Workpiece imaging device
The workpiece imaging device employs a dual-camera system with a smaller second camera and background member to address the challenge of imaging both specular and diffuse reflections, achieving clear and efficient target imaging with reduced costs.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- PFU LTD
- Filing Date
- 2022-03-18
- Publication Date
- 2026-05-19
AI Technical Summary
Existing workpiece imaging devices struggle to appropriately image both specularly reflecting and non-specularly reflecting surfaces simultaneously, leading to blurred or incomplete images.
A workpiece imaging device equipped with a first camera and a second camera, where the field of view of the second camera is smaller than the first, along with a white or black background member, allows for precise imaging of specular and diffuse reflection surfaces by minimizing background interference and ensuring clear boundaries between the target and background.
The device effectively captures clear images of both specular and diffuse reflection surfaces without blurring, enabling accurate determination of target suitability, and reduces manufacturing costs by using a single actuator for both cameras.
Smart Images
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Abstract
Description
Technical Field
[0006] , , ,
[0001] The technology of the present disclosure relates to a workpiece imaging device.
Background Art
[0002] Labels may be attached to or symbols may be printed on the surface of a product. These products are imaged using a workpiece imaging device, and based on the captured image, it is confirmed whether there are any mistakes in the labels or symbols. Also, imaging devices that can appropriately image the image of a specularly reflecting subject are known (Patent Documents 1 to 2).
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Patent Document 2
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, in a state suitable for imaging a label, a symbol printed on a specularly reflecting surface may not be appropriately imaged, and in a state suitable for imaging a specularly reflecting surface, a label may not be appropriately imaged.
[0005] The disclosed technology has been made in view of such points, and an object thereof is to provide a workpiece imaging device that can appropriately image an image of a predetermined part of a subject.
Means for Solving the Problems
[0006] A workpiece imaging apparatus according to one aspect of the present disclosure comprises an actuator for moving a support member, a first camera supported by the support member, and a second camera supported by the support member, wherein the field of view of the second camera is smaller than the field of view of the first camera. [Effects of the Invention]
[0007] The disclosed work imaging device can appropriately capture images of a predetermined part of the subject. [Brief explanation of the drawing]
[0008] [Figure 1] Figure 1 is a schematic diagram showing the workpiece imaging apparatus of Example 1. [Figure 2] Figure 2 is a perspective view showing the camera unit. [Figure 3] Figure 3 is a top view showing the first camera and the second camera. [Figure 4] Figure 4 is a perspective view showing a white background component. [Figure 5] Figure 5 is a top view showing the camera unit. [Figure 6] Figure 6 is a plan view showing the panel to be installed on the workpiece. [Figure 7] Figure 7 is an enlarged plan view showing one of several specular reflection surface targets. [Figure 8] Figure 8 shows the table to be photographed. [Figure 9] Figure 9 shows an image of the specular surface being photographed by the second camera. [Figure 10] Figure 10 shows an image of the specular reflective surface being photographed by the second camera when the white background material is omitted. [Figure 11] Figure 11 is a top view showing the camera unit of the workpiece imaging device of Example 2. [Figure 12] Figure 12 is a top view showing the camera unit of the workpiece imaging device of Example 3. [Modes for carrying out the invention]
[0009] The workpiece imaging apparatus according to the embodiments disclosed herein will be described below with reference to the drawings. However, the technology of this disclosure is not limited by the following description. Furthermore, the same reference numerals are used for identical components, and redundant explanations are omitted. [Examples]
[0010] The workpiece imaging device 1 of Embodiment 1 comprises a workbench 2, a camera unit 3, an actuator 5, and a control device 6, as shown in Figure 1. Figure 1 is a schematic diagram showing the workpiece imaging device 1 of Embodiment 1. The workpiece imaging device 1 is used to capture multiple images of a workpiece 7 and to determine whether the object printed on the surface of the workpiece 7 is suitable for imaging. The workbench 2 has a flat mounting surface 8. The workpiece 7 is placed on the workbench 2 so that the mounting surface 8 faces the workpiece 7. The camera unit 3 is supported so as to be movable relative to the workbench 2 via the actuator 5. The actuator 5 is controlled by the control device 6 to move the camera unit 3.
[0011] The control unit 6 is a computer and includes a storage device and a CPU (Central Processing Unit), which are not shown. The storage device records the computer program installed in the control unit 6 and records information used by the CPU. The CPU executes the computer program installed in the control unit 6, controls the storage device, and processes information. The CPU further controls the camera unit 3 and the actuator 5.
[0012] FIG. 2 is a perspective view showing the camera unit 3. The camera unit 3 includes a first camera 11, a second camera 12, a support member 14, and a white background member 15. The first camera 11 is fixed to the support member 14. FIG. 3 is a top view showing the first camera 11 and the second camera 12. The second camera 12 faces the same direction as the direction in which the first camera 11 is directed. The second camera 12 is arranged such that the optical axis 22 of the second camera 12 is parallel to the optical axis 21 of the first camera 11. The second camera 12 is fixed to the support member 14 and is fixed to the first camera 11 via the support member 14.
[0013] The viewing angle 24 of the second camera 12 is smaller than the viewing angle 23 of the first camera 11, and the angular field 26 of the second camera 12 is smaller than the angular field 25 of the first camera 11. The white background member 15 is arranged between the viewing angle 23 of the first camera 11 and the viewing angle 24 of the second camera 12, that is, it is arranged outside the viewing angle 23 of the first camera 11 and is arranged between the outside of the viewing angle 24 of the second camera 12.
[0014] The first camera 11 and the second camera 12 are set so that when the camera unit 3 is disposed at an appropriate shooting position with respect to the subject, the first camera 11 and the second camera 12 can appropriately shoot the subject, that is, focus on the subject. In the first image captured by the first camera 11, when the camera unit 3 is disposed at an appropriate shooting position with respect to the mirror surface 28, the mirror surface 28 specularly reflects light, and an image of the background around the camera unit 3 is reflected therein. At this time, due to the relatively large angle of view 25 of the first camera 11, an image of a region far from the camera unit 3 is captured in the captured image. In the second image captured by the second camera 12, when the camera unit 3 is disposed at an appropriate shooting position with respect to the mirror surface 28, the mirror surface 28 specularly reflects light, and an image of the background around the second camera 12 is reflected therein. At this time, the background region reflected in the second image is narrower than the background region reflected in the first image because the angle of view 26 of the second camera 12 is smaller than the angle of view 25 of the first camera 11, and does not include a region far from the camera unit 3. Uncertain objects may be disposed in a region far from the camera unit 3.
[0015] The white background member 15 is disposed near the second camera 12 so that when the camera unit 3 is disposed at an appropriate shooting position with respect to the mirror surface 28, an image of the white background member 15 is reflected in the image captured by the second camera 12 by specularly reflecting the mirror surface 28. The white background member 15 is further disposed diagonally in front of the first camera 11 so that an image of the first camera 11 specularly reflected by the mirror surface 28 is not reflected in the image captured by the second camera 12, that is, disposed between the mirror surface 28 and the first camera 11. The white background member 15 is further formed small so as not to largely protrude from the region reflected in the image captured by the second camera 12 by specularly reflecting the mirror surface 28.
[0016] Figure 4 is a perspective view showing the white background member 15. The white background member 15 comprises a metal plate 31 and a white sheet 32. The metal plate 31 is formed from a bent plate and comprises a sheet support portion 33 and a mounting portion 34. The sheet support portion 33 is formed in the shape of a flat plate. The mounting portion 34 is formed in the shape of a flat plate. The mounting portion 34 is positioned along another plane perpendicular to the plane along which the sheet support portion 33 lies, with the end of the mounting portion 34 adjacent to the end of the sheet support portion 33, and is integrally formed with the sheet support portion 33. Multiple mounting holes 35 are formed in the mounting portion 34. The white sheet 32 is formed from white-colored non-glossy high-quality paper. The white sheet 32 is attached to the sheet support portion 33 of the metal plate 31 using double-sided tape, along the sheet support portion 33, and is fixed to the sheet support portion 33.
[0017] Figure 5 is a top view showing the camera unit 3. The white background member 15 is positioned such that the white sheet 32 faces the same direction as the direction in which the second camera 12 is pointed, and the mounting portion 34 is aligned with the side of the second camera 12. The camera unit 3 further comprises a plurality of mounting members 36. Each of the plurality of mounting members 36 is formed as a bolt. The second camera 12 has a plurality of female threads, which are not shown. The plurality of mounting members 36 pass through a plurality of mounting holes 35 in the white background member 15 and are fastened to the plurality of female threads of the second camera 12. The white background member 15 is fixed to the second camera 12 by the plurality of mounting members 36 being fastened to the female threads of the second camera 12, and is fixed to the support member 14 via the second camera 12.
[0018] Workpiece 7 includes a panel 41 shown in Figure 6. Figure 6 is a plan view showing the panel 41 provided on workpiece 7. The panel 41 is made of stainless steel and is formed in a plate shape. The panel 41 has a specular reflective surface 42 that reflects light specularly. The panel 41 covers one side of workpiece 7 such that the specular reflective surface 42 is exposed to the outside. The panel 41 has a plurality of openings 43. The side of workpiece 7 covered by the panel 41 has a plurality of connectors, which are not shown. The plurality of connectors are each exposed to the outside through the plurality of openings 43. The specular reflective surface 42 of the panel 41 has a plurality of specular reflective surface objects 44 formed thereon.
[0019] One of the multiple specular surface objects 44, specular surface object 45, is positioned near one of the multiple openings 43, as shown in Figure 7. Figure 7 is an enlarged plan view showing one of the multiple specular surface objects 44, specular surface object 45. The specular surface object 45 is formed by silkscreen printing and colored black. The specular surface object 45 displays a string of characters or symbols indicating the type of opening 46, for example, indicating the type of connector exposed through the opening 46. Other specular surface objects among the multiple specular surface objects 44, different from specular surface object 45, are also formed by silkscreen printing and colored black, similar to specular surface object 45.
[0020] On the surface of workpiece 7 not covered by panel 41, several labels (not shown) are further affixed. Each of the labels is made of non-glossy fine paper. Each of the labels has a diffusely reflecting surface formed thereon. A diffusely reflecting surface image target is formed on the diffusely reflecting surface by printing. The diffusely reflecting surface image target displays, for example, a string of characters or symbols indicating information about workpiece 7.
[0021] [Operation of Workpiece Imaging Device 1] When a user wants to inspect the suitability of multiple targets formed on a workpiece 7 using the workpiece imaging device 1, they create the target table 51 shown in Figure 8 and record the target table 51 in the storage device of the control device 6. Figure 8 is a diagram showing the target table 51. The target table 51 associates multiple target information 52 with multiple imaging position information 53, multiple surface state information 54, and multiple judgment condition information 55. Each of the multiple target information 52 represents one of the multiple targets formed on the workpiece 7. Examples of targets include a diffuse reflection surface target printed on the diffuse reflection surface of a label attached to the workpiece 7, and a specular reflection surface target 45 printed on the specular reflection surface 42 of the workpiece 7.
[0022] Among the multiple shooting position information, the shooting position information corresponding to a particular target indicates the appropriate shooting position for that target when the workpiece 7 is placed at a predetermined inspection position on the mounting surface 8. The first camera 11 and the second camera 12 are set so that when the camera unit 3 is placed at the appropriate shooting position for that target, the first camera 11 and the second camera 12 can appropriately photograph that target. Each of the multiple surface state information 54 indicates either a "diffuse reflection surface" or a "specular reflection surface". For example, the surface state information corresponding to a particular target among the multiple surface state information 54 indicates "diffuse reflection surface" when the target is a diffuse reflection surface target, and indicates "specular reflection surface" when the target is a specular reflection surface target 45. The judgment condition information corresponding to a particular target among the multiple judgment condition information 55 indicates the conditions for determining whether the target is appropriate or not with respect to the image in which the target is captured.
[0023] The user then properly places the workpiece 7 on the workbench 2 so that the workpiece 7 is positioned at the inspection location on the mounting surface 8. After the workpiece 7 is properly placed on the workbench 2, the user starts the workpiece imaging device 1. When the workpiece imaging device 1 is started, the control device 6 selects one target to be photographed from among the multiple targets indicated by the multiple target information 52 in the target table 51. After the target to be photographed is selected, the control device 6 controls the actuator 5 to position the camera unit 3 at the selected shooting position indicated by the shooting position information corresponding to the selected target among the multiple shooting position information 53 in the target table 51. After the target to be photographed is selected, the control device 6 further determines whether the selected surface state information corresponding to the selected target among the multiple surface state information 54 indicates a "diffuse reflection surface" or a "specular reflection surface".
[0024] When the selected surface state information indicates "diffuse reflection surface," the control device 6 uses the first camera 11 to capture a diffuse reflection surface image in which the selected object to be photographed is visible. At this time, because the field of view 23 of the first camera 11 is larger than the field of view 24 of the second camera 12, the first camera 11 can appropriately photograph the selected object so that the entire object is captured in a single diffuse reflection surface image. Furthermore, because the selected object to be photographed is formed on a diffuse reflection surface, the background around the camera unit 3 does not reflect specularly and appear in the diffuse reflection surface image, allowing the first camera 11 to appropriately photograph the selected object without blurring its image.
[0025] After the diffuse reflection surface image is captured, the control device 6 processes the diffuse reflection surface image and uses the judgment condition information corresponding to the selected target from among the multiple judgment condition information 55 to determine whether the selected target captured in the diffuse reflection surface image is appropriate. The workpiece imaging device 1 can appropriately extract the image of the selected target from the diffuse reflection surface image because the background is not reflected in the diffuse reflection surface image, and can appropriately determine whether the selected target is appropriate.
[0026] When the selected surface state information indicates "specular reflective surface," the control device 6 uses the second camera 12 to capture the specular reflective surface image 61 shown in Figure 9. Figure 9 is a diagram showing the specular reflective surface image 61 of the specular reflective surface target 45 captured by the second camera 12. The specular reflective surface image 61 shows the target image 62 and the white background image 63. The target image 62 shows the specular reflective surface target 45 and is displayed as black in the specular reflective surface image 61. The white background image 63 shows the white sheet 32 of the white background member 15 and is displayed as white in the specular reflective surface image 61, overlapping with the target image 62 in the specular reflective surface image 61. Because the target image 62 is displayed overlapping with the white background image 63 in the specular reflective surface image 61, the boundary between the target image 62 and the white background image 63 is clearly displayed. Furthermore, the specular reflection image 61 does not display images of areas far from the camera unit 3. Even if an object of the same color as the specular reflection target 45 is placed in an area far from the camera unit 3, the image of that object will not overlap with the target image 62, and the target image 62 will be displayed appropriately without blurring.
[0027] After the specular reflection image 61 is captured, the control device 6 processes the specular reflection image 61 and uses the judgment condition information corresponding to the selected target from among the multiple judgment condition information 55 to determine whether the selected target reflected in the specular reflection image is appropriate. The workpiece imaging device 1 can appropriately extract the image of the selected target from the specular reflection image because the boundary between the target image 62 and the white background image 63 is clearly reflected in the specular reflection image 61, and can appropriately determine whether the selected target is appropriate.
[0028] After determining whether the selected target is suitable, the control device 6 takes images of other targets from the multiple targets indicated by the multiple target information 52 that are different from the selected target, in the same way as the selected target, and determines whether the targets are suitable. The workpiece imaging device 1 can use the target table 51 to photograph multiple targets using the appropriate camera from the first camera 11 and the second camera 12, even when the multiple targets include targets for diffuse reflection and targets for specular reflection 45. By photographing multiple targets using the appropriate camera, the workpiece imaging device 1 can properly display the image of the target in the captured image and properly determine whether the target is suitable.
[0029] Figure 10 shows a specular reflection image 71 of a specular reflection target 45 captured by the second camera 12 when the white background member 15 is omitted. The specular reflection image 71 shows both the target image 72 and the camera image 73. The target image 72 shows the specular reflection target 45 and is displayed as black in the specular reflection image 71. The camera image 73 shows the first camera 11 and is displayed superimposed on the target image 72 in the specular reflection image 71. In the specular reflection image 71, when the color of the first camera 11 and the color of the specular reflection target 45 are the same, the boundary between the target image 72 and the camera image 73 may not be clearly displayed. Because the boundary between the target image 72 and the camera image 73 is not clear, the control device 6 may not be able to properly recognize the target image 72 based on the specular reflection image 71, and may not be able to properly determine whether the target is suitable for specular reflection photography. In other words, the workpiece imaging device 1, by being provided with a white background member 15, can more appropriately image the specular reflective surface object, and can more reliably determine whether the specular reflective surface object is suitable for imaging.
[0030] The comparative workpiece imaging device is the same as the workpiece imaging device 1 of Example 1 described above, except that the first camera 11 is omitted, and the other parts are the same as the workpiece imaging device 1 of Example 1 described above. The comparative workpiece imaging device uses the second camera 12 to capture an image of the diffusely reflective surface target. Because the field of view 24 of the second camera 12 is relatively small, the entire diffusely reflective surface target may not be captured in the image, and only a part of the diffusely reflective surface target may be captured. For this reason, in order to determine whether the diffusely reflective surface target is suitable, the comparative workpiece imaging device needs to capture multiple images, each capturing multiple parts of the diffusely reflective surface target. In other words, the workpiece imaging device 1 of Example 1 described above does not need to capture multiple images of the diffusely reflective surface target even when the diffusely reflective surface target is large, and can capture an image of the diffusely reflective surface target easily and in a short time compared to the comparative workpiece imaging device.
[0031] [Effects of the workpiece imaging device 1 in Example 1] The workpiece imaging device 1 of Embodiment 1 includes an actuator 5 for moving a support member 14, a first camera 11 supported by the support member 14, and a second camera 12 supported by the support member 14. The field of view of the second camera 12 is smaller than that of the first camera 11. In this case, the workpiece imaging device 1 of Embodiment 1 can be manufactured at a lower cost compared to other workpiece imaging devices that have two actuators for moving the two cameras. The workpiece imaging device 1 of Embodiment 1 can reduce the amount of light incident on the first camera 11 due to specular reflection near the specular reflection target by capturing an image of the specular reflection target formed on the specular reflection surface using the first camera 11. The workpiece imaging device 1 of Embodiment 1 can reduce the amount of light incident on the second camera 12 due to specular reflection near the specular reflection target from a region far from the camera unit 3 by capturing an image of the specular reflection target 45 formed on the specular reflection surface 42 using the second camera 12. In the workpiece imaging apparatus 1 of Example 1, light is reflected specularly from an area far from the camera unit 3 near the object to be photographed, preventing light from entering the camera that captures the image of the object. This allows for the proper imaging of the object without blurring.
[0032] Furthermore, the workpiece imaging device 1 of Embodiment 1 further includes a control device 6. The control device 6 uses the second camera 12 to capture an image of the object to be photographed when the object to be photographed is formed on a specularly reflective surface 42 that exhibits specular reflection. The control device 6 uses the first camera 11 to capture an image of the object to be photographed when the object to be photographed is formed on a diffusely reflective surface that does not exhibit specular reflection but exhibits diffuse reflection. In this case, the workpiece imaging device 1 of Embodiment 1 can automatically capture an image of the object to be photographed using the camera selected from the first camera 11 and the second camera 12 based on the object to be photographed, thereby appropriately capturing an image of the object to be photographed.
[0033] Furthermore, the workpiece imaging device 1 of Embodiment 1 further includes a white background member 15 supported by a support member 14. The white background member 15 is positioned such that when the camera unit 3 is positioned at an appropriate shooting position relative to the mirror surface 28, and when the second camera 12 captures an image of the mirror surface 28, the white background member 15 is reflected in the image by the light reflected by the mirror surface 28. In this case, the workpiece imaging device 1 of Embodiment 1 can properly photograph the mirror surface object 45 formed on the mirror surface 42 by the white background member 15 being reflected by the mirror surface 42 in the image captured by the second camera 12. In addition, the workpiece imaging device 1 of Embodiment 1 can reduce the size of the white background member 15 and thus reduce the size of the camera unit 3 because the field of view 26 of the second camera 12 is small.
[0034] By the way, although the workpiece imaging device 1 of the previously described embodiment 1 is provided with a white background member 15, the white background member 15 may be omitted. Due to the small field of view 26 of the second camera 12, the objects reflected by the specular surface 42 in the image captured by the second camera 12 do not include objects located in areas far from the camera unit 3, and only include the specific objects exemplified by the first camera 11. Even if the white background member 15 is omitted, the workpiece imaging device 1 can properly capture the specular surface object 45 formed on the specular surface 42 so that the specular surface object 45 does not become blurred when the color of the specular surface object 45 differs from the color of a specific object. [Examples]
[0035] As shown in Figure 11, the workpiece imaging device of Example 2 is the same as the workpiece imaging device 1 of Example 1 described above, with the addition of a black background member 81, and the other parts are the same as the workpiece imaging device 1 of Example 1 described above. Figure 11 is a top view showing the camera unit of the workpiece imaging device of Example 2. The black background member 81 is the same as the white background member 15 described above, with the white sheet 32 of the white background member 15 replaced by a black sheet. The black sheet is formed from black-colored paper. The black sheet is attached to the sheet support portion 33 of the metal plate 31 of the black background member 81 using double-sided tape. The black background member 81 is positioned on the opposite side of the second camera 12 from where the white background member 15 is located, so that the black sheet faces in the same direction as the direction the second camera 12 is pointed, and is fixed to the second camera 12 and fixed to the support member 14 via the second camera 12.
[0036] A white object may be formed on the specular reflective surface 42 of the workpiece 7. The white object is formed on the specular reflective surface 42 of the workpiece 7 by silkscreen printing and is colored white. Before capturing an image of the white object, the control device 6 controls the actuator 5 to appropriately position the camera unit so that the image captured by the second camera 12 shows the white object and the black background image showing the black background member 81 overlap. After the camera unit is appropriately positioned, the control device 6 uses the second camera 12 to capture an image of the white object.
[0037] In such a white target image, the white target image is displayed in white, the black background image is displayed in black, and the boundary between the white target image and the black background image is clearly displayed. The workpiece imaging device of Example 2 can appropriately photograph a white target so that the boundary between the white target image and the black background image is clearly displayed, and can appropriately determine whether the white target is suitable for photography. In other words, the workpiece imaging device of Example 2 can capture an image with the second camera 12 so that the image of the appropriate background member among the white background member 15 and the black background member 81 overlaps with the image of the target. For this reason, the workpiece imaging device of Example 2 can appropriately photograph targets and appropriately determine whether the targets are suitable for photography, even when the multiple specular reflective surface targets 44 include both white targets and black targets.
[0038] By the way, in the camera unit of the workpiece imaging device of Embodiment 2, both a white background member 15 and a black background member 81 are attached, but the black background member 81 may be removed when the multiple specular reflective surface objects to be photographed 44 include only black objects. Furthermore, in the camera unit of the workpiece imaging device of Embodiment 2, when the multiple specular reflective surface objects to be photographed 44 include only white objects, the white background member 15 is replaced and attached via multiple mounting members 36. In this case as well, the workpiece imaging device can appropriately photograph the objects and appropriately determine whether the objects are suitable for photography. In such a workpiece imaging device, since the background member is not attached to the side of the second camera 12 that is farther from the first camera 11, the camera unit can be made smaller compared to the workpiece imaging device of Embodiment 2 described above. In such a workpiece imaging device, because the camera unit is small, the range of motion in which the camera unit can move without interference can be expanded, and the area of the workpiece 7 that can be appropriately photographed can be expanded. [Examples]
[0039] As shown in Figure 12, the workpiece imaging device of Embodiment 3 is the same as the workpiece imaging device of Embodiment 1 described above, except that the white background member 15 of Embodiment 1 described above is replaced with a background member 91 and a background member actuator 92. Figure 12 is a top view showing the camera unit of the workpiece imaging device of Embodiment 3. The background member 91 comprises a sheet support member 93, a white sheet 94, and a black sheet 95. The sheet support member 93 is formed in a plate shape. The white sheet 94 is formed from white-colored non-glossy fine paper, similar to the white sheet 32 described above. The white sheet 94 is adhered to one side of the sheet support member 93. The black sheet 95 is formed from black-colored paper. The black sheet 95 is adhered to the other side of the sheet support member 93, on the back side of the side to which the white sheet 94 is adhered.
[0040] The background member 91, like the white background member 15 described above, is positioned near the second camera 12 so that when the camera unit is positioned at an appropriate imaging position relative to the mirror surface 28, the image of the background member 91 is reflected specularly by the mirror surface 28 and is projected onto the image captured by the second camera 12. The background member 91 is supported by the sheet support member 93 so as to be rotatable around the rotation axis 96 via the background member actuator 92. The background member actuator 92 is controlled by the control device 6 to rotate the background member 91 around the rotation axis 96.
[0041] Before capturing an image of a white target formed on the specular reflective surface 42, the control device 6 controls the background member actuator 92 to rotate the background member 91 and appropriately position the background member 91 so that the black sheet 95 faces the specular reflective surface 42. Before capturing an image of a black target formed on the specular reflective surface 42, the control device 6 controls the background member actuator 92 to rotate the background member 91 and appropriately position the background member 91 so that the white sheet 94 faces the specular reflective surface 42. After the background member 91 is appropriately positioned, the control device 6 uses the second camera 12 to capture an image of either a white or black target and determines whether the target is suitable based on the image. Therefore, the workpiece photography apparatus of Embodiment 3, like the workpiece photography apparatus of Embodiment 2 described above, can appropriately photograph targets and appropriately determine whether the target is suitable, even when the multiple specular reflective surface targets 44 include both white and black targets.
[0042] Although examples have been described above, the examples are not limited to those described above. Furthermore, the components described above include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that fall within the so-called equivalent range. Moreover, the components described above can be combined as appropriate. Furthermore, at least one of various omissions, substitutions, and modifications of the components can be made without departing from the gist of the examples. [Explanation of symbols]
[0043] 1: Workpiece imaging device 5: Actuator 6: Control device 11: Camera 1 12: Second camera 14: Support member 15: White background material 25: Angle of view 26: Angle of view 28: Mirror surface 36: Multiple mounting components 81: Black background component 91: Background material 92: Background Member Actuator
Claims
1. An actuator that moves the support member, A first camera supported by the aforementioned support member, A second camera supported by the aforementioned support member, A background member supported by the aforementioned support member, Equipped with, The field of view of the second camera is smaller than that of the first camera. The background member is positioned such that, when the second camera captures an image of a mirrored surface placed in front of the second camera that includes the subject to be photographed, the background member is reflected in the image by light reflected from the mirrored surface, and the image of the subject to be photographed is superimposed on the image of the background member. Workpiece imaging device.
2. A control unit controls the first camera and the second camera so that when the surface of the subject is reflecting specular light, an image of the subject is captured using the second camera, and when the surface of the subject is reflecting diffuse light, an image of the subject is captured using the first camera. The workpiece imaging apparatus according to claim 1, further comprising:
3. The system further comprises another background member that is colored with a second color different from the first color colored on the aforementioned background member. The other background member is positioned at a location different from the position where the background member is placed, and is supported by the support member, such that the other background member is further reflected in the image by light reflected specularly from the mirror surface. The workpiece imaging apparatus according to claim 1 or 2.
4. Other background elements, Mounting portion for attaching the background member or other background members to the support member The workpiece imaging apparatus according to claim 1 or 2, further comprising the above.
5. Another actuator moves the background member relative to the support member such that a first region of the background member is reflected in the image by light reflected specularly from the mirror surface, or a second region of the background member, different from the first region, is reflected in the image by light reflected specularly from the mirror surface. The workpiece imaging apparatus according to claim 1 or 2, further comprising the above.