Inspection support system, inspection support method, and program

Abstract

The invention provides an inspection assistance system, an inspection assistance method, and a program, which can detect any kind of defects generated in a transparent or semitransparent injection molding product with high precision. In an inspection assistance system (1), a first irradiation unit (12) irradiates a transparent or semitransparent injection molded article (100) with light from the bottom side, a second irradiation unit (13) irradiates the injection molded article (100) with light from the top side, an imaging unit (11) uses a polarization camera to perform first imaging in which the injection molded article (100) in a state in which light is irradiated from the first irradiation unit (12) is imaged, and second imaging in which the injection molded article (100) in which light is irradiated from the second irradiation unit (13) is imaged is imaged using a polarization camera. In the second imaging, the injection molded article (100) in a state in which the light is irradiated from the second irradiation unit (13) is imaged.

Description

[0001] This application claims priority based on Japanese Patent Application No. 2023-190698 filed on November 8, 2023. The entire contents of the Japanese patent application are incorporated herein by reference. Technical Field

[0002] The present invention relates to an inspection assistance system, an inspection assistance method and a program. Background Art

[0003] A technique for emphasizing and displaying defects of injection molded products is known (for example, Patent Document 1). In this technique, defects of injection molded products are emphasized in a photographic image of the injection molded product captured by a monochrome camera or a color camera.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2018-136269

[0005] In a captured image of a transparent or translucent injection-molded product captured by a monochrome camera or a color camera, it is difficult to detect any kind of defects generated in the injection-molded product with high accuracy. Summary of the invention

[0006] An object of the present invention is to enable detection of any kind of defects occurring in a transparent or translucent injection-molded product with high accuracy.

[0007] The present invention completed according to this purpose is an inspection assistance system, characterized in that it has: a first irradiation mechanism, which irradiates light to a transparent or translucent injection molded product from the bottom side; a second irradiation mechanism, which irradiates light to the injection molded product from the top side; and a camera mechanism, which uses a polarization camera to perform a first camera and a second camera, in which the injection molded product is photographed in a state of being irradiated with light from the first irradiation mechanism in the first camera, and in which the injection molded product is photographed in a state of being irradiated with light from the second irradiation mechanism in the second camera.

[0008] Here, a light shielding switching mechanism may be further provided, the light shielding switching mechanism transmitting light from the bottom side when performing the first imaging and shielding light from the bottom side when performing the second imaging.

[0009] Furthermore, there may also be a supporting member, wherein the supporting member has a transmissive portion that allows light from the bottom side to pass through and a shading portion that blocks light from the bottom side, and is capable of placing the injection molded product on the top side, and the shading switching mechanism can place the injection molded product on the transmissive portion of the supporting member when performing the first camera, and can place the injection molded product on the shading portion of the supporting member when performing the second camera.

[0010] Furthermore, a picking robot or an extruder as the light shielding switching mechanism can move the injection molded product between the transmission portion and the light shielding portion.

[0011] Furthermore, the second irradiation mechanism may be mounted on an end effector of the picking robot.

[0012] Furthermore, it may also have: an acquisition mechanism for acquiring a first camera image based on the first camera and a second camera image based on the second camera; and a prompting mechanism for analyzing at least one of the acquired first camera image and second camera image, and prompting the user whether the injection molded product has defects.

[0013] Furthermore, the prompting means may analyze the first captured image and prompt the user whether or not there is a defect in the injection molded product caused by resin flow.

[0014] Furthermore, the notification unit may analyze the second captured image and notify the user whether or not the injection molded product has any defects other than defects caused by resin flow.

[0015] Furthermore, the present invention is an inspection assisting method, characterized in that it includes the following steps: irradiating light onto a transparent or translucent injection molded product from the bottom side; irradiating light onto the injection molded product from the top side; performing a first camera and a second camera using a polarization camera, wherein the injection molded product is photographed in a state where light is irradiated from the bottom side in the first camera, and the injection molded product is photographed in a state where light is irradiated from the top side in the second camera; acquiring a first camera image based on the first camera and a second camera image based on the second camera; and analyzing at least one of the first camera image and the second camera image, and prompting a user as to whether the injection molded product has any defects.

[0016] Furthermore, the present invention is a program for enabling a computer to implement the following functions: irradiating a transparent or translucent injection molded product with light from the bottom side; irradiating the injection molded product with light from the top side; performing a first camera and a second camera using a polarization camera, wherein the injection molded product is photographed in a state where the light is irradiated from the bottom side in the first camera, and the injection molded product is photographed in a state where the light is irradiated from the top side in the second camera; acquiring a first camera image based on the first camera and a second camera image based on the second camera; and analyzing at least one of the first camera image and the second camera image, and prompting a user as to whether the injection molded product has any defects.

[0017] Effects of the Invention

[0018] According to the present invention, any kind of defects generated in a transparent or translucent injection-molded product can be detected with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a diagram showing an example of the overall configuration of the inspection support system according to the first embodiment.

[0020] Figure 2 This is a diagram showing an example of the hardware configuration of the determination device.

[0021] Figure 3 This is a diagram showing an example of the functional configuration of the control unit of the determination device.

[0022] Figure 4 FIG. 1 is a diagram showing a specific example of a second captured image of an injection molded product acquired as a result of the second imaging performed by the imaging device.

[0023] Figure 5 This is a diagram showing a specific example of a determination image generated by the determination device. Figure 5 (A) in the middle is a diagram showing a specific example of a 1-channel image as a determination image. Figure 5 (B) in the middle is a diagram showing a specific example of a 3-channel image as an image for determination.

[0024] Figure 6 (A) is a formula representing the polarization angle of a 3-channel image. Figure 6 (B) is a formula representing the linear polarization degree of a 3-channel image.

[0025] Figure 7 Middle(A) and Figure 7 (B) in the middle is a diagram showing a specific example of a 1ch image of an injection molded product determined to have a defect by the determination device.

[0026] Figure 8 This is a table showing a specific example of a method for determining the presence or absence of defects using a 3ch image.

[0027] Fig. 9 It is a diagram showing an example of the overall configuration of the inspection support system according to the second embodiment.

[0028] Fig.10 It is a diagram showing another specific example of the shape of the supporting member.

[0029] In the figure: 1, 2-inspection auxiliary system, 10, 20-camera device, 11, 21-camera unit, 12, 22-first irradiation unit, 13, 23-second irradiation unit, 14, 24-first fixing component, 15, 25-second fixing component, 16, 26-support component, 17-third fixing component, 18-light shielding component, 27-XY workbench, 28-picking robot, 30-determination device, 31-control unit, 32-memory, 33-storage unit, 34-communication unit, 35-operation unit, 36-display unit, 50-conveyor belt, 121-polarizing plate, 131-opening unit, 100-injection molded product, 200-setting surface, 261-transmitting unit, 262-light shielding unit, 281-end actuator, 301-acquisition unit, 302-management unit, 303-determination unit, 304-display control unit. DETAILED DESCRIPTION

[0030] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0031] <First embodiment>

[0032] (Structure of inspection auxiliary system 1)

[0033] Figure 1 It is a diagram showing an example of the overall configuration of the inspection support system 1 according to the first embodiment.

[0034] Figure 1 The inspection assistance system 1 shown is a system for performing quality inspection on a transparent or translucent injection molded product 100. The injection molded product 100 is manufactured by an injection molding machine not shown in the figure, and its shape is not particularly limited. In addition, in the present embodiment, a transparent or translucent flat plate-shaped injection molded product is used as a quality inspection object. The injection molding machine is a device that pours a resin melted by heating into a mold, cools it to solidify, and then takes it out, thereby being able to manufacture an injection molded product. The inspection assistance system 1 includes a camera device 10 and a determination device 30 connected via a network 90. ​​The network 90 is, for example, a LAN (Local Area Network), the Internet, a wired connection, etc.

[0035] (Camera 10)

[0036] The imaging device 10 includes an imaging unit 11 as an imaging mechanism, a first irradiating unit 12 as a first irradiating mechanism, a second irradiating unit 13 as a second irradiating mechanism, a first fixing member 14 , a second fixing member 15 , a supporting member 16 , and a third fixing member 17 .

[0037] The imaging unit 11 is composed of a camera or the like, and takes an image of the injection molded product 100 as a subject. Specifically, the imaging unit 11 performs a first imaging and a second imaging, in which the image is captured by receiving a signal from the injection molded product 100. Figure 1 In the second imaging, an injection molded product 100 that is irradiated with light from the bottom side toward the top side in the top-to-bottom direction is photographed. The imaging device 10 switches between the first imaging and the second imaging. That is, the imaging device 10 does not perform the second imaging when performing the first imaging, and does not perform the first imaging when performing the second imaging. Hereinafter, the camera image acquired by the first imaging will be referred to as the "first camera image", and the camera image acquired by the second imaging will be referred to as the "second camera image". Furthermore, in the case where there is no need to particularly distinguish between the first camera image and the second camera image, they will be simply referred to as the "camera image".

[0038] The imaging unit 11 sends the captured first and second images to the determination device 30. The imaging unit 11 uses a polarization camera to perform the first and second images. The polarization camera is a camera in which polarizers with different directions are assembled on a CCD (Charge Coupled Devices) or a CMOS (Complementary Metal Oxide Semiconductor).

[0039] The polarizers assembled on the polarization camera have four directions: 0°, 45°, 90°, and 135°. Each time the first image is taken, polarization images in the four directions are obtained as the first image. In addition, each time the second image is taken, polarization images in the four directions are obtained as the second image. Figure 4 Specific examples of polarization images in four directions will be described later.

[0040] The first irradiation unit 12 is a flat-plate-shaped lighting device having a polarizing plate 121. The light irradiated from the first irradiation unit 12 includes light irradiated from the bottom side to the injection molded product 100, and the first imaging of the imaging unit 11 is assisted by the irradiated light. The first irradiation unit 12 is arranged at a position closer to the bottom side than the injection molded product 100. The polarizing plate 121 is a component for generating the polarization state of the irradiated light, and determines the initial state of the irradiated light by blocking one of the light waves in the vertical and horizontal directions. That is, the polarization state of the irradiated light is destroyed by the residual stress, so the polarization camera of the imaging unit 11 captures the change of the state.

[0041] The second irradiation unit 13 is a ring-shaped lighting device having an opening 131. The light irradiated from the second irradiation unit 13 includes light irradiated from the top side to the injection molded product 100, and the second imaging of the imaging unit 11 is assisted by the irradiated light. The second irradiation unit 13 is arranged at a position closer to the top side than the injection molded product 100 and closer to the bottom side than the imaging unit 11. The opening 131 forms an imaging space for minimizing the reflection of the second irradiation unit 13 when imaging the injection molded product 100. That is, the imaging by the imaging unit 11 is performed toward the bottom side through the opening 131 of the second irradiation unit 13.

[0042] The first fixing member 14 is a member for fixing the imaging unit 11 and the second irradiating unit 13, and is composed of a rod-shaped member extending in the top-bottom direction, etc. The first fixing member 14 is fixed to a second fixing member 15 described later.

[0043] The second fixing member 15 is a member for fixing the first irradiation unit 12 and the first fixing member 14, and is composed of a flat plate-shaped member, etc. The second fixing member 15 is fixed to the installation surface 200. The imaging unit 11 and the second irradiation unit 13 are fixed to the first fixing member 14, and the first fixing member 14 is fixed to the second fixing member 15, so that the imaging unit 11, the second irradiation unit 13, and the first irradiation unit 12 are positioned.

[0044] The support member 16 is a rectangular plate material capable of placing the injection molded product 100, and is a support member that supports the injection molded product 100 from the bottom side. The support member 16 is made of a transparent or substantially transparent plate material having non-polarizing properties such as quartz glass. The support member 16 transmits the light irradiated from the first irradiation unit 12 toward the injection molded product 100. The support member 16 is fixed to the installation surface 200 while being supported by four third fixing members 17 made of cylindrical members or the like.

[0045] Furthermore, when the second imaging is performed by the imaging unit 11, a shading member 18 as a shading switching mechanism is arranged between the injection molded product 100 and the support member 16. The method of arranging the shading member 18 is not particularly limited, and for example, it can be performed by a picking robot not shown in the figure, or it can be performed manually by a user. The shading member 18 is composed of a member having a shading function such as vinyl chloride or flocking paper, and assists the second imaging by the imaging unit 11 by blocking light from the bottom side.

[0046] [Determination device 30]

[0047] The determination device 30 is an information processing device that analyzes the first and second captured images, determines whether the injection molded product 100 has defects, and presents the defects to the user. The determination device 30 is composed of a personal computer, a tablet terminal, a smartphone, etc., and can be operated by the user.

[0048] (Hardware Structure of Determination Device 30)

[0049] Figure 2 It is a diagram showing an example of the hardware configuration of the determination device 30 .

[0050] The determination device 30 includes a control unit 31, a memory 32, a storage unit 33, a communication unit 34, an operation unit 35, and a display unit 36. These units are connected via a data bus, an address bus, a PCI (Peripheral Component Interconnect) bus, or the like.

[0051] The control unit 31 is a processor that controls the functions of the determination device 30 by executing various software such as OS (basic software) or application software (application software). The control unit 31 is composed of, for example, a CPU (Central Processing Unit) or the like. The memory 32 is a storage area that stores various software or data for executing the software, and is used as a work area during calculation. The memory 32 is composed of, for example, a RAM (Random Access Memory) or the like.

[0052] The storage unit 33 is a storage area for storing input data to various software or output data from various software. The storage unit 33 is composed of, for example, a HDD (Hard Disk Drive), an SSD (Solid State Drive), a semiconductor memory, etc. for storing programs or various setting data. A database storing various information is stored in the storage unit 33. Examples of the database stored in the storage unit 33 include a database storing camera images of the first camera, a database storing camera images of the second camera, a database storing training data for determining the presence or absence of defects, and a database storing learned models.

[0053] The communication unit 34 transmits and receives data between the determination device 30 and the outside via the network 90. ​​The operation unit 35 is composed of, for example, a software keyboard, a mechanical button, a switch, etc., and receives input operations. The operation unit 35 also includes a touch sensor that constitutes a touch panel integrally with the display unit 36. The display unit 36 ​​is composed of, for example, a liquid crystal display or an organic EL (Electro Luminescence) display for displaying information, and displays data such as images or texts based on the determination result of the presence or absence of a defect of the determination device 30.

[0054] (Functional Structure of Control Unit 31 of Determination Device 30)

[0055] Figure 3 1 is a diagram showing an example of the functional configuration of the control unit 31 of the determination device 30 .

[0056] In the control unit 31 of the determination device 30 , an acquisition unit 301 as an acquisition means, a management unit 302 , a determination unit 303 , and a display control unit 304 function.

[0057] The acquisition unit 301 communicates with the communication unit 34 (see Figure 2 ) to obtain various information. For example, the acquisition unit 301 acquires the first camera image and the second camera image sent from the camera device 10.

[0058] The management unit 302 stores various information acquired by the acquisition unit 301 in the storage unit 33 (refer to Figure 2 ) and manage them in a database. For example, the management unit 302 stores the first camera image and the second camera image acquired by the acquisition unit 301 in the database and manages them. In addition, the management unit 302 stores the training data used to determine the presence or absence of defects in the database in advance and manages them.

[0059] The determination unit 303 analyzes the first captured image and determines whether the injection molded product 100 (reference Figure 1 ) whether there are defects. And, the determination unit 303 analyzes the second camera image and determines whether the injection molded product 100 has defects. Specifically, the determination unit 303 determines whether there are general defects other than defects caused by resin flow by analyzing the first camera image of the injection molded product 100. And, at this time, the determination unit 303 determines whether there are defects caused by resin flow and general defects in the injection molded product by analyzing the second camera image of the injection molded product 100.

[0060] Here, "defects caused by resin flow" include, for example, defects such as deformation or depression formed on the surface of the molded product when the molten resin shrinks when it is cooled to solidify (also called "sink marks"), etc. In addition, "general defects" include, for example, defects such as bubbles generated inside the molded product (also called "voids"), defects such as flow marks of gas generated inside the molten resin that flow together with the molten resin in the mold in a stretched manner and form on the surface of the molded product (also called "silver streaks"), and defects such as insufficient filling caused by molding in a state where a part of the mold is not filled with molten resin (also called "short shot"), etc.

[0061] The determination unit 303 generates a determination image based on the polarization images in four directions as the second camera image acquired by the acquisition unit 301, and uses the generated determination image to determine whether the injection molded product 100 has a defect. As the determination image generated by the determination unit 303, for example, a 1ch image as a monochrome image or a 3ch image as a color image generated by averaging the polarization images in four directions can be cited. Figure 5 In the following figures, the 1ch image and the 3ch image as the determination images will be described later.

[0062] The display control unit 304 performs a function for displaying various information on the display unit 36 ​​(see Figure 2 For example, the display control unit 304 performs control for displaying the result of the determination of whether the injection molded product 100 is defective based on the determination unit 303 on the display unit 36. Figure 8 A specific example of the determination result displayed on the display unit 36 ​​will be described later.

[0063] (specific example)

[0064] Figure 4 FIG. 2 is a diagram showing a specific example of a second captured image of the injection molded product 100 acquired as a result of the second imaging performed by the imaging device 10 .

[0065] As described above, when the second imaging is performed by the imaging device 10, polarization images in four directions are acquired as the second imaging images. Figure 4 Middle(A) to Figure 4 In each of (D), as specific examples of polarization images in four directions, specific examples of polarization images at “0°”, “45°”, “90°”, and “135°” are shown, respectively, with the injection molded product 100 as the subject.

[0066] Figure 5 FIG. 2 is a diagram showing a specific example of a determination image generated by the determination device 30 . Figure 5 (A) in the middle is a diagram showing a specific example of a 1-channel image as a determination image. Figure 5 (B) in the middle is a diagram showing a specific example of a 3-channel image as an image for determination.

[0067] Figure 6 (A) is a formula representing the polarization angle of a 3-channel image. Figure 6 (B) is a formula representing the linear polarization degree of a 3-channel image.

[0068] In the judgment image generated by the judgment device 30 Figure 5 The 1ch image shown in (A) is a judgment image mainly showing the strength of the injection molded product 100. Figure 5 The 3-channel image shown in (B) is a determination image mainly showing the intensity, polarization angle (AoLP / Angle of Linear Polarization), and degree of linear polarization (DoLP / Degree of Linear Polarization) of the injection molded product 100 .

[0069] The polarization angle (AoLP) in the 3ch image is Figure 6 The value calculated by the formula (A) in FIG. 1 shows in which of the four directions the polarization is. Also, the degree of linear polarization (DoLP) is calculated by Figure 6 The value calculated by the formula (B) in the figure shows how close the polarization is to linear polarization. Figure 6 Middle(A) and Figure 6 In each formula of (B), "I" represents light intensity. In addition, "Q" represents the light intensity obtained by "light intensity when the direction of the polarizer is 0°" - (minus sign) "light intensity when the direction of the polarizer is 90°", and "U" represents the light intensity obtained by "light intensity when the direction of the polarizer is 45°" - (minus sign) "light intensity when the direction of the polarizer is 135°".

[0070] Figure 7 Middle(A) and Figure 7 (B) in the middle is a diagram showing a specific example of a 1ch image of the injection molded product 100 determined by the determination device 30 to have a defect.

[0071] exist Figure 7 Middle(A) and Figure 7 In (B), specific examples of 1ch images of injection-molded products 100 determined to have general defects are shown. Figure 7 Middle(A) and Figure 7 The 1ch image shown in (B) is a specific example of a determination image generated based on the second camera image. Figure 7 The 1ch image in (A) shows that voids, which are general defects, are generated in the area surrounded by the dotted line as a judgment result. Figure 7 The 1ch image in (B) shows the determination results that voids, silver streaks, and short shots, which are common defects, are generated in the areas surrounded by dotted lines.

[0072] Figure 8 This is a table showing a specific example of a method for determining the presence or absence of defects using a 3ch image. Figure 8 The 3-channel image shown is a specific example of the determination image generated based on the first captured image.

[0073] When determining the presence or absence of a defect using the 3-channel image of the injection molded product 100 , the determination device 30 uses, for example, VAE (Variational Autoencoder), which is one of the generative models based on deep learning.

[0074] Specifically, the determination device 30 uses VAE to generate a "difference image" indicating the difference between an "input image" and a "VAE output image", and determines the presence or absence of defects based on the difference image. The "input image" is a 3ch image generated as an image for determination. The "VAE output image" is an image generated based on training data pre-stored in a database as a 3ch image of an injection molded product 100 without defects and similar to the input image.

[0075] exist Figure 8 , as the determination result based on the determination device 30, the input image, VAE output image and difference image of the injection molded product 100 determined as "normal" (i.e., without defects) and the injection molded product 100 determined as "abnormal" (i.e., with defects) are illustrated. In the difference image of the injection molded product 100 determined as "normal" (i.e., without defects), a portion with a different color representing the difference is slightly displayed, but in the difference image of the injection molded product 100 determined as "abnormal" (i.e., with defects), a large number of portions with different colors representing the difference are displayed. That is, when the proportion of the area occupied by the portion with a different color representing the difference in the entire image is less than a preset threshold, it is determined to be "normal" (i.e., without defects), and when the proportion of the area occupied by the portion with a different color representing the difference in the entire image is greater than the threshold, it is determined to be "abnormal" (i.e., with defects). In addition, the determination method based on the determination device 30 is not limited to the method based on the proportion of the area occupied by the portion with a different color representing the difference in the entire image, and other methods can also be used.

[0076] As described above, the inspection support system 1 according to the first embodiment of the present invention may adopt various embodiments as long as the following configuration is adopted.

[0077] That is, in the inspection assistance system 1 involved in the first embodiment, it is characterized in that it has: a first irradiation unit 12, which irradiates light to the transparent or translucent injection molded product 100 from the bottom side; a second irradiation unit 13, which irradiates light to the injection molded product 100 from the top side; and a camera unit 11, which uses a polarization camera to perform a first camera and a second camera, in which the injection molded product 100 is photographed in a state of being irradiated with light from the first irradiation unit 12 in the first camera, and the injection molded product 100 is photographed in a state of being irradiated with light from the second irradiation unit 13 in the second camera.

[0078] Thus, the imaging unit 11 that uses the polarization camera to image the transparent or translucent injection molded product 100 performs the first imaging and the second imaging, wherein the injection molded product 100 irradiated with light from the bottom side is imaged in the first imaging, and the injection molded product 100 irradiated with light from the top side is imaged in the second imaging. Thus, any kind of defect generated in the transparent or translucent injection molded product can be determined with high accuracy based on the polarization images in four directions as the imaged images acquired by the first imaging and the second imaging, respectively.

[0079] Here, a light shielding member 18 may be provided as a light shielding switching mechanism that transmits light from the bottom side when performing the first imaging and shields light from the bottom side when performing the second imaging.

[0080] Thus, when the first image is taken, the light shielding member 18 transmits light from the bottom side, and when the second image is taken, the light shielding member 18 blocks light from the bottom side. As a result, when the second image is taken, the background of the injection molded product 100 serving as the object can be darkened, thereby improving the quality of the captured image.

[0081] Furthermore, it may also include: an acquisition unit 301 for acquiring a first camera image based on the first camera and a second camera image based on the second camera; and a determination device 30 as a prompting mechanism for analyzing at least one of the acquired first camera image and second camera image and prompting the user whether the injection molded product 100 has defects.

[0082] Thus, the first camera image based on the first camera or the second camera image based on the second camera is analyzed, and the user is prompted whether the injection molded product 100 has defects. As a result, the accuracy of the determination can be improved compared to a case where the user determines whether there are defects while observing the first camera image or the second camera image with his own eyes.

[0083] Furthermore, the determination device 30 may analyze the first captured image and notify the user whether or not there is a defect caused by resin flow in the injection molded product 100 .

[0084] Thus, the presence or absence of defects caused by resin flow can be presented to the user by analyzing the first captured image. As a result, the accuracy of determining the presence or absence of defects can be improved compared to when the user determines the presence or absence of defects with his or her own eyes.

[0085] Furthermore, the determination device 30 may analyze the second captured image and notify the user whether or not the injection molded product 100 has defects other than defects caused by resin flow.

[0086] Thus, the presence or absence of defects other than defects caused by resin flow can be presented to the user by analyzing the second captured image. As a result, the accuracy of determining the presence or absence of defects can be improved compared to when the user determines the presence or absence of defects with his or her own eyes.

[0087] <Second embodiment>

[0088] (Structure of inspection auxiliary system 2)

[0089] Fig. 9 It is a diagram showing an example of the overall configuration of the inspection support system 2 according to the second embodiment.

[0090] With the above Figure 1 Similarly to the inspection support system 1 according to the first embodiment, Fig. 9 The inspection support system 2 shown is a system for performing quality inspection on a transparent or translucent injection molded product 100. The inspection support system 2 includes an imaging device 20 and a determination device 30. The determination device 30 has the same structure as the above-mentioned Figure 1 Since the determination device 30 of the inspection support system 1 according to the first embodiment is the same as that of the first embodiment, the description thereof will be omitted.

[0091] [Camera 20]

[0092] The imaging device 20 includes an imaging unit 21, a first irradiating unit 22, a second irradiating unit 23, a first fixing member 24, a second fixing member 25, a supporting member 26, an XY table 27, and a picking robot 28. The imaging unit 21, the first irradiating unit 22, the second irradiating unit 23, the first fixing member 24, and the second fixing member 25 are respectively the same as the imaging unit 11, the first irradiating unit 12, the second irradiating unit 13, the first fixing member 14, and the second fixing member 15 of the imaging device 20 according to the first embodiment, and thus description thereof is omitted.

[0093] The support member 26 is a rectangular plate that can carry the injection molded product 100 and supports the injection molded product 100 from the bottom. The support member 26 is made of a transparent or substantially transparent plate having non-polarizing properties such as quartz glass. Fig. 9 The support member 26 is supported by an XY table 27 that moves in the left-right direction and the front-back direction. Therefore, the support member 26 can move in the left-right direction and the front-back direction.

[0094] The support member 26 has a transparent portion 261 as a region that transmits light from the bottom side and a light shielding portion 262 as a region that blocks light from the bottom side. The light shielding portion 262 is a region formed by attaching a dark member having a light shielding function such as vinyl chloride or flocking paper to the support member 26. The light shielding portion 262 assists the second imaging by the imaging unit 21 by blocking the light from the bottom side. The support member 26 is supported by the XY table 27 as described above, so that when performing the first imaging, it can be moved in the left-right direction and the front-back direction respectively to arrange the injection molded product 100 placed on the transparent portion 261 directly below the second irradiation unit 23, and when performing the second imaging, it can be moved in the left-right direction and the front-back direction respectively to arrange the injection molded product 100 placed on the light shielding portion 262 directly below the second irradiation unit 23.

[0095] The picking robot 28 is a robot that holds and moves the injection molded product 100. The picking robot 28 is equipped with an end effector 281 that can hold the injection molded product 100. The picking robot 28 holds and releases the injection molded product 100 by the end effector 281. Thus, the picking robot 28 moves between the transparent portion 261 and the shading portion 262 of the support member 26 to serve as a shading switching mechanism. Specifically, when the camera unit 21 performs the first camera shot, the picking robot 28 places the injection molded product 100 on the transparent portion 261 of the support member 26, and when the camera unit 21 performs the second camera shot, the picking robot 28 places the injection molded product 100 on the shading portion 262 of the support member 26.

[0096] Then, the picking robot 28 moves the injection molded product 100 placed on the conveyor 50 to the support member 26. Here, an injection molding machine (not shown) is provided upstream of the conveyor 50, and an imaging device 10 is provided downstream of the conveyor 50. Therefore, the injection molded product 100 manufactured by the injection molding machine is conveyed downstream while being placed on the conveyor 50, and is held by the picking robot 28 and placed on the transparent portion 261 of the support member 26 of the imaging device 10. Then, if the imaging unit 21 performs the second imaging, the picking robot 28 is placed on the light shielding portion 262, and the imaging unit 21 performs the second imaging.

[0097] As described above, the inspection support system 2 according to the second embodiment of the present invention may adopt various embodiments as long as the following configuration is adopted.

[0098] That is, in the inspection assistance system 2 involved in the second embodiment, it is characterized in that it has: a first irradiation unit 22, which irradiates light to the transparent or translucent injection molded product 100 from the bottom side; a second irradiation unit 23, which irradiates light to the injection molded product 100 from the top side; and a camera unit 21, which uses a polarization camera to perform a first camera and a second camera, in which the injection molded product 100 is photographed in a state of being irradiated with light from the first irradiation unit 22 in the first camera, and the injection molded product 100 is photographed in a state of being irradiated with light from the second irradiation unit 23 in the second camera.

[0099] Thus, the imaging unit 21 that uses the polarization camera to image the transparent or translucent injection molded product 100 performs the first imaging and the second imaging, wherein the injection molded product 100 irradiated with light from the bottom side is imaged in the first imaging, and the injection molded product 100 irradiated with light from the top side is imaged in the second imaging. Thus, any kind of defect generated in the transparent or translucent injection molded product can be determined with high accuracy based on the polarization images in four directions as the imaged images acquired by the first imaging and the second imaging, respectively.

[0100] Here, there may also be a support member 26, which includes a transmissive portion 261 that allows light from the bottom side to pass through and a shading portion 262 that blocks light from the bottom side, and is capable of placing the injection molded product 100 on the top side. The picking robot 28 serving as a shading switching mechanism can place the injection molded product 100 on the transmissive portion 261 of the support member 26 when performing the first camera, and can place the injection molded product 100 on the shading portion 262 of the support member 26 when performing the second camera.

[0101] Thus, when performing the first imaging, the injection molded product 100 is placed on the transparent portion 261 of the support member 26, and when performing the second imaging, the injection molded product 100 is placed on the light shielding portion 262 of the support member 26. As a result, the quality of the image captured by the second imaging can be improved, and switching between the first imaging and the second imaging can be performed smoothly.

[0102] Furthermore, the picking robot 28 or an extruder (not shown) can move the injection molded product 100 between the light-transmitting portion 261 and the light-shielding portion 262 as a light-shielding switching mechanism.

[0103] Thus, the injection molded product 100 is moved between the transparent portion 261 and the light shielding portion 262 by the picking robot 28 or the extruder (not shown). As a result, the first imaging and the second imaging can be switched smoothly.

[0104] Furthermore, the second irradiation unit 23 may be mounted on the end effector 281 of the picking robot 28 as a light shielding switching mechanism.

[0105] Thus, the second irradiation unit 23 is mounted on the end effector 281 of the picking robot 28 that moves the injection molded product 100 between the transmission unit 261 and the light shielding unit 262. As a result, the picking robot 28 integrally performs the operation of irradiating light by the second irradiation unit 23 and the operation of switching the transmission and shielding of light. As a result, the second irradiation unit 23 does not limit the range of motion of the end effector 281, so the degree of freedom of motion of the end effector 281 can be increased. In addition, since the second irradiation unit 23 irradiates light at an extremely close distance, light can be irradiated efficiently, and electricity costs can be suppressed.

[0106] <Modification>

[0107] The supporting member 16 constituting the imaging device 10 involved in the first embodiment and the supporting member 26 constituting the imaging device 20 involved in the second embodiment are both rectangular plates, but the shape of the supporting member is not particularly limited. For example, it can be circular, elliptical, triangular, etc., or other shapes.

[0108] Fig.10 It is a diagram showing another specific example of the shape of the supporting member.

[0109] Fig.10 The support member 360 shown is a support member in the shape of the letter "L" as a whole. Similar to the above-mentioned embodiment, the support member 360 is made of a transparent or substantially transparent plate material having non-polarizing properties such as quartz glass. Fig.10 The support member 360 is supported by an XY table (not shown) that moves in the left-right direction and the front-back direction. Therefore, the support member 360 can move in the left-right direction and the front-back direction.

[0110] The support member 360 has a transparent portion 361 and a transparent portion 362 as an area for transmitting light from the bottom side, and a light shielding portion 363 as an area for shielding light from the bottom side. Two transparent portions (transparent portion 361 and transparent portion 362) are provided, so that three injection molded products 100 can be photographed at the same time. In this way, efficient inspection can be achieved. The light shielding portion 363 is an area formed by attaching a dark member having a light shielding function such as vinyl chloride or flocking paper to the support member 360. The light shielding portion 363 assists the second camera based on the camera unit as a camera mechanism not shown in the figure by shielding light from the bottom side.

[0111] Furthermore, the inspection support system 1 and the inspection support system 2 according to the above embodiments both inspect transparent or translucent resin injection molded products, but the inspection targets are not limited to resin injection molded products, and any transparent or translucent products may be inspected.

[0112] Furthermore, although the inspection support system 1 and the inspection support system 2 according to the above-mentioned embodiment use a flat-plate-shaped lighting fixture as the first irradiation unit, the first irradiation unit is not limited to the flat-plate-shaped lighting fixture. Any lighting fixture of any shape that can irradiate light to the injection molded product 100 from the bottom side can be used as the first irradiation unit.

[0113] Furthermore, the inspection support system 1 and the inspection support system 2 involved in the above-mentioned embodiment both use a ring-shaped lighting fixture as the second irradiation unit, but the second irradiation unit is not limited to a ring-shaped lighting fixture. A lighting fixture of any shape that can irradiate light to the injection molded product 100 from the top side and can ensure that the second irradiation unit is not reflected in the imaging space as much as possible during shooting can be used as the second irradiation unit. For example, a plurality of lighting fixtures can be arranged in a manner surrounding the injection molded product 100. In this case, the overall power cost may increase compared to the case of arranging a single ring-shaped lighting fixture.

[0114] Furthermore, although the inspection support system 1 and the inspection support system 2 according to the above embodiments use a rod-shaped member as the first fixing member, the first fixing member is not limited to a rod-shaped member. Any shape of member capable of fixing the imaging unit and the second irradiation unit can be used as the first fixing member.

[0115] Furthermore, although the inspection support system 1 and the inspection support system 2 involved in the above-mentioned embodiment use a flat plate-shaped component as the second fixing component, the second fixing component is not limited to a flat plate-shaped component. A component of any shape that can fix the first irradiation unit and the first fixing component can be used as the second fixing component.

[0116] Furthermore, although the inspection support system 1 and the inspection support system 2 according to the above embodiment use a rectangular plate as the support member, the support member is not limited to the rectangular plate, and any member of any shape capable of mounting the injection molded product 100 may be used as the support member.

Claims

1. An inspection auxiliary system, characterized in that: have: A first irradiation mechanism irradiates light from the bottom side to the transparent or translucent injection molded product; a second irradiation mechanism for irradiating light to the injection molded product from the top side; and The imaging means performs first and second imaging using a polarization camera, wherein the first imaging photographs the injection molded product in a state where the first irradiation means irradiates light, and the second imaging photographs the injection molded product in a state where the second irradiation means irradiates light.

2. The inspection assistance system according to claim 1, characterized in that: The device further includes a light shielding switching mechanism that transmits light from the bottom side when performing the first imaging and shields light from the bottom side when performing the second imaging.

3. The inspection assistance system according to claim 2, characterized in that: A supporting member is further provided, the supporting member having a transmissive portion for transmitting light from the bottom side and a light shielding portion for shielding light from the bottom side, and capable of placing the injection molded product on the top side, The light shielding switching mechanism places the injection molded product on the transmission portion of the support member when performing the first imaging, and places the injection molded product on the light shielding portion of the support member when performing the second imaging.

4. The inspection assistance system according to claim 3, characterized in that: A picking robot or an extruder serves as the light shielding switching mechanism to move the injection molded product between the light transmitting portion and the light shielding portion.

5. The inspection assistance system according to claim 4, characterized in that: The second irradiation mechanism is mounted on an end effector of the picking robot.

6. The inspection assistance system according to claim 1, characterized in that: Also features: An acquisition unit that acquires a first camera image based on the first camera and a second camera image based on the second camera; and The prompting means analyzes at least one of the acquired first camera image and the acquired second camera image, and prompts a user whether the injection molded product has a defect.

7. The inspection assistance system according to claim 6, characterized in that: The prompting means analyzes the first captured image and prompts a user whether or not there is a defect in the injection molded product caused by resin flow.

8. The inspection assistance system according to claim 6, characterized in that: The presenting means analyzes the second captured image and presents to the user whether or not the injection molded product has any defect other than a defect caused by resin flow.

9. An inspection auxiliary method, characterized in that: The steps include: Illuminating the transparent or translucent injection molded product from the bottom side; irradiating light to the injection molded product from the top side; performing a first image and a second image using a polarization camera, wherein the first image captures the injection molded product in a state where light is irradiated from the bottom side, and the second image captures the injection molded product in a state where light is irradiated from the top side; Acquire a first camera image based on the first camera and a second camera image based on the second camera; and At least one of the first photographed image and the second photographed image is analyzed, and whether the injection molded product has a defect is presented to a user.

10. A program for causing a computer to implement the following functions: Illuminating the transparent or translucent injection molded product from the bottom side; irradiating light to the injection molded product from the top side; performing a first image and a second image using a polarization camera, wherein the first image captures the injection molded product in a state where light is irradiated from the bottom side, and the second image captures the injection molded product in a state where light is irradiated from the top side; acquiring a first camera image based on the first camera and a second camera image based on the second camera; and At least one of the first photographed image and the second photographed image is analyzed, and whether the injection molded product has a defect is presented to a user.

Images