Inspection device

Abstract

The present invention provides an inspection device for inspecting the interior of an object, the inspection device comprising: an endoscope camera having an imaging unit for acquiring images; an endoscope camera moving unit for moving the endoscope camera; and a control device for controlling the endoscope camera moving unit to move the endoscope camera along an inspection path data of the interior of the object that is pre-set using data representing the internal structure of the object, and controlling the imaging unit to acquire an internal image of the object.

Description

Technical Field

[0001] The present disclosure relates to an inspection device for inspecting the interior of an object. Background Art

[0002] An endoscope apparatus is known in which an endoscope including an imaging element is inserted into an object to be inspected and abnormalities inside the object to be inspected are detected using image data acquired by the imaging element (for example, Japanese Patent Application Laid-Open No. 2005-55756). Summary of the invention

[0003] In the conventional technology, the operation for acquiring image data of the inside of the inspection object and moving the endoscope is performed by a person operating a remote controller, which is inefficient. Therefore, a technology capable of efficiently inspecting the inside of the inspection object is required.

[0004] The present disclosure can be implemented in the following forms.

[0005] (1) According to one embodiment of the present disclosure, there is provided an inspection device for inspecting the interior of an article. The inspection device includes: an endoscope camera having an imaging unit for acquiring an image; an endoscope camera moving unit for moving the endoscope camera; and a control device for controlling the endoscope camera moving unit to move the endoscope camera along inspection path data of the interior of the article that is pre-set using data representing the internal structure of the article, and controlling the imaging unit to acquire an image of the interior of the article.

[0006] According to the inspection device of this aspect, it is possible to obtain image data on the inspection path of the interior of the article without a person operating a remote controller, so that the interior of the inspection object can be inspected efficiently.

[0007] (2) In the inspection device of the above aspect, the control device may include an abnormality detection unit that detects an abnormality inside the article using the internal image.

[0008] According to the inspection device of this aspect, an abnormality on the inspection path inside the article can be detected without a person operating a remote controller, so the inside of the inspection object can be inspected more efficiently.

[0009] (3) In the inspection device of the above-mentioned method, the control device may also include a position acquisition unit, which uses a plurality of images acquired by the camera unit at predetermined intervals and the subject image included in the plurality of images to acquire the position of the camera unit in the inspection path data.

[0010] According to the inspection device of this aspect, since the image acquired for inspection can be used to acquire the position of the imaging unit, the position of the imaging unit can be detected without separately providing a device for position detection.

[0011] (4) In the inspection device of the above aspect, the control device may store the position of the imaging unit acquired by the position acquisition unit in association with the position where the abnormality is detected.

[0012] According to the inspection device of this aspect, the operator can easily recognize the position of the abnormality inside the article based on the inspection results.

[0013] (5) In the inspection device of the above aspect, the inspection device may further include a path generation unit that generates the inspection path data using three-dimensional model data of the article.

[0014] According to the inspection device of this aspect, the three-dimensional model data of the inspection object can be directly used for inspection by the inspection device.

[0015] (6) In the inspection device of the above aspect, the endoscope camera moving unit may include a plurality of rollers capable of gripping at least a portion of the endoscope camera, and the endoscope camera may be moved forward or backward by switching the rotation direction of the rollers.

[0016] According to the inspection device of this aspect, the endoscope camera can be stably moved by gripping the main body with the rollers.

[0017] (7) In the inspection device of the above aspect, the article may be a component mounted on a vehicle.

[0018] According to the inspection device of this aspect, it is possible to provide an inspection device used in the manufacturing process of vehicle parts.

[0019] The present disclosure can also be implemented in various forms other than the inspection device, for example, in the form of an inspection method for an article, a control method for an inspection device, a computer program for implementing the control method, a non-transitory recording medium recording the computer program, and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0021] Figure 1 It is an explanatory diagram showing an inspection device as a first embodiment of the present disclosure.

[0022] Figure 2 This is an explanatory diagram showing an enlarged view of the vicinity of the arm end.

[0023] Figure 3 It is a block diagram showing the functions of the control device.

[0024] Figure 4 This is a flowchart showing the inspection control executed by the control device of the inspection device.

[0025] Figure 5 This is an explanatory diagram schematically showing a three-dimensional model of a workpiece to be inspected.

[0026] Figure 6 It is an explanatory diagram showing a state in which the abnormality detection unit performs abnormality detection.

[0027] Figure 7 It is an explanatory diagram showing a state in which a position acquisition unit acquires feature points of image data.

[0028] Figure 8 It is an explanatory diagram showing a state in which the position acquisition unit acquires the movement distance of the imaging unit.

[0029] Fig. 9 An explanatory diagram showing inspection result data of an inspection device. DETAILED DESCRIPTION

[0030] A. First Implementation Method:

[0031] use Figure 1 and Figure 2 , the structure of the inspection device 100 is described. Figure 1 : is an explanatory diagram showing an inspection device 100 as the first embodiment of the present disclosure. The inspection device 100 is used to inspect the inside of an object that is an inspection object. In the present disclosure, the object includes, for example, industrial products such as ordinary devices and structures, and does not include animals and human bodies. The inside of the object includes a space existing on the inner side of the object and components such as the wall surface of the object that define the space. The object includes, for example, a casting manufactured by a die casting machine. In the present embodiment, the inspection object is various casting parts mounted on a vehicle, such as a cylinder head and a cylinder block. Figure 1 The three axes X, Y, and Z of the rectangular coordinate system defining the three-dimensional space are drawn. The X-axis and the Y-axis are axes in the horizontal direction, and the Z-axis is an axis in the vertical direction.

[0032] The inspection device 100 includes an endoscope camera device 50, an endoscope camera moving unit 80, and a control device 30. The endoscope camera device 50 includes an endoscope camera 52 and an endoscope camera control unit 54. The endoscope camera 52 is also called an endoscope. The endoscope camera 52 is controlled by the endoscope camera control unit 54. The control device 30 is, for example, a personal computer. The control device 30 controls the endoscope camera device 50 and the endoscope camera moving unit 80. In the present embodiment, the endoscope camera moving unit 80 includes a robot 40, a roller device 70, and a direction switching unit 524 of the endoscope camera 52 described later. The inspection device 100 controls the robot 40, the roller device 70, and the direction switching unit 524 through the control device 30, and can control the movement of the endoscope camera 52, the switching of the direction, and other actions.

[0033] Figure 1 A support 60 for placing a workpiece WK to be inspected is shown. The workpiece WK has an internal space SP. A holder 62 for holding the workpiece WK is fixed to the support 60. A mark 64 for calibration that can be imaged by a robot camera 424 described later is provided on the support 60.

[0034] The robot 40 adjusts the relative position of the endoscope camera 52 with respect to the workpiece WK. The robot 40 has a base 44 and an arm 42. The robot 40 is controlled by the robot control unit 20. The arm 42 is sequentially connected by a plurality of joints including bending joints and torsion joints. The robot 40 may also include an arm 42 of any mechanism having more than one joint.

[0035] The roller device 70 and the robot camera 424 are mounted on the arm end 422, which is the front end of the arm 42. In the present embodiment, the roller device 70 moves the endoscope camera 52 in one direction. Specifically, the roller device 70 sends the endoscope camera 52 from the roller device 70 toward the workpiece WK (hereinafter also referred to as "forward") and winds the endoscope camera 52 from the workpiece WK toward the roller device 70 (hereinafter also referred to as "backward").

[0036] The image captured by the robot camera 424 is output to the control device 30 and can be used to identify the position and shape of the workpiece WK. In the present embodiment, the robot camera 424 is used for calibration to identify the origin position of the arm 42 and identification of the start position of the inspection of the workpiece WK. The robot 40 configures the robot camera 424 near the mark 64 provided on the support 60 through a preset action. The robot 40 identifies the relative position relative to the support 60 by using the robot camera 424 to identify the mark 64, and configures the arm 42 to the origin position. As described later, the robot 40 identifies the shape of the component or the dedicated mark provided on the workpiece WK through the robot camera 424, thereby configuring the endoscope camera 52 to the start position of the inspection.

[0037] Figure 2 It is an explanatory diagram showing the vicinity of the arm end 422 in an enlarged manner. Figure 2 The roller device 70 provided at the arm end 422 and the vicinity of the front end of the endoscope camera 52 held by the roller device 70 are shown. Figure 2 As shown, the endoscope camera 52 includes an imaging unit 522, a direction switching unit 524, and a cable 526. The cable 526 is a long hollow tube with a cross-sectional width of about 5 mm to 10 mm. The cable 526 is preferably a flexible member made of, for example, polyurethane or fluororesin. The imaging unit 522 is provided at the front end of the cable 526. The other end of the cable 526 is connected to the endoscope camera control unit 54.

[0038] The imaging unit 522 is, for example, a solid-state imaging element such as a CCD, and is used to obtain an image of the inspection object. In addition to the solid-state imaging element, the imaging unit 522 is also provided with an objective lens, and the solid-state imaging element is arranged at the focal plane of the objective lens. The imaging unit 522 is connected to the endoscope camera control unit 54 via a signal line inserted into the cable 526. At the front end of the cable 526, in addition to the imaging unit 522, a light guide for adjusting the brightness in the object, a forceps for recovering foreign matter in the inspection object, a nozzle for sending a fluid from the front end of the cable 526, etc. can also be provided. The imaging unit 522 can also be connected to the endoscope camera control unit 54 via an optical cable. For example, the imaging unit 522 can be provided outside the front end of the cable 526. In this case, the imaging unit 522 detects light taken in from a lens arranged at the front end of the cable 526, for example, via an optical fiber, thereby obtaining an image of the inspection object.

[0039] The direction switching unit 524 is provided near the front end of the cable 526. The direction switching unit 524 is operated by the endoscope camera control unit 54 under the control of the control device 30. Specifically, the direction switching unit 524 is operated by the endoscope camera control unit 54 operating a wire (not shown) inserted into the cable 526. Figure 2 As shown as direction M2 in FIG. 5 , the direction switching unit 524 can switch the direction of the front end of the endoscope camera 52 within a predetermined range along any direction intersecting the axial direction of the cable 526. As a result, the field of view of the imaging unit 522 can be switched to a desired direction. The direction switching unit 524 is not limited to one direction, and can also switch the direction of the endoscope camera 52 along two directions intersecting each other.

[0040] The endoscope camera control unit 54 is connected to the control device 30 via a signal line. The image data obtained from the imaging unit 522 is output to the control device 30. The endoscope camera control unit 54 controls the processing of the image signal obtained from the imaging unit 522, the switching of the direction of the endoscope camera 52 by the direction switching unit 524, the operation of the light source of the light guide, etc. according to the operation signal input from the control device 30.

[0041] Figure 2 The structure of the roller device 70 is schematically shown. In the present embodiment, the roller device 70 includes a pair of rollers facing each other, namely, a first roller 71 and a second roller 72. The first roller 71 and the second roller 72 are close to each other and hold a portion of the cable 526 therebetween. The roller device 70 is not limited to holding the cable 526, but may also hold the direction switching portion 524 or the camera portion 522. The roller device 70 is not limited to the first roller 71 and the second roller 72, but may include three or more rollers. Under the control of the control device 30, the roller device 70 switches the rotation direction of the first roller 71 and the second roller 72 in a state of holding the endoscope camera 52, thereby causing the endoscope camera 52 to move along the direction of rotation of the endoscope camera 52. Figure 2 The direction M1 shown is forward or backward.

[0042] Figure 3 3 is a block diagram showing the functions of the control device 30. The control device 30 includes a microprocessor 32, a memory 34, and an interface circuit 36. The interface circuit 36 ​​is connected to the robot control unit 20, the endoscope camera control unit 54, and a display unit 38 such as a liquid crystal display.

[0043] The memory 34 stores the operation programs of the path generation unit 341, the position acquisition unit 342, and the abnormality detection unit 343, the CAD program 344, the CAM program 345, the robot operation program RP, the endoscope camera operation program CP, and the inspection result data HD indicating the past inspection results. The microprocessor 32 implements the functions of the various units of the inspection device 100 by executing the computer programs stored in the memory 34. However, some or all of the functions of the above-mentioned various units may be implemented by hardware circuits.

[0044] The CAD program 344 is CAD (computer aided design) software for generating design data of an inspection object. The CAM program 345 is CAM (computer aided manufacturing) software for generating an action program of the endoscope camera moving unit 80. The CAM program 345 uses the inspection path data generated by the CAD program 344 to generate a robot action program RP for moving the endoscope camera 52 along the inspection path, an action program for the roller device 70, and an endoscope camera action program CP. The robot action program RP is composed of a plurality of commands for moving the robot 40. The endoscope camera action program CP is composed of a plurality of commands for moving the endoscope camera 52.

[0045] The path generation unit 341 generates the inspection path data of the endoscope camera 52 using the three-dimensional model data of the inspection object generated by the CAD program 344. The position acquisition unit 342 acquires the position information of the imaging unit 522 in the inspection path using the image data acquired by the imaging unit 522. The abnormality detection unit 343 performs image processing based on the image data acquired by the imaging unit 522 to detect abnormalities inside the inspection object. In the case where a person directly checks the presence or absence of abnormalities using the image data acquired by the imaging unit 522, the abnormality detection unit 343 can be omitted.

[0046] Figure 4 1 is a flowchart showing inspection control executed by the control device 30 of the inspection device 100 according to the present embodiment. Figure 4 The illustrated flow is started, for example, when a user presses a start switch of the inspection device 100 .

[0047] In step S10, the path generation unit 341 sets an inspection path in the workpiece WK to be inspected. For example, the user operates the CAD software to specify the three-dimensional model data of the workpiece WK and specifies the internal space to be inspected on the three-dimensional model data. The path generation unit 341 reads the setting information of the three-dimensional model data related to the endoscope camera 52 from the memory 34, and the setting information includes the size of the endoscope camera 52 and the movable range of the endoscope camera 52 realized by the direction switching unit 524.

[0048] The path generation unit 341 extracts a path in which the endoscope camera 52 can move in the internal space of the workpiece WK as the three-dimensional model data, and generates it as an inspection path. In order to make it easy for the user to inspect the inspection path and the inspection position, the display unit 38 may display the inspection path in the three-dimensional model data of the workpiece WK, or may display the area that can be photographed by the camera unit 522 together with the inspection path. The path generation unit 341 may also automatically generate an inspection path for the inspection object at the start of the inspection by, for example, recognizing the type or manufacturing number of the workpiece WK using the robot camera 424 and reading the three-dimensional model data corresponding to the recognized workpiece WK from the memory 34. The path generation unit 341 that has generated the inspection path uses the CAM program 345 to generate the robot motion program RP and the endoscope camera motion program CP required to move the endoscope camera 52 along the inspection path. In the case where the inspection path is set in advance before the start of this process, step S10 may be omitted.

[0049] In step S20, the control device 30 controls the robot 40 to move the endoscope camera 52 to the inspection start position in the inspection path of the workpiece WK. In step S30, the control device 30 controls the endoscope camera device 50 to start the imaging by the imaging unit 522. In step S40, the control device 30 drives the roller device 70 to move the endoscope camera 52 along the inspection path. The movement of the endoscope camera 52 includes the forward movement of the endoscope camera 52 by the rotation of the first roller 71 and the second roller 72 of the roller device 70 in the forward direction, and the backward movement of the endoscope camera 52 by the rotation of the first roller 71 and the second roller 72 in the reverse direction.

[0050] In step S50, the position acquisition unit 342 acquires the position of the imaging unit 522 in the inspection path. As described later, the position acquisition unit 342 uses a plurality of images acquired by the imaging unit 522 at predetermined intervals and the subject images included in the plurality of images to calculate the movement distance of the imaging unit 522. The position acquisition unit 342 acquires the position of the imaging unit 522 in the inspection path by accumulating the calculated movement distances.

[0051] In step S60, the abnormality detection unit 343 detects an abnormality in the workpiece WK using the image data obtained by the imaging unit 522. In the present embodiment, the abnormality detection unit 343 uses deep learning to detect the abnormality. The abnormality detection unit 343 stores the detected position of the abnormality in association with the position information of the imaging unit 522 obtained by the position acquisition unit 342 as the inspection result data HD of the memory 34. In step S70, the control device 30 confirms whether all the inspections in the inspection path have been completed. In the case where all the inspections in the inspection path have not been completed (S70: No), the control device 30 transfers to step S80.

[0052] In step S80, the control device 30 confirms the inspection path, and confirms whether the direction of the endoscope camera 52 needs to be switched in order to move the endoscope camera 52 to the next position on the inspection path. If the direction of the endoscope camera 52 does not need to be switched (S80: No), the control device 30 returns to step S40 and continues the inspection. If the direction of the endoscope camera 52 needs to be switched (S80: Yes), the control device 30 transfers to step S82. In step S82, the control device 30 controls the direction switching unit 524 to switch the direction of the endoscope camera 52 to the direction corresponding to the next moving position on the inspection path. The control device 30 may switch the direction of the endoscope camera 52 by controlling the arm 42 of the robot 40 instead of switching the direction of the endoscope camera 52 by the direction switching unit 524 or at the same time. The control device 30 may switch the direction of the endoscope camera 52 relative to the workpiece WK by rotating or moving the workpiece WK relative to the endoscope camera 52. In step S70, if all inspections in the inspection path are completed (S70: Yes), this process ends. The control device 30 may display the inspection result on the display unit 38 simultaneously with the completion of the inspection.

[0053] use Figures 5 to 9 , the details of the inspection control performed by the inspection device 100 are described. Figure 5 1 is an explanatory diagram schematically showing a three-dimensional model of a workpiece WK1 as an inspection object. The workpiece WK1 is a cylinder block as an example of an inspection object. The workpiece WK1 has an opening OP1, an internal space SP1 communicating with the opening OP1, an opening OP2, and an internal space SP2 communicating with the opening OP2. The opening OP1 and the opening OP2 are substantially the same shape, and the internal space SP1 and the internal space SP2 are substantially the same shape.

[0054] Figure 5 FIG. 2 shows an inspection path IR generated by the path generation unit 341. When the user operates the control device 30 to designate the internal space SP1 and the internal space SP2 of the workpiece WK1 of the three-dimensional model data, the path generation unit 341 generates the inspection path IR as inspection path data that the endoscope camera 52 can move to the inside of the internal space SP1 and the internal space SP2. Figure 5As shown, the inspection path IR is an inspection path of the substantially cylindrical internal space SP1 that is inspected in the order of the inspection position P1 and the inspection position P2 from the inspection start position PS, and an inspection path of the substantially cylindrical internal space SP2 that is inspected in the order of the inspection position P4 and the inspection end position PE from the inspection position P3. The direction of the inspection path from the inspection position P1 to the inspection position P2 is bent at a predetermined angle relative to the direction of the inspection path from the inspection start position PS to the inspection position P1. Similarly, the direction of the inspection path from the inspection position P4 to the inspection end position PE is bent at a predetermined angle relative to the direction of the inspection path from the inspection position P3 to the inspection position P4.

[0055] When the inspection control is performed, the control device 30 controls the robot 40 to move the endoscope camera 52 to the vicinity of the inspection start position PS. In the present embodiment, the control device 30 detects the opening OP1 by performing image recognition using the robot camera 424 provided at the arm end 422. The control device 30 may also control the arm 42 of the robot 40 to adjust the orientation of the endoscope camera 52 in such a manner that the moving direction of the endoscope camera 52 based on the roller device 70 is consistent with the traveling direction of the inspection path IR. For example, the control device 30 may also use the image data of the workpiece WK1 to perform fine adjustment of the configuration of the endoscope camera 52 to the inspection start position PS, such as using the image data of the opening OP1 to detect the center of the opening OP1 and moving the endoscope camera 52 to the center of the detected opening OP1.

[0056] When the endoscope camera 52 is arranged at the inspection start position PS, the control device 30 controls the endoscope camera device 50 to start the imaging of the imaging unit 522. In the present embodiment, the control device 30 uses the imaging unit 522 to start shooting a dynamic image based on a predetermined frame rate. The frame rate of the dynamic image can be arbitrarily set based on the moving distance of the endoscope camera 52 or the moving speed of the endoscope camera 52. The imaging of the imaging unit 522 is not limited to dynamic images, and for example, it can also be a still image, and the still image can be obtained at each inspection position.

[0057] When the camera unit 522 starts capturing a dynamic image, the control device 30 controls the roller device 70 to move the endoscope camera 52 from the inspection start position PS to the inspection position P1. While the endoscope camera 52 is moving, the abnormality detection unit 343 uses the image data obtained from the camera unit 522 to detect foreign matter, and the position acquisition unit 342 uses the image data obtained from the camera unit 522 to acquire the position of the camera unit 522 in the inspection path IR.

[0058] When the endoscope camera 52 is moved to the inspection position P1, the control device 30 controls the direction switching unit 524 to switch the direction of the endoscope camera 52 to the direction of the next inspection position P2 to be moved. The control device 30 controls the roller device 70 to move the endoscope camera 52 from the inspection position P1 to the inspection position P2. When the inspection to the inspection position P2 is completed, the control device 30 controls the roller device 70 to move the endoscope camera 52 backward and remove it from the internal space SP1, and controls the robot 40 to move the endoscope camera 52 to the inspection position P3. Similar to the inspection in the internal space SP1, the control device 30 performs the inspection of the internal space SP2 from the inspection position P3 to the inspection end position PE via the inspection position P4.

[0059] Figure 6 It is an explanatory diagram showing a state in which the abnormality detection unit 343 performs abnormality detection. Figure 6 FIG. 2 shows an example of image data of one frame in a dynamic image captured by the imaging unit 522 in the internal spaces SP1 and SP2 of the workpiece WK1. Figure 6 As shown, the abnormality detection unit 343 detects the abnormality FM1. The abnormality detected by the abnormality detection unit 343 includes, for example, the attachment of foreign matter to the inspection object, the defect of the inspection object, the unevenness on the wall surface, and the cavity formed in the casting called the casting hole. In this embodiment, the abnormality detection unit 343 uses image recognition based on deep learning using a database of images indicating abnormalities obtained in the past to detect abnormalities by analyzing the image data obtained by the camera unit 522. According to the inspection device 100 of this mode, the detection accuracy of abnormalities can be improved.

[0060] use Figure 7 and Figure 8 , a method for obtaining the position of the camera unit 522 by the position obtaining unit 342 is described. Figure 7 1 is an explanatory diagram showing a state in which the position acquisition unit 342 acquires feature points of image data. Figure 8 It is an explanatory diagram schematically showing a state in which the position acquisition unit 342 acquires the movement distance of the imaging unit 522 . Figure 7 An example of image data for one frame in a moving image captured by the imaging unit 522 in the internal spaces SP1 and SP2 of the workpiece WK1 is shown. Figure 8 The image is obtained by the camera unit 522. Figure 7 The image data shown is an example of one frame of image data captured by the imaging unit 522 in a state where the imager has subsequently moved a predetermined distance on the inspection route IR.

[0061] Figure 7 and Figure 8The object OB1 in the internal space SP1 is shown. The object OB1 is an example of a subject image detected from the image data by the position acquisition unit 342. As the object OB1, various objects such as unevenness on the wall surface of the internal spaces SP1 and SP2, foreign matter existing in the internal spaces SP1 and SP2, and structures provided in the internal spaces SP1 and SP2 can be used.

[0062] Figure 7 and Figure 8 The figure shows a plurality of feature points FP extracted by the position acquisition unit 342. The position acquisition unit 342 detects the coordinates of a characteristic point that can be distinguished from other points, such as an intersection of a corner or a line, an edge, etc., based on information such as the brightness of the image data, and extracts the feature point FP. The position acquisition unit 342 calculates the characteristic of the detected feature point FP as a feature quantity represented by a vector or a binary code, and compares the feature quantities of the corresponding image data to perform matching. Figure 7 The image data shown and Figure 8 The image data shown in the figure is matched using feature points FP to identify Figure 7 The objects OB1 and Figure 8 The object OB1 shown is the same object. For matching feature points, for example, in addition to SIFT (scale-invariant feature transformation), SURF, AKAZE, and other methods may be used. The position acquisition unit 342 may also use, for example, triangulation, SLAM (Simultaneous Localization and Mapping), etc. to calculate the distance to the feature point FP, that is, the distance to the object OB1.

[0063] exist Figure 8 In order to facilitate the understanding of the technology, the position of the object OB1 before moving on the inspection path IR, i.e. Figure 7 The position of object OB1 in FIG. 1 is conceptually shown as object OB2. Figure 8 As shown as the distance DT in FIG. 1 , the position acquisition unit 342 calculates the distance DT between the object OB2 and the object OB1 based on the position change of the object OB1, which is the same object, and acquires the distance DT as the movement distance of the imaging unit 522. The position acquisition unit 342 acquires the movement distance for each predetermined frame of the dynamic image acquired by the imaging unit 522. The position acquisition unit 342 accumulates the acquired movement distances and calculates the accumulated movement distance from the inspection start position PS, thereby acquiring the current position of the imaging unit 522 in the inspection path IR.

[0064] The abnormality detection unit 343 stores the abnormality detection position in association with the position information of the imaging unit 522 acquired by the position acquisition unit 342 as the inspection result data HD of the memory 34. In addition to acquiring the moving distance using the image data, the position acquisition unit 342 may also acquire the feed amount of the endoscope camera 52 acquired from the encoders of the first roller 71 and the second roller 72 of the roller device 70 as the moving distance of the imaging unit 522, for example.

[0065] Fig. 9 An explanatory diagram showing the inspection result data HD of the inspection apparatus 100 . Fig. 9 FIG. 2 shows a state where the inspection result data HD is displayed on the display unit 38. Fig. 9 In FIG. 1 , the three-dimensional model of the workpiece WK1 is omitted. Fig. 9 As shown, the position information DF01 to DF05 of the abnormality detected by the abnormality detection unit 343 and the position acquisition unit 342 is mapped on the inspection route IR. The operator can visually check the position information DF01 to DF05 of the abnormality on the inspection route IR from the display unit 38, for example, and remove the abnormality from the workpiece WK1.

[0066] As described above, according to the inspection device 100 of the present embodiment, the endoscope camera 52 is moved along the inspection path IR of the internal spaces SP1 and SP2 of the workpiece WK1 by controlling the endoscope camera moving unit 80 including the robot 40, the roller device 70, and the direction switching unit 524, and the internal image of the object is acquired by controlling the imaging unit 522. Therefore, the inspection device 100 of the present embodiment can acquire image data on the inspection path IR of the internal spaces SP1 and SP2 of the workpiece WK1 without a person operating a remote controller. Therefore, the interior of the inspection object can be inspected efficiently.

[0067] According to the inspection device 100 of this embodiment, the control device 30 is provided with an abnormality detection unit that detects abnormalities inside the workpiece WK1 using an internal image. Abnormalities on the inspection path IR of the internal spaces SP1 and SP2 of the workpiece WK1 can be detected without a person operating a remote control. Therefore, the inside of the inspection object can be inspected more efficiently. In addition, it is possible to reduce or prevent detection errors of abnormalities caused by human factors.

[0068] According to the inspection apparatus 100 of the present embodiment, the position acquisition unit 342 calculates the moving distance of the imaging unit 522 by matching the feature points of the object OB1 included in the plurality of image data acquired by the imaging unit 522, and acquires the position of the imaging unit 522 in the inspection path IR. Since the image data used for abnormality detection can be used for position detection, the position of the imaging unit 522 can be detected without separately providing a distance measuring device such as LiDAR or a device for position detection such as GNSS (Global Navigation Satellite System). For example, even if an error occurs between the feed amount of the endoscope camera 52 by the roller device 70 and the actual movement amount of the endoscope camera 52, the proper position of the imaging unit 522 can be detected.

[0069] According to the inspection apparatus 100 of this embodiment, the abnormality detection unit 343 stores the position of the abnormality FM1 detected by the abnormality detection unit 343 in association with the position of the imaging unit 522 acquired by the position acquisition unit 342 as the inspection result data HD. Therefore, the operator can easily recognize the position of the abnormality FM1 on the inspection route IR.

[0070] According to the inspection device 100 of this embodiment, the path generation unit 341 generates the inspection path IR using the three-dimensional model data of the article. Therefore, the three-dimensional model data of the workpiece WK1 designed by the three-dimensional CAD software can be directly used for the inspection of the inspection device 100. According to the inspection device 100 of this embodiment, even if the inspection object having a different internal structure is switched during the inspection performed by the inspection device 100, the inspection path corresponding to the different internal structure can be generated without stopping the inspection, thereby continuing the inspection without stopping.

[0071] According to the inspection device 100 of this embodiment, the roller device 70 includes a pair of rollers 71 and 72 for holding the endoscope camera 52. The roller device 70 moves the endoscope camera 52 forward or backward by switching the rotation direction of the rollers. By holding the endoscope camera 52 with the rollers, the endoscope camera 52 can be stably moved. For example, by using an encoder or the like to detect the rotation amount of the roller, the movement amount of the endoscope camera 52 on the inspection path IR can be detected, thereby improving the accuracy of the position detection of the imaging unit 522.

[0072] According to the inspection device 100 of the present embodiment, the article is a component mounted on a vehicle, such as a cylinder head or a cylinder block. Therefore, the inspection device 100 can be used in a manufacturing process of a vehicle component.

[0073] B. Other implementations:

[0074] (B1) In the above embodiment, an example is shown in which the object to be inspected by the inspection device 100 is a cast component mounted on a vehicle, such as a cylinder head or a cylinder block. In contrast, the object to be inspected may be an object other than a cast component mounted on a vehicle, for example, a component mounted on a mobile body such as an aircraft, a ship, or a train, or various structures such as a building or a construction material. The object to be inspected may also be, for example, a nuclear reactor. According to the inspection device 100 of this embodiment, the internal part of a nuclear reactor can be automatically inspected by the endoscope camera 52, thereby suppressing the exposure of people to radiation.

[0075] (B2) In the above embodiment, an example is shown in which the inspection device 100 includes a single control device 30 that controls both the robot 40 and the endoscope camera device 50. In contrast, the inspection device 100 may include two control devices, for example, a control device that controls the robot 40 and a control device that controls the endoscope camera device 50, or may include three or more control devices.

[0076] (B3) In the above embodiment, the endoscope camera moving unit 80 includes the robot 40, the roller device 70, and the direction switching unit 524. On the other hand, for example, when the direction in which the endoscope camera 52 is moved is only linear, the endoscope camera moving unit 80 may omit the robot 40 and the direction switching unit 524. The endoscope camera moving unit 80 may also be a mode in which at least any one of the robot 40, the roller device 70, and the direction switching unit 524 is required to realize the movement direction of the endoscope camera 52 corresponding to the inspection path.

[0077] The present disclosure is not limited to the above-mentioned embodiments, and can be implemented in various structures within the scope of the main purpose of the present disclosure. For example, in order to solve part or all of the above-mentioned problems, or to achieve part or all of the above-mentioned effects, the technical features of the embodiments corresponding to the technical features in each method described in the invention content column can be appropriately replaced or combined. In addition, if the technical feature is not described as a necessary technical feature in this specification, it can be appropriately deleted.

Claims

1. An inspection device for inspecting the interior of an object, wherein: include: An endoscope camera having an imaging unit for acquiring images; An endoscope camera moving unit for moving the endoscope camera; a control device that controls the endoscope camera moving unit to move the endoscope camera along inspection path data of the interior of the article that is preset using data representing the internal structure of the article, and controls the imaging unit to obtain an image of the interior of the article; and a path generating unit that identifies the type or manufacturing number of the article by using a camera different from the endoscope camera, and generates the inspection path data by using the three-dimensional model data of the article corresponding to the identified type or manufacturing number of the article as data representing the internal structure of the article, The control device includes an abnormality detection unit that detects an abnormality inside the article using the internal image. The control device arranges the endoscopic camera at a start position of the inspection by using image recognition of the camera different from the endoscopic camera. The control device includes a position acquisition unit that calculates a movement distance of the imaging unit based on a position change of the same object included in a plurality of internal images acquired by the imaging unit at predetermined intervals, and calculates a cumulative movement distance from the starting position, thereby acquiring the position of the imaging unit in the inspection path data. The control device stores the position of the imaging unit acquired by the position acquisition unit in association with the position at which the abnormality is detected.

2. The inspection device according to claim 1, wherein: The endoscope camera moving unit includes a plurality of rollers capable of gripping at least a portion of the endoscope camera, and the endoscope camera is moved forward or backward by switching a rotation direction of the rollers.

3. The inspection device according to claim 1 or 2, wherein: The article is a component mounted on a vehicle.

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