentative presence position Pa in the height image G2 acquired for the connector 100 to be inspected and the heights shown around the tentative presence position Pa in the height image G2 acquired for the connector 100 to be inspected.

[0052] Then, if the height determined for the tentative position Pa is higher than a predetermined reference height and the tentative position Pa coincides with the correct position Pe registered in advance by automatic registration control, the control device 20 determines that the connector pin 101 is installed in a correct manner. Furthermore, if the height determined for the tentative position Pa is lower than the predetermined reference height, or if the tentative position Pa does not coincide with the correct position Pe, or if both of these occur, the control device 20 determines that the connector pin 101 is not installed in a correct manner.

[0053] The connector pin inspection device 10 of the present disclosure is an inspection device that inspects a plurality of connector pins 101 provided in a connector 100 to be inspected. The connector pin inspection device 10 includes a luminance image acquisition processing unit 21 that acquires a luminance image G1 indicating the possibility that the connector pin 101 is present. The connector pin inspection device 10 includes a height image acquisition processing unit 22 that acquires a height image G2 indicating the height of the connector pin 101 and having greater noise than the luminance image G1. The connector pin inspection device 10 includes a tentative presence position identification processing unit 23 that identifies, as a tentative presence position Pa, a position where the connector pin 101 is likely to be present, which is shown in the luminance image G1 acquired by the luminance image acquisition processing unit 21. The connector pin inspection device 10 includes a height identification processing unit 24 that identifies, as the height of the connector pin 101, the height indicated at the tentative presence position Pa in the height image G2 acquired by the height image acquisition processing unit 22.

[0054] That is, the connector pin inspection device 10 narrows down positions where the connector pin 101 may exist as tentative existence positions Pa based on the brightness image G1, which is less affected by noise than the height image G2. Then, the connector pin inspection device 10 specifies, as the height of the connector pin 101, the height shown at a position corresponding to the tentative existence position Pa in the height image G2, which is more affected by noise than the brightness image G1.

[0055] According to this configuration example, even if the height image G2 is significantly affected by noise, the height of the connector pin 101 can be identified based on the height information shown in the portion of the height image G2 where the connector pin 101 is likely to be present. In other words, the influence of noise can be eliminated as much as possible, and the height of the connector pin 101 can be identified with high accuracy. Therefore, it is possible to inspect with even greater accuracy whether the multiple connector pins 101 provided in the connector 100 are provided in the correct manner.

[0056] It is highly likely that the height of a connector pin 101 that is not properly installed in the connector 100, such as a connector pin 101 that is installed in a position that is shifted from the normal position or a connector pin 101 that is bent or broken, is different from the height of a connector pin 101 that is properly installed, that is, a connector pin 101 that is installed in the normal position without being bent or broken. Therefore, by specifying the "height" of the connector pin 101, it is possible to fully inspect whether the connector pin 101 is properly installed.

[0057] In the connector pin inspection device 10, the tentative presence position identification processing unit 23 identifies a position within a predetermined presence area Pc in the luminance image G1 where the connector pin 101 may exist as the tentative presence position Pa. According to this configuration example, it is possible to identify the tentative presence position Pa after narrowing down the area in the luminance image G1 where the connector pin 101 may exist to a certain range, and it is possible to identify the position where the connector pin 101 may exist with even higher accuracy.

[0058] According to the connector pin inspection device 10, the tentative-existence-position identifying processor 23 identifies, as the tentative-existence position Pa, a position in the existence area Pc of the luminance image G1 where the luminance is equal to or greater than a predetermined luminance value and the area is equal to or greater than a predetermined area value. The tip of the connector pin 101 has a certain area. Therefore, in the luminance image G1, an area showing a certain degree of luminance and having a certain degree of area is shown in the portion where the tip of the connector pin 101 is located.

[0059] According to the connector pin inspection device 10, a portion of the brightness image G1 that has a certain level of brightness and a certain level of area within the presence area Pc is identified as the tentative presence position Pa. This makes it possible to identify the position where the connector pin 101 may be present with even higher accuracy. It is also possible to avoid erroneously identifying a portion with low brightness or a small area, i.e., a noise portion, as the tentative presence position Pa where the connector pin 101 may be present. Note that as long as the method can sufficiently remove the influence of noise, for example, the tentative presence position Pa may be identified based only on the brightness value, the tentative presence position Pa may be identified based only on the area value, or the tentative presence position Pa may be identified based on parameters other than the brightness value or the area value.

[0060] According to the connector pin inspection device 10, the presence area registration processing unit 25 specifies, as a tentative position Pb, a position indicating the height of the connector pin 101 in the height image G2 acquired for the master connector 100M in which the connector pin 101 is normally installed. Then, the presence area registration processing unit 25 sets and registers, as a presence area Pc, an area of ​​a predetermined range including the tentative position Pb in the brightness image G1 acquired for the master connector 100M.

[0061] According to this configuration example, the presence area Pc can be set and registered by utilizing the tentative position Pb identified based on the height image G2 of the master connector 100M in which the connector pins 101 are normally installed. Therefore, the presence area Pc can be set and registered with high accuracy.

[0062] According to the connector pin inspection device 10, the presence area Pc is set based on a predetermined reference position Pd in ​​the luminance image G1. According to this configuration example, the presence area Pc can be set with high accuracy based on the reference position Pd.

[0063] According to the connector pin inspection device 10, the reference position registration processing unit 26 registers as the reference position Pd a position in the brightness image G1 of the master connector 100M in which the connector pin 101 is installed in a normal state, which is different from the position where the connector pin 101 may be present.

[0064] According to this configuration example, it is possible to set and register the reference position Pd in ​​the luminance image G1 of the master connector 100M in which the connector pins 101 are normally installed. Therefore, it is possible to set and register the reference position Pd with high accuracy.

[0065] In the connector pin inspection device 10, the height identification processing unit 24 identifies the height of the connector pin 101 as the average height of the height indicated at the provisional presence position Pa in the height image G2 and the heights indicated around the provisional presence position Pa in the height image G2. According to this configuration example, the height of the connector pin 101 can be identified based on the average value of the height indicated at the provisional presence position Pa in the height image G2 and the heights indicated around the provisional presence position Pa in the height image G2. Therefore, compared to when the height of the connector pin 101 is identified based only on the height information indicated at the provisional presence position Pa in the height image G2, it is possible to identify the height of the connector pin 101 while absorbing the influence of, for example, errors.

[0066] According to the connector pin inspection device 10, information such as the correct position, correct height, and spacing between other connector pins 101 when installed in the correct manner for each of the multiple connector pins 101 installed in the connector 100 can be automatically registered by automatic registration control without the need for an inspector to input such information. This significantly reduces the burden of input work performed by the inspector prior to inspection.

[0067] The present disclosure is not limited to the above-described embodiment, and modifications and extensions may be made as appropriate without departing from the spirit and scope of the present disclosure. For example, the connector pin inspection device 10 may be configured to include an imaging unit that functions as a camera known as an "area camera" or "area scan camera," and an imaging unit that functions as a camera known as a "line camera" or "line scan camera," respectively. The first image is not limited to the luminance image G1 and may be another image. The second image is not limited to the height image G2 and may be another image.

[0068] Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments or structures. The present disclosure also encompasses various modifications and modifications within the scope of equivalents. In addition, various combinations and forms, as well as other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and spirit of the present disclosure.

[0069] The control unit and the method described herein may be implemented by a special-purpose computer configured by configuring a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the control unit and the method described herein may be implemented by a special-purpose computer configured by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described herein may be implemented by one or more special-purpose computers configured by combining a processor and memory programmed to perform one or more functions with a processor configured with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium. [Explanation of symbols]

[0070] In the drawing, 10 indicates a connector pin inspection device, 21 indicates a brightness image acquisition processing unit (first acquisition unit), 22 indicates a height image acquisition processing unit (second acquisition unit), 23 indicates a tentative existence position identification processing unit (tentative existence position identification unit), 24 indicates a height identification processing unit (height identification unit), 25 indicates a presence area registration processing unit (presence area registration unit), 26 indicates a reference position registration processing unit (reference position registration unit), 100 indicates a connector, 101 indicates a connector pin, and 100M indicates a master connector.

Claims

1. An inspection device (10) for inspecting a plurality of connector pins (101) provided in a connector (100), comprising: a first acquisition unit (21) that acquires a first image indicating that the connector pin may be present; a second acquisition unit (22) that acquires a second image that indicates the height of the connector pin and has greater noise than the first image; a tentative presence position specifying unit (23) that specifies a position in the first image acquired by the first acquisition unit where the connector pin may be present as a tentative presence position; a height specifying unit (24) that specifies the height shown at the provisional position in the second image acquired by the second acquisition unit as the height of the connector pin; A connector pin inspection device comprising:

2. The connector pin inspection device according to claim 1 , wherein the tentative presence position specifying unit specifies, as the tentative presence position, a position within a predetermined presence area in the first image where the connector pin may be present.

3. 3. The connector pin inspection device according to claim 2, wherein the tentative presence position specifying unit specifies, as the tentative presence position, a position in the first image where the brightness is equal to or greater than a predetermined value and the area is equal to or greater than a predetermined value within the presence area.

4. The connector pin inspection device of claim 2 further comprises an existence area registration unit (25) that identifies, as a provisional position, a position in the second image acquired of a master connector (100M) in which the connector pin is installed in a normal state, where the height of the connector pin is indicated, and registers, as the existence area, an area of ​​a predetermined range including the provisional position in the first image acquired of the master connector.

5. 3. The connector pin inspection device according to claim 2, wherein the presence area is set based on a predetermined reference position in the first image.

6. The connector pin inspection device of claim 5, further comprising a reference position registration unit (26) that registers as the reference position a position in the first image acquired for a master connector (100M) in which the connector pin is installed in a normal state, the position being different from a position where the connector pin may be present.

7. The connector pin inspection device of claim 1, wherein the height determination unit determines the height of the connector pin to be the average height of the height shown at the provisional existence position in the second image and the height shown around the provisional existence position in the second image.

8. A method for inspecting a plurality of connector pins (101) provided in a connector (100), comprising: a first acquisition process for acquiring a first image indicating the possible presence of the connector pin; a second acquisition process for acquiring a second image indicating the height of the connector pin, the second image having greater noise than the first image; a tentative presence position specifying process for specifying, as a tentative presence position, a position in the first image acquired by the first acquisition process where the connector pin may be present; a height specifying process for specifying, as a height of the connector pin, a height shown at the provisional position in the second image acquired by the second acquisition process; A connector pin inspection method including:

9. 9. The connector pin inspection method according to claim 8, wherein the tentative presence position specifying process specifies, as the tentative presence position, a position within a predetermined presence area in the first image where the connector pin may be present.

10. The connector pin inspection method according to claim 9, wherein the tentative existence position identification process identifies a position in the first image where the brightness within the existence area is equal to or greater than a predetermined value and where the area is equal to or greater than a predetermined value as the tentative existence position.

11. 10. The connector pin inspection method according to claim 9, further comprising a presence area registration process for identifying a position in the second image acquired of a master connector (100M) in which the connector pin is installed in a normal state, where the height of the connector pin is indicated, as a provisional position, and registering an area of ​​a predetermined range including the provisional position in the first image acquired of the master connector as the presence area.

12. The connector pin inspection method according to claim 9 , wherein the presence area is set based on a predetermined reference position in the first image.

13. The connector pin inspection method according to claim 12, further comprising a reference position registration process for registering as the reference position a position in the first image acquired for a master connector (100M) in which the connector pin is installed in a normal state, the position being different from a position where the connector pin may be present.

14. The connector pin inspection method of claim 8, wherein the height determination process determines the height of the connector pin as the average height of the height shown at the provisional existence position in the second image and the height shown around the provisional existence position in the second image.

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