Fluorescent penetrant inspection device

Abstract

To make it possible to suppress imaging leakage due to increased rib height.SOLUTION: A fluorescent penetrant inspection device includes a wide area camera 40 and a local camera 30. The wide area camera 40 images an inspection object 50. The local camera 30 images part of an imaging region by the wide area camera 40. The wide-area camera 40 includes a first lens barrel 42. The local camera 30 includes a second lens barrel 32 and a small ring light 34 (an ultraviolet flaw inspection lamp). The small ring light 34 is disposed around the second lens barrel 32. A diameter R2 of the small ring light 34 is less than a diameter R1 of the first lens barrel 42. Further, the second lens barrel 32 is longer than the first lens barrel 42.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] Disclosed herein is a fluorescent penetrant inspection device.

[0002] Patent Document 1 discloses an appearance inspection device. A fluorescent agent is permeated into the surface of an object under inspection. The object under inspection is then irradiated with ultraviolet light. At this time, a fluorescent emission image of the object under inspection is captured. Defects in the object under inspection are identified based on the fluorescent emission image.

[0003] Patent Document 2 discloses an apparatus for inspecting the inner peripheral surface of a cylindrical body. This inspection apparatus includes an imaging camera. The imaging camera includes an objective lens. A light-reflecting ring is disposed around the objective lens. An end of an optical fiber is disposed in the light-reflecting ring. The objective lens and the light-reflecting ring are inserted into the cylinder. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-83285 [Patent Document 2] Japanese Patent Application Publication No. 7-113625 Summary of the Invention [Problem to be solved by the invention]

[0005] For example, when the object to be inspected is a casting, ribs are formed for reinforcement. For example, the ribs are erected along the direction in which the mold moves forward and backward. As the casting size increases, the ribs become taller. As a result, when imaging the surface of the casting, the ribs may block light, causing shadows.

[0006] Therefore, this specification discloses a fluorescent penetrant flaw detection device that can suppress image omissions that occur when ribs become longer. [Means for solving the problem]

[0007] This specification discloses a fluorescent penetrant inspection device. The device includes a wide-area camera and a local camera. The wide-area camera images an object to be inspected. The local camera images a portion of the area imaged by the wide-area camera. The wide-area camera includes a first lens barrel. The first lens barrel supports an objective lens. The local camera includes a second lens barrel and an ultraviolet inspection lamp. The second lens barrel supports the objective lens. The ultraviolet inspection lamp is arranged around the second lens barrel. The ultraviolet inspection lamp is ring-shaped. The diameter of the ultraviolet inspection lamp is less than the diameter of the first lens barrel. Furthermore, the second lens barrel has a longer barrel length than the first lens barrel.

[0008] According to the above configuration, even if a shadow area occurs in an image captured by the wide-area camera, the shadow area can be captured by using a local camera that is longer and thinner than the wide-area camera.

[0009] In the above configuration, the fluorescent penetrant flaw detection device may include a robot arm and a processor. The robot arm moves the local camera relative to the object under inspection. The processor controls the robot arm. The processor also extracts a shadow area when the wide-area camera captures an image based on design drawing data of the object under inspection. The processor also includes the shadow area in the image capture area of ​​the local camera.

[0010] According to the above configuration, the imaging area of ​​the local camera is set in advance based on design data of the object to be inspected, which reduces the time required compared to when the imaging area of ​​the local camera is set based on an image captured by a wide-area camera.

[0011] In the above configuration, the fluorescent penetrant flaw detection device may include a robot arm and a processor. The robot arm moves the local camera relative to the object under inspection. The processor controls the robot arm. The processor also extracts a shadow region from an image captured by the wide-area camera. The processor also includes the shadow region in the image captured by the local camera.

[0012] According to the above configuration, the imaging area of ​​the local camera is set based on the image actually captured by the wide-area camera, which makes it possible to prevent omissions in the imaging area.

[0013] In the above configuration, if the area of ​​the shadow region exceeds the cross-sectional area of ​​the ultraviolet flaw detection lamp, the processor may cause the robot arm to insert the tip of the second lens barrel into the shadow region.

[0014] According to the above configuration, it is possible to capture images of the inside of the shadow area while avoiding damage to the local camera.

[0015] In the above configuration, the local camera may capture images of the inside of the shadow area multiple times with the tip of the second lens barrel inserted into the shadow area, and in this case, the ultraviolet flaw detection lamp may emit ultraviolet light with different intensities for each capture.

[0016] With this configuration, when capturing an image with a relatively high intensity of ultraviolet light, the light reflected from the bottom of the shadow area illuminates the side of the shadow area. As a result, a side image of the shadow area can be obtained. Furthermore, when capturing an image with a relatively low intensity of ultraviolet light, an image of the bottom of the shadow area can be obtained with reduced halation. [Effects of the Invention]

[0017] The fluorescent penetrant flaw detection device disclosed in this specification can prevent missing images due to the length of the rib. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a perspective view illustrating the configuration of a fluorescent penetrant flaw detection device according to an embodiment of the present invention. [Figure 2] FIG. 1 is a perspective view illustrating the structure of a robot arm, a wide-area camera, a local camera, a large ring light, and a small ring light. [Figure 3] FIG. 1 is a diagram illustrating an example of a hardware configuration of a computer device. [Figure 4]FIG. 2 is a diagram illustrating an example of functional blocks of a computer device. [Figure 5] FIG. 10 is a diagram illustrating a flaw detection flow. [Figure 6] FIG. 10 is a diagram illustrating an example of extracting a shadow area from design drawing data. [Figure 7] FIG. 10 is a diagram illustrating an example of extracting a shadow area from an image captured by a wide-area camera. [Figure 8] FIG. 10 is a perspective view showing an example when a local camera is inserted inside a shadow region. DETAILED DESCRIPTION OF THE INVENTION

[0019] 1. Test subject 1 illustrates a fluorescent penetrant flaw detection device according to this embodiment, and also illustrates an object 50 to be inspected.

[0020] 1, 2, and 8 show a Cartesian coordinate system. This Cartesian coordinate system is composed of a U axis, an L axis, and a W axis. The U axis is a vertical axis. The L axis and the W axis extend on a horizontal plane. The L axis and the W axis are perpendicular to each other. The L axis is parallel to the 0° line of the base 22 of the robot arm 20.

[0021] The object 50 to be inspected is, for example, an aluminum casting. The object 50 to be inspected constitutes, for example, a part of a vehicle body. The object 50 to be inspected is a large casting in which the frame and panels of the vehicle body are integrally molded.

[0022] Since the object 50 to be inspected becomes part of the vehicle body frame, the object 50 to be inspected is required to have a certain level of strength. For example, the object 50 to be inspected is provided with a plurality of ribs 52. For example, when the object 50 to be inspected is assembled to a vehicle body, the surface 51 to be inspected on which the ribs 52 are formed becomes part of the side surface of the vehicle body. In other words, during flaw detection inspection, the object 50 to be inspected is laid down, with the surface 51 to be inspected facing upward.

[0023] In addition to the ribs 52, holes 54 are formed in the surface 51 to be inspected. For example, the ribs 52 are erected from the bottom surface 53 of the surface 51 to be inspected. Furthermore, holes 54 having the same depth as the height of the ribs 52 are formed in the surface 51 to be inspected.

[0024] Known fluorescent flaw detection methods include fluorescent magnetic particle testing and fluorescent penetrant testing. Fluorescent magnetic particle testing is not suitable for aluminum, which is a non-magnetic material. Therefore, fluorescent penetrant testing is applied to inspected aluminum castings.

[0025] In fluorescent penetrant testing, a penetrant is applied to the surface 51 to be inspected. A fluorescent substance is added to the penetrant. After the penetrant is applied, the penetrant is removed from the surface 51 to be inspected after a predetermined time. When ultraviolet light is further irradiated onto the surface 51 to be inspected, the penetrant that has soaked into scratches and cracks (i.e., that has not been removed) emits light.

[0026] As will be described later, when the wide-area camera 40 captures an image of the inspection surface 51, ultraviolet light is irradiated from the large ring light 44. At this time, as the rib 52 and the cylindrical hole 54 become longer, there is a risk that an area on the inspection surface 51 where the ultraviolet light is blocked by the wall of the hole 54 or the rib 52 may occur. This area where the ultraviolet light is blocked is called a shadow area. In the fluorescent penetrant flaw detection device according to this embodiment, the local camera 30 captures an image of the shadow area.

[0027] 2. Fluorescent penetrant inspection equipment Fig. 2 illustrates the robot arm 20 and the devices supported by the arm. Fig. 2 illustrates a state in which the small ring light 34 and the large ring light 44 are detached from the robot arm 20. The robot arm 20 supports the wide-area camera 40 and the local camera 30. The robot arm 20 is, for example, a four-axis articulated robot. The robot arm 20 includes a base 22, a first arm 24, a second arm 26, and an attachment bar 28.

[0028] The base 22 includes a lower base portion 22A and an upper base portion 22B. The upper base portion 22B rotates about an axis L1 relative to the lower base portion 22A. The axis L1 is parallel to the U-axis (vertical axis). For example, the upper base portion 22B rotates relative to the lower base portion 22A by a servo motor (not shown).

[0029] One end of a first arm 24 is connected to the upper base portion 22B. One end of a second arm 26 is connected to the other end of the first arm 24. Furthermore, an attachment bar 28 is connected to the other end of the second arm 26.

[0030] The first arm 24 rotates about a rotation axis L2 relative to the upper base portion 22B. The second arm 26 rotates about a rotation axis L3 relative to the first arm 24. Furthermore, the attachment bar 28 rotates about a rotation axis L4 relative to the second arm 26. The rotation axes L2, L3, and L4 each extend horizontally. Servo motors (not shown) are provided on the rotation axes L2, L3, and L4.

[0031] The attachment bar 28 extends parallel to the rotation axis L4. For example, the attachment bar 28 is perpendicular to the second arm 26 along the rotation axis L4. A wide-area camera 40 and a local camera 30 are attached to the attachment bar 28, sandwiching the second arm 26 therebetween. In other words, the robot arm 20 moves the wide-area camera 40 and the local camera 30 relative to the object 50 under inspection.

[0032] The wide-area camera 40 captures a wide area of ​​the inspection surface 51. For example, the wide-area camera 40 captures the entire surface of the inspection surface 51 in one shot. Hereinafter, the image captured by the wide-area camera 40 will be referred to as a "wide-area image" where appropriate.

[0033] For example, the wide-area camera 40 is a camera with interchangeable lenses. A first lens barrel 42 is attached to the lens mount of the wide-area camera 40. An objective lens 46 is supported at the tip of the first lens barrel 42.

[0034] A large ring light 44 is attached to the attachment bar 28 so as to surround the first lens barrel 42. The large ring light 44 is a ring-shaped ultraviolet flaw detection lamp. The wide-area camera 40 and the large ring light 44 are positioned so that the center of the large ring light 44 passes through the optical axis of the wide-area camera 40.

[0035] For example, the large ring light 44 is a so-called UV ring light. The large ring light 44 has a plurality of UV-LEDs (not shown) arranged in a circular ring shape. The UV-LEDs irradiate ultraviolet light in the UV-A wavelength band (315 nm to 400 nm), for example.

[0036] The illumination intensity of the large ring light 44 may be variable. For example, the illumination intensity of the large ring light 44 varies between 0% and 100%. For example, the large ring light 44 is switchable between two intensity levels: High (e.g., 100%) and Low (e.g., 20%).

[0037] The local camera 30 captures an image of a part of the imaging area of ​​the wide-area camera 40. For example, the local camera 30 captures an image of a shadow area 56 (see FIG. 7) in the wide-area image. With reference to FIG. 2, for example, the local camera 30 is a camera with interchangeable lenses. A second lens barrel 32 is attached to the lens mount of the local camera 30. An objective lens 36 is supported at the tip of the second lens barrel 32.

[0038] The second lens barrel 32 and the objective lens 36 are a so-called hole inspection lens unit. For example, in a flaw detection process, the second lens barrel 32 is inserted into a hole 54 as shown in FIG. 8. At this time, an image of a bottom surface 54A and an inner peripheral surface 54B of the hole 54 is captured. For example, the objective lens 36 (see FIG. 2) is a super-wide-angle lens known as a fisheye lens.

[0039] For example, the diameter of the second lens barrel 32 is less than the diameter of the first lens barrel 42. For example, the diameter of the second lens barrel 32 is less than half the diameter of the first lens barrel 42. In addition, the barrel length H2 of the second lens barrel 32 is longer than the barrel length H1 of the first lens barrel 42.

[0040] A small ring light 34 is arranged around the second lens barrel 32. The small ring light 34 is a ring-shaped ultraviolet flaw detection lamp. For example, the small ring light 34 is a so-called UV ring light. The small ring light 34 has multiple UV-LEDs (not shown) arranged in a circular ring shape. The UV-LEDs irradiate ultraviolet light in the UV-A wavelength band (315 nm to 400 nm), for example.

[0041] The illumination intensity of the small ring light 34 may be variable. For example, the illumination intensity of the small ring light 34 varies between 0% and 100%. For example, the small ring light 34 can be switched between two intensity levels: High (for example, 100%) and Low (for example, 20%).

[0042] The small ring light 34 is a ring-shaped lighting component. The local camera 30 and the small ring light 34 are positioned so that the center of the small ring light 34 passes through the optical axis of the local camera 30.

[0043] For example, the diameter of the inner peripheral surface of the small ring light 34 is equal to the diameter of the outer peripheral surface of the second lens barrel 32. For example, the small ring light 34 is inserted into the second lens barrel 32.

[0044] Furthermore, the diameter R2 of the small ring light 34 is less than the diameter R1 of the first lens barrel 42. With this configuration, the second lens barrel 32 and the small ring light 34 can enter a location that is narrower than the first lens barrel 42.

[0045] Additionally, as described above, the barrel length H2 of the second lens barrel 32 is longer than the barrel length H1 of the first lens barrel 42. That is, the second lens barrel 32 protrudes downward further than the first lens barrel 42. Therefore, even when the second lens barrel 32 is inserted into the hole 54 as shown in FIG. 8 , the first lens barrel 42 is prevented from coming into contact with the object under test 50.

[0046] An extension bar 29A may be provided on the attachment bar 28 (see FIG. 2) so that the second lens barrel 32 protrudes sufficiently downward beyond the first lens barrel 42. The local camera 30 is provided at the distal end (lower end) of this extension bar 29A.

[0047] 1, a computer device 10 is connected to a robot arm 20, a local camera 30, a small ring light 34, a wide-area camera 40, and a large ring light 44. The computer device 10 controls these devices. The computer device 10 is also connected to a display unit 16 and an input device 17. Referring to FIG. 1, the display unit 16 is, for example, a display device. The input device 17 is, for example, a keyboard or a mouse.

[0048] Referring to FIG. 3, the computer device 10 includes a CPU 11, a RAM 12, a ROM 13, a storage 14, and an input / output controller 15.

[0049] The CPU 11 is a central processing unit, also called a processor. The RAM 12 is a volatile storage device that temporarily stores data during operation. The ROM 13 is a storage device from which data can be read. The storage 14 is a storage device from which data can be written and read. The storage 14 is configured, for example, by an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0050] 4 is constructed in the computer device 10 by the CPU 11 executing a program stored in the storage 14 or the ROM 13. The CPU 11 (processor) includes a camera control unit 18A, a robot control unit 18B, an illumination control unit 18C, a flaw determination unit 18E, and a local image capture determination unit 18F. These function blocks execute the flaw detection flow illustrated in FIG. 5.

[0051] Furthermore, at least a portion of the storage area of ​​the ROM 13 or the storage 14 is allocated to a design drawing data storage unit 18D. Design drawing data 60 of the inspection surface 51, as exemplified in FIG. 6, is stored in the design drawing data storage unit 18D. A shadow area 56 is set in advance in the design drawing data 60. For example, the inside of a hole 54 is set as the shadow area 56. For example, an operator or the like sets the shadow area 56 using the input device 17 (see FIG. 1).

[0052] 3. Flaw detection flow 1, the object 50 to be inspected is placed at a fixed position for flaw detection inspection. For example, a stage (not shown) is provided in front of the robot arm 20. The object 50 to be inspected is placed on this stage. For flaw detection inspection, the surface 51 to be inspected of the object 50 to be inspected faces upward.

[0053] Furthermore, a penetrant is applied to the surface 51 to be inspected by an operator or a painting robot. After the penetrant is applied, the penetrant is removed from the surface 51 to be inspected after a predetermined time. Once the penetrant is removed, a command to start the flaw detection inspection is sent from the input device 17 (see FIG. 4) to the camera control unit 18A. This command triggers the start of the flaw detection flow in FIG. 5.

[0054] 1, 4, and 5, the camera control unit 18A transmits a movement command to the robot control unit 18B to capture a wide-area image. The robot control unit 18B controls the robot arm 20 to move the wide-area camera 40 to a predetermined imaging point (S10). The robot control unit 18B, for example, aligns the optical axis of the wide-area camera 40 with the center of the surface 51 to be inspected. Furthermore, the robot control unit 18B moves the wide-area camera 40 away from the surface 51 to be inspected. At the imaging point for the wide-area image, the entire surface 51 to be inspected is within the field of view of the wide-area camera 40.

[0055] When the wide-area camera 40 is placed at the imaging point, the robot control unit 18B transmits a movement completion notification to the camera control unit 18A. Upon receiving the movement completion notification, the camera control unit 18A transmits a command to capture a wide-area image (wide-area imaging command) to the wide-area camera 40 and the lighting control unit 18C.

[0056] When capturing a wide-area image, the illumination control unit 18C sets the intensity of the large ring light 44. For example, when capturing a wide-area image, the intensity of ultraviolet light is set to high.

[0057] While the large ring light 44 is emitting light, the wide-area camera 40 captures an image of the inspection surface 51 (S12). Fig. 7 shows an example of a wide-area image 65 captured by the wide-area camera 40. As the rib 52 becomes longer, the hole 54 becomes deeper, and as a result, the inside of the hole 54 becomes a shadow area 56.

[0058] The wide-area image data is transmitted to the flaw determination unit 18E and the local imaging determination unit 18F. The local imaging determination unit 18F determines whether or not a shadow area is included in the wide-area image (S14). For example, the local imaging determination unit 18F determines whether or not a shadow area is included in the wide-area image based on blueprint data 60 (see FIG. 6). The blueprint data 60 is stored in the blueprint data storage unit 18D. The local imaging determination unit 18F determines whether or not a shadow area 56 is set in the blueprint data 60.

[0059] If the shadow region 56 is not set, the flaw detection step proceeds to step S32. For example, the local image capture determination unit 18F transmits a determination result that the shadow region 56 is not included in the wide-area image to the flaw determination unit 18E.

[0060] In step S14, when a shadow region 56 is set in the design drawing data 60, the local imaging determination unit 18F transmits an instruction to the camera control unit 18A to capture a local image to the camera control unit 18A. Furthermore, the local imaging determination unit 18F extracts the shadow region 56 captured by the wide area camera 40 based on the design drawing data 60. For example, the local imaging determination unit 18F transmits coordinate information (position information) of the shadow region 56 in the design drawing data 60 to the camera control unit 18A (S16).

[0061] The camera control unit 18A includes the shadow region 56 in the imaging area of ​​the local camera 30. The camera control unit 18A transmits a command to the robot control unit 18B to move the local camera 30. In response to this command, the robot control unit 18B controls the robot arm 20 to move the local camera 30 to directly above the shadow region 56 (S18). That is, the shadow region 56 is included in the imaging area of ​​the local camera 30.

[0062] Next, the robot control unit 18B determines whether the area of ​​the shadow region 56 exceeds the cross-sectional area of ​​the small ring light 34 (ultraviolet searchlight) (S20). For example, the design drawing data storage unit 18D stores the area of ​​the shadow region 56 in addition to the position thereof. The robot control unit 18B refers to this area information and compares it with the small ring light 34 to determine which is larger.

[0063] If the area of ​​the shadow region 56 is equal to or smaller than the cross-sectional area of ​​the small ring light 34, the small ring light 34 cannot be inserted into the shadow region 56. The robot control unit 18B moves the objective lens 36 (see FIG. 2) of the local camera 30 to directly above the shadow region 56 (S22). Next, the camera control unit 18A transmits a local imaging command to the local camera 30 and the lighting control unit 18C. Note that the image captured by the local camera 30 will hereinafter be referred to as a "local image" as appropriate.

[0064] The camera control unit 18A transmits a local imaging command to the local camera 30 and the illumination control unit 18C. The local camera 30 images the shadow region 56 (hole 54) from above multiple times. For example, the local image is captured twice. For each imaging, the illumination control unit 18C changes the intensity of the ultraviolet light.

[0065] For example, the wavelength band of ultraviolet light emitted by the small ring light 34, UV-A, is 315 nm to 400 nm. In contrast, the lower limit of the wavelength of visible light is known to be 360 ​​nm. In other words, the light emitted by the small ring light 34 contains components in the wavelength band of visible light. Additionally, the UV-LED, which is the light source of the small ring light 34, has strong linearity. Therefore, when the shadow area 56 is irradiated with light at High intensity, the visible light component causes halation on the bottom surface 54A (see FIG. 8 ) of the shadow area 56. Meanwhile, the inner surface 54B of the shadow area 56 (hole 54) is illuminated by the light reflected from the bottom surface 54A. In other words, an image of the inner surface 54B of the shadow area 56 is acquired in the first imaging.

[0066] The illumination control unit 18C sets the intensity of the small ring light 34 when capturing a local image. For example, when capturing a local image, the intensity of ultraviolet light is set to high. While the small ring light 34 is emitting light, the local camera 30 captures an image of an area including the inner circumferential surface 54B of the shadow area 56 (S24).

[0067] Next, the illumination control unit 18C sets the intensity of the small ring light 34 to low. Then, while the small ring light 34 is emitting light, the local camera 30 captures a local image (S26). This capture results in an image of the bottom surface 54A of the shadow area 56 (hole 54). The two local images with different ultraviolet intensities are sent to the flaw determination unit 18E.

[0068] In step S20, if the area of ​​the shadow region 56 exceeds the cross-sectional area of ​​the small ring light 34 (ultraviolet searchlight), the robot control unit 18B causes the robot arm 20 to insert the tip of the second lens barrel 32 of the local camera 30 and the small ring light 34 into the shadow region 56 (S28). For example, as illustrated in FIG. 8 , the tip of the second lens barrel 32 and the small ring light 34 are inserted into the hole 54.

[0069] Next, the camera control unit 18A transmits a local imaging command to the local camera 30 and the illumination control unit 18C. With the tip of the second lens barrel 32 and the small ring light 34 inserted inside the hole 54, the local camera 30 images the inside of the shadow region 56 (hole 54) multiple times. For example, a local image is captured twice. For each imaging, the illumination control unit 18C varies the intensity of the ultraviolet light.

[0070] When capturing the first local image, the illumination control unit 18C sets the intensity of the small ring light 34 to high. Then, while the small ring light 34 is emitting light, the local camera 30 captures the local image (S30). This capture provides an image of the inner circumferential surface 54B of the shadow region 56 (hole 54).

[0071] Next, the illumination control unit 18C sets the intensity of the small ring light 34 to low. Then, while the small ring light 34 is emitting light, the local camera 30 captures a local image (S32). This capture results in an image of the bottom surface 54A of the shadow area 56 (hole 54).

[0072] The two local images with different ultraviolet intensities are transmitted to the flaw determination unit 18E. If multiple shadow regions 56 are set on the inspection surface 51, the processes from step S16 to step S32 are repeated.

[0073] The flaw determination unit 18E determines whether or not there is a flaw on the inspection surface 51 from the local image captured in step S12 and the local images captured in steps S24, S26 or steps S30, S32 (S34).

[0074] Furthermore, the flaw determination unit 18E performs image processing on the wide-area image and the local image to enhance the detected flaw. For example, the brightness of the flawed area is increased compared to the surrounding area. Furthermore, the image after the flaw enhancement processing (the flaw-enhanced image) is displayed on the display unit 16 (S36).

[0075] 4. Another example of flaw detection flow In the flaw detection flow of FIG. 5, in step S14, the shadow region 56 is narrowed down from the design drawing data 60. Alternatively, the shadow region 56 may be extracted from the wide-area image 65 (see FIG. 7). According to this example, the region where ultraviolet light is actually blocked is extracted as the shadow region 56. As a result, it is possible to reliably prevent omissions in imaging over the entire surface of the inspected surface 51.

[0076] Furthermore, the area of ​​the shadow region is used in step S20 of Fig. 5. The local image capture determination unit 18F calculates the area of ​​the shadow region 56 from the area of ​​the shadow region 56 in the wide-area image, the magnification of the wide-area camera 40, the distance between the inspection surface 51 and the wide-area camera 40, etc.

[0077] 5, the intensity of the small ring light 34 was switched between high and low, and the shadow region 56 was imaged twice. Alternatively, the image may be captured once. In this case, a fluorescent bandpass filter (not shown) is attached to the local camera 30.

[0078] A fluorescence bandpass filter has high transmittance in the fluorescence wavelength band. It also has high blocking performance in wavelength bands other than the fluorescence wavelength band. Therefore, for example, by attaching a bandpass filter in front of an objective lens, it is possible to suppress halation in captured images. [Explanation of symbols]

[0079] 10 Computer device, 11 CPU (processor), 18A Camera control unit, 18B Robot control unit, 18C Lighting control unit, 18D Blueprint data memory unit, 18E Flaw determination unit, 18F Local imaging determination unit, 20 Robot arm, 28 Attachment bar, 30 Local camera, 32 Second lens barrel, 34 Small ring light (ultraviolet flaw detection lamp), 36 Objective lens of local camera, 40 Wide-area camera, 42 First lens barrel, 44 Large ring light, 46 Objective lens of wide-area camera, 50 Inspected object, 51 Inspected surface, 52 Rib, 53 Bottom surface of inspected surface, 54 Hole, 54A Bottom surface of hole, 54B Inner surface of hole, 56 Shadow area, 60 Blueprint data, 65 Wide-area image.

Claims

1. a wide-area camera for capturing an image of the object to be inspected; a local camera that captures an image of a part of an image capturing area of ​​the wide-area camera; Equipped with the wide-area camera includes a first lens barrel supporting an objective lens; The local camera a second lens barrel supporting the objective lens; a ring-shaped ultraviolet flaw detection lamp disposed around the second lens barrel; Equipped with The diameter of the ultraviolet flaw detection lamp is less than the diameter of the first lens barrel, The second lens barrel has a longer barrel length than the first lens barrel. Fluorescent penetrant inspection equipment.

2. The fluorescent penetrant flaw detection device according to claim 1, a robot arm that moves the local camera relative to the object under inspection; a processor for controlling the robotic arm; Equipped with The processor: extracting a shadow area when the wide-area camera captures an image based on design drawing data of the object to be inspected; The shadow region is included in the imaging region of the local camera. Fluorescent penetrant inspection equipment.

3. The fluorescent penetrant flaw detection device according to claim 1, a robot arm that moves the local camera relative to the object under inspection; a processor for controlling the robotic arm; Equipped with The processor: extracting a shadow area from the image captured by the wide-area camera; The shadow region is included in the imaging region of the local camera. Fluorescent penetrant inspection equipment.

4. The fluorescent penetrant flaw detection device according to claim 2 or 3, When the area of ​​the shadow area exceeds the cross-sectional area of ​​the ultraviolet flaw detection lamp, the processor causes the robot arm to insert the tip of the second lens barrel into the shadow area. Fluorescent penetrant inspection equipment.

5. The fluorescent penetrant flaw detection device according to claim 4, With the tip of the second lens barrel inserted into the shadow area, the local camera captures an image of the inside of the shadow area multiple times; The ultraviolet flaw detection lamp varies the intensity of ultraviolet light for each imaging session. Fluorescent penetrant inspection equipment.

Images