Abnormality detection system for lens or lens cap of vision sensor
阅读说明:本技术 视觉传感器的镜头或镜头盖的异常检测系统 (Abnormality detection system for lens or lens cap of vision sensor ) 是由 新仓美穗 黑济泰彦 樽井贺彦 于 2019-05-29 设计创作,主要内容包括:提供一种视觉传感器的镜头或镜头盖的异常检测系统,能够预测将来要实施的视觉传感器的镜头或镜头盖的清扫定时以防止生产线的运转率降低。该异常检测系统具有:照相机(6),其设置于机器人(5)或其周边,用于获取多个图像;信息处理装置(20),其基于由照相机(6)获取到的图像来计算照相机(6)的镜头或镜头盖的脏污程度;以及清扫定时预测部(43),其基于计算出的镜头或镜头盖的脏污程度来计算与镜头或镜头盖的将来要实施的预测清扫定时有关的信息。(Provided is a system for detecting an abnormality in a lens or a lens cover of a vision sensor, which can predict the timing of cleaning the lens or the lens cover of the vision sensor to be performed in the future to prevent a reduction in the operating rate of a production line. The abnormality detection system includes: a camera (6) provided at the robot (5) or the periphery thereof for acquiring a plurality of images; an information processing device (20) that calculates the degree of soiling of the lens or lens cover of the camera (6) based on the image acquired by the camera (6); and a cleaning timing prediction unit (43) that calculates information relating to predicted cleaning timing to be performed in the future of the lens or the lens cover, based on the calculated degree of contamination of the lens or the lens cover.)
1. An abnormality detection system for a lens or a lens cover of a vision sensor provided with the vision sensor, the vision sensor being provided in an industrial machine or a peripheral area thereof and acquiring a plurality of image data, the abnormality detection system comprising:
a calculation section that calculates a degree of contamination of a lens or a lens cover of the vision sensor based on the image data captured by the vision sensor; and
a prediction unit that calculates information on a predicted cleaning timing to be performed in the future of the lens or lens cover based on the degree of contamination of the lens or lens cover measured by the calculation unit.
2. The system for detecting an abnormality in a lens or a lens cover of a vision sensor according to claim 1, further comprising:
a determination unit that determines whether or not the degree of contamination of the lens or the lens cover is equal to or less than a predetermined threshold value;
a notification unit that notifies information relating to the predicted cleaning timing; and
a stop signal output unit that outputs a stop signal for stopping the operation of the industrial machine,
wherein the notification unit notifies information relating to the predicted cleaning timing when the degree of contamination of the lens or lens cover is equal to or less than the threshold value as a result of the determination by the determination unit,
the stop signal output section outputs the stop signal when the degree of contamination of the lens or the lens cover exceeds the threshold value as a result of the determination by the determination section.
3. The abnormality detection system for a lens or a lens cover of a vision sensor according to claim 1 or 2,
the calculation section calculates a degree of contamination of the lens or lens cover according to a comparison of information based on an initial image and information based on an image after an operation.
4. The abnormality detection system for a lens or a lens cover of a vision sensor according to claim 3,
the calculation unit determines a dirty region in an image from a difference between a binarized image based on pixel values of an initial image and a binarized image based on pixel values of a post-operation image, and calculates a degree of contamination of the lens or lens cover based on a size of the dirty region in the image.
5. The abnormality detection system of a lens or a lens cover of a vision sensor according to any one of claims 1 to 4,
further comprises a standard photographic object part which becomes an object to be photographed by the vision sensor when the degree of contamination of the lens or the lens cover is calculated,
the vision sensor and/or the standard imaging target part is fixed to a movable part that can be operated so that the standard imaging target part enters an imaging range of the vision sensor.
6. The abnormality detection system of a lens or a lens cover of a vision sensor according to any one of claims 1 to 4,
further comprises a standard photographic object part which becomes an object to be photographed by the vision sensor when the degree of contamination of the lens or the lens cover is calculated,
the standard photographic object part is a lens cover that covers the lens or a lens cover of the vision sensor.
7. The abnormality detection system of a lens or a lens cover of a vision sensor according to any one of claims 1 to 6,
the predicted cleaning timing is calculated from a function derived based on the photographing timings of the plurality of images and the degree of contamination of the plurality of images, and an allowable limit threshold value of the degree of contamination of the lens or lens cover.
8. The abnormality detection system of a lens or a lens cover of a vision sensor according to any one of claims 1 to 7,
a restart processing execution unit that compares a first contamination degree of the lens or the lens cover in a first post-operation image with a second contamination degree of the lens or the lens cover in a second post-operation image captured at a timing subsequent to the first post-operation image, and executes restart processing of the abnormality detection system based on a result of the comparison,
the restart processing execution unit executes the restart processing when the second contamination level is lower than the first contamination level by a predetermined value or more.
9. The system for detecting an abnormality in a lens or a lens cover of a vision sensor according to claim 1, further comprising:
a determination unit that determines whether or not a degree of contamination of the lens or the lens cover exceeds a predetermined threshold;
a usable area determining section that determines a usable area where contamination of the lens or a lens cover is slight in an image captured by the vision sensor; and
an information output unit that outputs information for controlling the operation of the industrial machine,
wherein the usable area determining section determines the usable area in a case where the degree of contamination of the lens or lens cover exceeds the threshold value as a result of determination by the determining section,
the information output unit outputs information for continuing the operation of the industrial machine when the usable area determined by the usable area determining unit is equal to or larger than a predetermined size, and outputs information for stopping the operation of the industrial machine when the usable area is smaller than the predetermined size.
10. The abnormality detection system for a lens or lens cover according to claim 9,
the vision sensor includes a movable portion for changing a photographing position,
when the usable area is equal to or larger than a predetermined size, the movable unit is operated to change the imaging position of the visual sensor so that at least a part of the imaging target can be imaged in the usable area.
11. The abnormality detection system for a lens or a lens cover of a vision sensor according to claim 1,
further comprising an information output unit for outputting information for controlling the operation of the industrial machine and the vision sensor,
a plurality of said vision sensors are provided,
the calculation section calculates the degree of contamination of the lens or lens cover of the plurality of vision sensors respectively,
when detecting a visual sensor having a degree of contamination of the lens or the lens cover exceeding a predetermined threshold value, the information output unit outputs information for continuing the photographing using another visual sensor having a degree of contamination of the lens or the lens cover being equal to or less than the predetermined threshold value instead of the visual sensor and continuing the operation of the industrial machine.
12. A computer-readable medium recording a program for detecting abnormality of a lens or a lens cover of a vision sensor for causing a computer of an information processing device in an abnormality detection system of a lens or a lens cover constituting the vision sensor to realize a calculation function and a prediction function, wherein the abnormality detection system of a lens or a lens cover of a vision sensor includes a vision sensor provided in an industrial machine or a peripheral area thereof for acquiring a plurality of image data,
the calculation function is configured to calculate a degree of contamination of a lens or a lens cover of the vision sensor based on the image data captured by the vision sensor,
the prediction function is configured to calculate information on a predicted cleaning timing to be implemented in the future of the lens or lens cover based on the degree of contamination of the lens or lens cover measured by the calculation function.
Technical Field
The present invention relates to an abnormality detection system for a lens or a lens cover of a vision sensor. More specifically, the present invention relates to an abnormality detection system for a lens or a lens cover of a vision sensor provided in a production system including an industrial machine, for monitoring a degree of contamination of the lens or the lens cover of the vision sensor.
Background
Various industrial machines such as robots or machine tools for carrying and processing an object, and inspection devices for determining the quality of an object are provided with a vision sensor for obtaining information on the vision of an object. For example, a transfer robot that transfers an object from a predetermined position to a next predetermined position grasps the position and posture of the object based on visual information obtained by a visual sensor, grips the object at an appropriate position, and transfers the object to the predetermined position. In such a production system including a vision sensor and an industrial machine, when dirt adheres to a lens of the vision sensor and a desired image cannot be obtained by the vision sensor, there is a possibility that a function of the industrial machine controlled by using the visual information obtained by the vision sensor cannot be appropriately exhibited.
For example,
In addition, for example, patent document 2 proposes the following technique: when a mark provided on a workpiece cannot be detected in a production system, a warning lamp is turned on to detect whether or not a lamp is replaced, a maintenance timing such as cleaning of a camera, and the like, in consideration of deterioration of the lamp, contamination of a lens of the camera, and the like.
Patent document 1: japanese laid-open patent publication No. 6-148083
Patent document 2: japanese laid-open patent publication No. 5-346307
Disclosure of Invention
Problems to be solved by the invention
According to the technique disclosed in
Further, according to the technique disclosed in patent document 2, the warning lamp is turned on even when the marker provided on the workpiece cannot be detected, and therefore, it is possible to grasp that the timing at which the warning lamp is turned on is the timing at which maintenance such as replacement of the lamp and cleaning of the lens is required.
In addition, in the production system, it is important to perform maintenance to avoid a decrease in the operating rate of the production line.
However, in the techniques disclosed in
The present invention has been made in view of the above problems, and an object of the present invention is to provide a system for detecting an abnormality of a lens or a lens cover of a vision sensor, which can predict a timing of cleaning the lens or the lens cover of the vision sensor to be performed in the future. This makes it possible to perform maintenance at an appropriate timing and prevent a reduction in the operating rate of the production line.
Means for solving the problems
(1) An abnormality detection system for a lens or a lens cover of a vision sensor (for example, a lens abnormality detection system 1) according to the present invention includes: a vision sensor (e.g., a camera 6) provided at an industrial machine (e.g., a robot 5) or its periphery for acquiring a plurality of images; a calculation section (for example, the
(2) The abnormality detection system for a lens or a lens cover according to (1) may further include: a determination unit (for example, a contamination degree determination unit 42) that determines whether or not the contamination degree of the lens or the lens cover is equal to or less than a predetermined threshold value; a notification unit (for example, a display device 23) that notifies information relating to the predicted cleaning timing; and a stop signal output unit (for example, the
(3) In the abnormality detection system for a lens or a lens cover according to (1) or (2), the calculation unit may calculate a degree of contamination of the lens or the lens cover based on a comparison between information based on the initial image and information based on the image after the operation.
(4) In the system for detecting an abnormality of a lens or a lens cover according to (3), the calculation unit may determine a dirty region in the image from a difference between a binarized image based on a pixel value of the initial image and a binarized image based on a pixel value of the post-operation image, and may calculate a degree of contamination of the lens or the lens cover based on a size of the dirty region in the image.
(5) The abnormality detection system for a lens or a lens cap according to any one of (1) to (4), wherein a standard imaging target portion that is a target to be imaged by the vision sensor when the degree of contamination of the lens or the lens cap is calculated, and the vision sensor and/or the standard imaging target portion are/is fixed to a movable portion (for example, a robot 5) that is capable of operating so that the standard imaging target portion enters an imaging range of the vision sensor, may be further provided.
(6) The abnormality detection system for a lens or a lens cover according to any one of (1) to (4), further comprising a standard photographic subject portion that is a subject to be photographed by the vision sensor when calculating a degree of contamination of the lens or the lens cover, the standard photographic subject portion being a lens cover (for example, a lens cover 12) that covers the lens or the lens cover of the vision sensor.
(7) In the abnormality detection system for a lens or lens cover according to any one of (1) to (6), the predicted cleaning timing of the lens or lens cover may be calculated based on a function derived based on the photographing timings of the plurality of images and the degrees of contamination of the plurality of images and an allowable limit threshold value of the degrees of contamination of the lens or lens cover.
(8) The abnormality detection system for a lens or lens cover according to any one of (1) to (7) may further include a restart process execution unit (e.g., restart process execution unit 44) that compares a first contamination level of the lens or lens cover in a first post-operation image with a second contamination level of the lens or lens cover in a second post-operation image captured at a timing subsequent to the first post-operation image, executes a restart process of the abnormality detection system for the lens or lens cover based on a result of the comparison, and executes the restart process when the second contamination level is lower than the first contamination level by a predetermined value or more.
(9) The abnormality detection system for a lens or a lens cover according to (1) may further include: a determination unit (for example, a contamination degree determination unit 42) that determines whether or not the contamination degree of the lens or the lens cover exceeds a predetermined threshold value; a usable area determining section (e.g., usable area determining section 45) that determines a usable area where contamination of the lens or lens cover is slight in an image captured by the vision sensor; and an information output unit (for example, an information processing device 20) that outputs information for controlling the operation of the industrial machine, wherein the usable area specifying unit specifies the usable area when the degree of contamination of the lens or the lens cover exceeds the threshold value as a result of the determination by the determination unit, the information output unit outputs information for continuing the operation of the industrial machine when the usable area specified by the usable area specifying unit is equal to or larger than a predetermined size, and the information output unit outputs information for stopping the operation of the industrial machine when the usable area is smaller than the predetermined size.
(10) In the system for detecting an abnormality in a lens or a lens cover according to (8), the visual sensor may include a movable portion for changing a photographing position, and when the usable area is equal to or larger than a predetermined size, the movable portion may be operated to change the photographing position of the visual sensor so that at least a part of the subject to be photographed can be photographed in the usable area.
(11) The system for detecting abnormality of a lens or a lens cover according to (1) may further include an information output unit (for example, the information processing device 20), an information output unit for outputting information for controlling the operation of the industrial machine and the vision sensor, wherein the vision sensor is provided in plurality, the calculation section calculates the degree of contamination of the lens or lens cover of a plurality of the vision sensors (e.g.,
(12) A computer-readable medium storing a program for detecting an abnormality of a lens or a lens cover of a vision sensor according to the present invention is a computer-readable medium storing a program for causing a computer of an information processing device (for example, an information processing device 20) constituting an abnormality detection system (for example, a lens abnormality detection system 1) of a lens or a lens cover of a vision sensor including a vision sensor (for example, a camera 6) provided in an industrial machine (for example, a robot 5) or a peripheral area thereof and configured to acquire a plurality of image data, to realize a calculation function (for example, a function of the
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, it is possible to provide an abnormality detection system for a lens or a lens cover of a vision sensor, which can predict the timing of cleaning the lens or the lens cover of the vision sensor to be performed in the future. This makes it possible to perform maintenance at an appropriate timing and prevent a reduction in the operating rate of the production line.
Drawings
Fig. 1 is a diagram showing an overall configuration of a production system incorporating a lens abnormality detection system of a camera according to a first embodiment of the present invention.
Fig. 2 is a functional block diagram showing a configuration of functional blocks of the arithmetic device of the lens abnormality detection system according to the above embodiment.
Fig. 3 is an enlarged view of the lens abnormality detection system according to the above embodiment, in which the camera is brought close to the cover member.
Fig. 4A is a diagram for explaining a process of calculating the degree of contamination of the lens of the camera in the lens abnormality detection system according to the above embodiment.
Fig. 4B is a diagram for explaining a process of calculating the degree of contamination of the lens of the camera in the lens abnormality detection system according to the above embodiment.
Fig. 4C is a diagram for explaining a process of calculating the degree of contamination of the lens of the camera in the lens abnormality detection system according to the above embodiment.
Fig. 5 is a graph for explaining a method of calculating the predicted cleaning timing when there is one image after the initial image in the lens abnormality detection system according to the above embodiment.
Fig. 6 is a graph for explaining a method of calculating the predicted cleaning timing in the case where there are a plurality of post-operation images in the lens abnormality detection system according to the above embodiment.
Fig. 7 is a graph for explaining processing in the case of restarting the lens abnormality detection system of the lens abnormality detection system according to the above embodiment.
Fig. 8 is a flowchart showing a process of calculating and notifying the predicted cleaning timing in the lens abnormality detection system according to the above embodiment.
Fig. 9 is a functional block diagram showing a configuration of functional blocks of an arithmetic device of a lens abnormality detection system according to a second embodiment of the present invention.
Fig. 10A is a diagram for explaining processing for shifting the shooting position in the lens abnormality detection system according to the above embodiment.
Fig. 10B is a diagram for explaining processing for shifting the shooting position in the lens abnormality detection system according to the above embodiment.
Fig. 10C is a diagram for explaining processing for shifting the shooting position in the lens abnormality detection system according to the above embodiment.
Fig. 11A is a schematic diagram showing a camera of a lens abnormality detection system according to a third embodiment of the present invention and a lens hood including a standard photographic subject portion.
Fig. 11B is a schematic diagram showing a camera of a lens abnormality detection system according to a third embodiment of the present invention and a lens hood including a standard photographic subject portion.
Fig. 12 is a diagram showing an image obtained when the camera is photographed with the lens cover attached to the camera in the lens abnormality detection system according to the above embodiment.
Fig. 13 is a diagram showing a control device and a camera of a lens abnormality detection system according to a fourth embodiment of the present invention.
Attached pictureDescription of the invention
1: a lens anomaly detection system; 5: robots (industrial machines); 6: a camera (vision sensor); 8: an illumination unit; 10: a base; 11: a cap-shaped member; 12: a lens cover lens; 20: an information processing device; 21: an image processing device; 22: an arithmetic device; 23: a display device; 30: a control device; 31: a robot control device; 32: a camera control device; 41: a contamination degree calculation unit; 42: a contamination degree determination unit; 43: a cleaning timing predicting unit; 44: a restart processing execution unit; 45: a region determination section may be used.
Detailed Description
< first embodiment >
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
Fig. 1 is a diagram showing an overall configuration of a production system S incorporating a lens abnormality detection system of a visual sensor according to the present embodiment.
The production system S is provided with: a
Here, in the present embodiment, the
The
The
The
The
The
The
The
The contamination
The contamination
On the other hand, when the contamination degree is equal to or less than the threshold value, information on the contamination degree is transmitted to the cleaning
The cleaning
The
The
Further, the following configuration may be adopted: the image signal transmitted from the
The
Further, the
Next, a process of calculating the degree of contamination of the lens of the
Fig. 3 is an enlarged view of the
The
Here, since the positional relationship between the reference position of the
The bottom 11a of the hood-shaped
A predetermined mark is drawn on the bottom 11a of the
In addition, it is desirable that the distance from the upper surface of the hood-
Here, the
Fig. 4 is a diagram for explaining the process of calculating the degree of contamination of the lens of the
First, the lens
Next, the same operation as the initial image capturing is executed automatically at an arbitrary timing determined in advance by the operator or at a timing based on the manual operation by the operator, and the image of the standard imaging target portion is acquired again. Then, the image is saved as a post-action image. Fig. 4A shows the initial image and the post-operation image captured in this manner.
As shown in fig. 4B, the
The contamination
Here, when the lens of the
The contamination
Note that the processing after the binarization processing described above may be executed by the
The method of determining the dirty region is not limited to the above-described binarization method, and various methods such as a method of obtaining a difference image by directly using the pixel values of the image may be employed.
In addition, the degree of contamination of the lens may be calculated without determining the contaminated area.
In other words, various methods of calculating the degree of contamination of the lens based on the comparison between the information based on the initial image and the information based on the post-operation image can be employed.
For example, it is considered that the information of the pixel value of the image shows the gradation of the stain. In this way, the pixel value of the initial image and the pixel value of the post-operation image are compared to obtain information indicating the degree of change in the shading of the contamination, and the degree of contamination of the lens may be determined based on the information.
As described above, since the contamination degree of the lens is calculated based on the image obtained by capturing the standard imaging target portion, the contamination degree of the lens can be accurately calculated.
Further, the degree of contamination of the lens is calculated based on the image when the standard imaging target portion is imaged under the predetermined illumination condition, so that the degree of contamination of the lens can be calculated more accurately.
Further, since the
Next, a process of calculating a cleaning timing of the lens of the
Fig. 5 shows a graph in which the horizontal axis represents time and the vertical axis represents a stain index.
As shown in the vertical axis of fig. 5, an allowable limit threshold to be referred to after calculating the predicted cleaning timing of the lens is set for the stain index. The allowable limit threshold is set in advance to a value that the
Fig. 5 shows a method of calculating the predicted cleaning timing when there is one image after the initial image.
In this case, the photographing timing t based on the initial image0A function is derived from the imaging timing t of the image after the operation and the stain index of the image after the operation. Then, the time until the stain index reaches the allowable limit threshold is calculated based on the function, and the imaging timing t of the initial image is calculated from the time0The time when the estimated time reaches the allowable limit threshold is derived as the cleaning timing T. The information on this time is information on the cleaning timing to be performed in the future, that is, information indicating the predicted cleaning timing. The information on the predicted cleaning timing for notifying the operator on the
Here, when deriving the function, the stain degree calculation unit calculates the stain index of the initial image to zero, and sends the stain index to the cleaning
In this way, the predicted cleaning timing of the lens can be calculated based on the imaging timings of the plurality of images including the initial image and the degrees of contamination of the plurality of images.
Generally, when the storage capacity is insufficient, it is difficult to store a plurality of images in advance. However, according to this configuration, even when the storage capacity is insufficient, the predicted cleaning timing T can be calculated using only the initial image and the post-operation image at the current time T.
Fig. 6 is a diagram showing a method of calculating the predicted cleaning timing T when there are a plurality of images after the initial image, that is, when there are a plurality of images after the operation.
In this case, the photographing timing t based on the initial image0The function is derived from the imaging timing of the plurality of images after the operation and the stain index of the plurality of images after the operation. For example, as shown in fig. 6, an approximate straight line is derived as a function using the least square method or the like. Thus, even when an abnormal value or the like is present in the stain index at the imaging timing in the middle, the predicted cleaning timing T can be calculated more accurately.
The function for calculating the predicted cleaning timing T is not limited to a linear function. For more accurate prediction, a function that traces a curve may also be derived based on past performance data.
In addition, the following method may be constructed: information on the timing of capturing a plurality of past images captured at a timing when cleaning is actually required and information on the timing of capturing a plurality of past images and the degree of soiling are acquired, and the information is used to perform machine learning, thereby calculating the predicted cleaning timing T.
In this way, the predicted cleaning timing of the lens can be calculated based on the imaging timings of the plurality of images and the degrees of contamination of the plurality of images.
Fig. 7 is a diagram for representing processing in the case of restarting the lens abnormality detection system.
When the lens of the
The restart process may be a process of setting the image immediately after the operation in which the stain index is significantly reduced as the initial image again. For example, the restart
Further, the following structure may be adopted: when the contamination index is significantly reduced, a confirmation screen for an operator to confirm whether or not cleaning has been performed is displayed. For example, the following structure may be adopted: when the stain index is reduced by a predetermined value or more, the
The following describes processing of a lens abnormality detection system that performs notification of predicted cleaning timing based on the degree of contamination of the lens of the
In step S11, the contamination
The contamination
On the other hand, when the contamination level exceeds the predetermined threshold (yes in step S12), a stop signal for stopping the operation of the industrial machine such as the
By this lens abnormality detection processing, the operator can grasp the timing of cleaning the lens of the
The stains in the present application include various stains such as cutting fluid, scale, dust, and paint discharged from an industrial machine that should not adhere to a lens of a camera.
Further, the object of detecting attachment of dirt is the lens or lens cover of the
In the present embodiment, the hood-shaped
In the present embodiment, the
The
In addition, the following structure may be adopted: a standard photographic subject portion that is movable is provided in the vicinity of the
Further, the following configuration may be adopted: both the
In the present embodiment, the image obtained by imaging the standard imaging target portion is used as the image for calculating the degree of contamination, but other images such as the image obtained by imaging the workpiece W may be used. In this case, although the detection sensitivity of the contamination degree is lowered, the contamination degree can be calculated without causing the
According to the lens abnormality detection system of the present embodiment, the following effects are exhibited.
(1) The lens
Thus, the lens abnormality detection system of the
(2) The lens
This enables more appropriate control according to the degree of contamination of the lens.
(3) The lens
This enables the degree of contamination of the lens to be appropriately calculated.
(4) The lens
Thus, the dirty region can be accurately and easily determined by performing the binarization process.
(5) The lens
Thus, the contamination degree can be calculated more accurately by using the standard imaging target portion.
(6) The lens
This enables accurate calculation of the predicted cleaning timing.
(7) The lens
This automatically performs the restart process, and therefore the restart process can be reliably performed.
< second embodiment >
Next, a lens abnormality detection system according to a second embodiment will be described with reference to fig. 9 to 10. In the following description, the same components as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
Fig. 9 is a functional block diagram showing the configuration of functional blocks of the
The
In the first embodiment, when the stain index of the lens of the
Fig. 10A is an image when a mark of a standard imaging target portion is captured. Stains exceeding a predetermined threshold value are attached to the image.
In the present embodiment, the usable
Then, if the usable area is equal to or larger than a predetermined size determined in advance even though the stain index of the lens of the
While the machining operation is continued, the operation of the
Further, when the
When the usable area is smaller than a predetermined size, a process for stopping the operation of the
As described above, the
With this configuration, the operating rate of the production line can be further improved.
The determination of whether or not the usable area is slightly contaminated in the lens is not dependent on the binarization method described above, and various methods such as a method of directly obtaining a difference image using the pixel values of the image may be employed.
According to the lens abnormality detection system of the present embodiment, the following effects are exhibited in addition to the effects (1) to (7) described above.
(8) In the present embodiment, when the usable area of the lens, which is slightly contaminated, is equal to or larger than a predetermined size, the operation of the industrial machine is continued.
This can further improve the operating rate of the production line.
(9) In the present embodiment, when the usable area of the lens, which is slightly contaminated, is equal to or larger than a predetermined size, the movable portion is operated to change the imaging position of the
This can further improve the operating rate of the production line.
< third embodiment >
Next, a lens abnormality detection system according to a third embodiment will be described with reference to fig. 11 to 12. In the following description, the same components as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
Fig. 11A is a schematic diagram showing the
In the present embodiment, the standard photographic subject portion is provided at the bottom portion on the inner surface side of the
In the case of this configuration, an image for calculating the degree of contamination can be acquired simply by manually covering the
Further, as shown in fig. 11B, a grid-like mark may be provided on the bottom portion of the inner surface side of the
Due to the grid-like marks, when control is performed to change the imaging position of the
According to the lens abnormality detection system of the present embodiment, the following effects are exhibited in addition to the effects (1) to (9) described above.
(10) In the present embodiment, the standard photographic subject portion is a
Thus, by manually covering the
< fourth embodiment >
Next, a lens abnormality detection system according to a fourth embodiment will be described with reference to fig. 13. In the following description, the same components as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
Fig. 13 is a diagram showing the
In the present embodiment, the
According to this configuration, when the contamination
As described above, the
The plurality of cameras may be provided in the
Further, according to this configuration, the operation rate can be increased by controlling to use another camera when a failure occurs in any one camera, not only when the contamination of the lens is serious.
With this configuration, the operating rate of the production line can be further improved.
According to the lens abnormality detection system of the present embodiment, the following effects are exhibited in addition to the effects (1) to (10) described above.
(11) In the present embodiment, the degree of contamination of the lenses of the plurality of cameras 6a to 6d is calculated, and when a camera having a degree of contamination of the lenses exceeding a predetermined threshold value is detected, the operation of the
This can further improve the operating rate of the production line.
In the embodiments, the lens is used as an object for detecting the adhesion of stains, but when the lens cover is disposed in front of the lens, the lens cover is used as an object for detecting the adhesion of stains. That is, the abnormality detection system of the present invention can be configured as an abnormality detection system of a lens or a lens cover of a vision sensor.
The present invention is not limited to the above-described embodiments, and modifications, improvements, and the like are included in the scope of the present invention within a range in which the object of the present invention can be achieved.
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