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1. 发明专利

JP2002109513A COATING DEFECT DETECTOR AND MASK IMAGE PREPARING METHOD 失效
公开(公告)号：JP2002109513A
公开(公告)日：2002-04-12
申请号：JP2000296064
申请日：2000-09-28
申请人： TOYOTA MOTOR CORP
发明人： YAMADA KIYOSHI , SAKAKIBARA MASATO
IPC分类号： B05C21/00 , G06T1/00 , G06T7/00
摘要： PROBLEM TO BE SOLVED: To automatically prepare a mask image capable of reliably masking a border line of a light-and-shade pattern, and to appropriately detect coating defect. SOLUTION: The concentration at predetermined points of the coating image which is illuminated and photographed by using the light-and-shade pattern is measured (S200), and the predetermined points are classified into white and black groups by using the average value (S202 and S204). The predetermined points arranged in the longitudinal or transverse direction are classified in groups in a range of a predetermined concentration by comparing the concentration with respect to one of the white and black groups for each column and each row (S206). The point number in grouping is divided by the minimum point number constituting the group for each column and each row to make the basic number of division, and the division pattern for dividing the coating image is selected with the minimum basic number of division for column and row as each number of division (S208 and S210). The center of gravity is calculated for each divided image to extract the intermediate concentration (S214-S218), which is defined as the mask image of the border of the light-and- shade pattern.

2. 发明专利

JPH11104533A COATING DEVICE 失效
公开(公告)号：JPH11104533A
公开(公告)日：1999-04-20
申请号：JP27088697
申请日：1997-10-03
申请人： TOYOTA MOTOR CORP
发明人： YAMADA KIYOSHI
IPC分类号： B05B1/14 , B05B3/02 , B05B12/00
摘要： PROBLEM TO BE SOLVED: To facilitate coating from a narrow width to a broad width without the useless consumption of a coating material by mounting plural coating guns lined up in a direction intersecting with the axial center of the front end shaft of a single coating robot at the front and shaft. SOLUTION: The coating robot 1 is provided with the front end shaft 10 rotatable around an axial center 11 and the plural coating guns 2 are mounted at the front end shaft 10. Namely, three units of the coating guns 2A, 2B, 2C are lined up in one row in the direction orthogonal with the axial center 11 of the front end shaft 10 of the coating robot 1. The axial centers 21a, 21b, 21c thereof are paralleled with each other. A coating angle which is a desired coating width is determined while changing the moving direction and arraying direction of the respective coating guns 2A to 2C. The coating robot 1 is taught in such a manner that coating may be executed while the coating angles of the respective coating guns 2A to 2C are held maintained.

3. 发明专利

JPH11325861A SURFACE DEFECT INSPECTION METHOD 失效
公开(公告)号：JPH11325861A
公开(公告)日：1999-11-26
申请号：JP13707698
申请日：1998-05-19
申请人： TOYOTA MOTOR CORP
发明人： SAKAKIBARA MASATO , YAMADA KIYOSHI , MURATE MASASHI
IPC分类号： G01B11/30 , G01N21/88
摘要： PROBLEM TO BE SOLVED: To provide a surface defect inspection method for not judging the one by the surface coarseness of a surface to be inspected as a defect. SOLUTION: This method is provided with an irradiation process for projecting the light source 3 of a bright and dark pattern provided with an isolated dark part on the surface to be inspected, an image fetch process for fetching the image of the surface to be inspected where the bright and dark pattern is projected to an image processor 2, a binarization process for turning the images fetched in the image fetch process to the images binarized into bright and dark, an area/centroid extraction process for respectively extracting the area and centroid of the respective dark areas of the binarized images, and a judgement process for judging the dark area present at a position separated for more than a prescribed distance from the respective dark areas provided with the area more than a prescribed area among the areas extracted by the area/centroid extraction process as the defect.

4. 发明专利

JP2002022665A METHOD AND APPARATUS FOR INSPECTION OF SURFACE DEFECT 失效
公开(公告)号：JP2002022665A
公开(公告)日：2002-01-23
申请号：JP2000211310
申请日：2000-07-12
申请人： NIPPON KOKAN KK , TOYOTA MOTOR CORP
发明人： UESUGI MITSUAKI , KAWAMURA TSUTOMU , NATSUME AKIRA , MIYAMOTO YASUSHI , SAKAKIBARA MASATO , YAMADA KIYOSHI
IPC分类号： G01N21/88 , G06T1/00 , G06T3/00 , H04N1/40
摘要： PROBLEM TO BE SOLVED: To provide a method and an apparatus, for the inspection of a surface defect, wherein a robust inspection can be performed even with reference to the influence of the strain of slit light due to the reflectance or the 3-D irregular shape of a face to be inspected. SOLUTION: The semispecular face 2, to be inspected, having an irregular defect 1 is irradiated with slitlike diffusion illumination light by using an illuminator 3, and its illumination mirror image 4 is photographed by an imaging device 5. The illuminator 3 can be scanned by a scanning mechanism 6. When it is scanned, the illumination mirror image 4 is moved on the face 2 to be inspected. The position of the illuminator 3 is output as a scanning position signal by the scanning mechanism 6. An image compositing device 7 processes the momentary image of the face to be inspected. The value of the scanning position signal at a timing at which every pixel corresponding to every point on the face 2 to be inspected is regarded as the value of the pixel, and an image having the value of the pixel is composited. A defect judgment device 8 processes the composited image so as to extract a defect part on the face to be inspected. Thereby, its size or its degree is discriminated.

5. 发明专利

JPH07222945A WASHING METHOD FOR COATING ROBOT 失效
公开(公告)号：JPH07222945A
公开(公告)日：1995-08-22
申请号：JP1830594
申请日：1994-02-15
申请人： TOYOTA MOTOR CORP
发明人： MATSUDA MASATO , SAKAKIBARA MASATO , YAMADA KIYOSHI
IPC分类号： B05B15/02 , B05B12/00 , B05D1/02
摘要： PURPOSE:To automatically and surely wash the whole body of a coating robot without enlarging the size of the coating booth to place the coating robot in. CONSTITUTION:A washing means 60 to jet out a cleaning liquid and compressed air is installed in respective arms 32, 42 of both coating robots 30, 40 set adjacently to each other, the respective coating robots 30, 40 are previously taught about positions to be washed by the adjacent coating robots 30, 40 with each other, one coating robot 40 is washed by the washing means 60 of the other coating robot 30, and the other coating robot 30 is washed by the washing means 60 of the coating robot 40.

6. 发明专利

JP2002086049A SYSTEM FOR TREATING COATING DEFECT 失效
公开(公告)号：JP2002086049A
公开(公告)日：2002-03-26
申请号：JP2000282878
申请日：2000-09-19
申请人： TOYOTA MOTOR CORP
发明人： SAKAKIBARA MASATO , YAMADA KIYOSHI
IPC分类号： G01N21/88 , B05C21/00 , B05D3/00 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To quickly analyze coating defects found by customers or the like and quickly feed back the analyzed result on a coating process, an inspection process, a transport process and the like. SOLUTION: In distributors A, B, coating image processing terminals 30a, 30b are provided and are connected to a coating image analyzer 40 through Internet 38 and LAN 36. In a coating division, an inspection division and a transport division of a manufacturing factory, coating image processing terminals 30c-30e are provided and are connected to the coating image analyzer 40 though LAN 36. When coating defects are indicated by customers in the distributors A, B, coating image data are produced by using coating image producing devices 32a, 32b and transmitted to the coating image analyzer 40. In the coating image analyzer 40, the coating defects are analyzed according to the coating image data, and the analyzed results are transmitted to the coating division, the inspection division and the transport division of the manufacturing factory and are reflected on respective processes.

7. 发明专利

JP2002039949A METHOD FOR REGULATING THRESHOLD USED IN COAT DEFECT INSPECTING STEP 失效
公开(公告)号：JP2002039949A
公开(公告)日：2002-02-06
申请号：JP2000218558
申请日：2000-07-19
申请人： TOYOTA MOTOR CORP
发明人： YAMADA KIYOSHI , SAKAKIBARA MASATO
IPC分类号： G01N21/88 , B05C11/00 , B05D3/00 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To realize a method for automatically obtaining a suitable value of a threshold though a threshold used for inspecting a coat defect is regulated by repeating a trial and an error at the present. SOLUTION: A method for regulating the threshold, used in a coat defect inspecting step, comprises a step S1 of photographing a coating surface 2 which does not have a defect to obtain a lightness of each pixel, a step S2 of space differentiating light information of the obtained each pixel to obtain a differential value 6 of each pixel, a step S3 of setting an initial threshold as the threshold, a step S4 of comparing the differential value of each pixel with the threshold, a step S5 of extracting a profile independent in a visual field of a profile of a pixel group in which the differential value is the threshold or larger, a step S6 of subtracting a first prescribed value from the threshold, a step S7 of repeating a cycle until an independent profile is extracted in the step S5 with the 'step S4, the step S5 and the step S6' as unit cycles, and a step S8 of adding a second prescribed value to the threshold, when the independent profile is extracted in the extracting step to decide the threshold.

8. 发明专利

JP2000193603A ADJUSTING METHOD FOR PHOTOGRAPHING TIMING IN SURFACE DEFECT INSPECTION 失效
公开(公告)号：JP2000193603A
公开(公告)日：2000-07-14
申请号：JP36940998
申请日：1998-12-25
申请人： TOYOTA MOTOR CORP
发明人： YAMADA KIYOSHI , SAKAKIBARA MASATO
IPC分类号： G01N21/892 , B60S5/00 , G01B11/30 , G01N21/89
摘要： PROBLEM TO BE SOLVED: To adjust the photographing timing in a short time by storing all images photographed each time an inspection body is conveyed, calculating the overlapped quantities of adjacent images in the conveying direction for all images, and correcting the photographing timing to set the overlapped quantities to a prescribed quantity. SOLUTION: A camera used for a surface defect inspection is fixed at a position which is apart from an automobile body, and temporary photographing timing is set. A surface defect inspecting device is driven, and actual adjustment automobile bodies are continuously conveyed on a conveyor. The coated faces of the conveyed adjustment automobile bodies are photographed sequentially in the conveying direction according to the temporary photographing timing. The adjustment automobile bodies are conveyed continuously without being stopped during photographing, and photographed images are stored sequentially in a computer, for example. Overlapped quantities of all adjacent images of the stored images are calculated. Photographing counts are automatically adjusted so that the calculated overlapped quantities become the prescribed quantity.

9. 发明专利

JP2002022668A METHOD FOR EXTRACTING RANGE PROCESSED IN PROCESS FOR INSPECTING FLAW OF COATING SURFACE 失效
公开(公告)号：JP2002022668A
公开(公告)日：2002-01-23
申请号：JP2000207741
申请日：2000-07-10
申请人： TOYOTA MOTOR CORP
发明人： YAMADA KIYOSHI , SAKAKIBARA MASATO
IPC分类号： G01N21/892 , G06T1/00 , G06T7/00 , G06T7/60
摘要： PROBLEM TO BE SOLVED: To realize a technique for automatically discriminating a visual field wherein processing for inspecting the flaw of a coating surface must be performed or a visual field wherein the processing for inspecting the flaw of the coating surface is not required or must not be performed. SOLUTION: The method for extracting a range processed in a process for inspecting the flaw of the coating surface has a process for picking up the image of the whole of an object to be inspected, a process for subjecting image to differential processing data by visual field which is obtained by the operation of each camera at every time, a process for comparing the differentially processed differential value of a pixel unit with a threshold value, a process for counting the number of pixels in the visual field more than the threshold value, a process for comparing the count number with a reference value, and a process for storing a visual field wherein the count number is not less than the reference value as an inspection range. A visual field cleanly reflecting illumination light is automatically discriminated and a visual requiring inspection is extracted.

10. 发明专利

JP2001351108A METHOD FOR DETECTING COAT DEFECT 失效
公开(公告)号：JP2001351108A
公开(公告)日：2001-12-21
申请号：JP2000172275
申请日：2000-06-08
申请人： TOYOTA MOTOR CORP
发明人： YAMADA KIYOSHI , SAKAKIBARA MASATO
IPC分类号： G01N21/88 , G06T1/00 , G06T7/00 , G06T7/60
摘要： PROBLEM TO BE SOLVED: To provide a method for detecting a coat defect capable of detecting a defect precisely by suppressing the disturbance occurrence of the image of the boundary part of a light/dark pattern in mask creation. SOLUTION: The method for detecting the coat defect has an image fetching process 101 for fetching a light/dark pattern projected on a coat surface to a computer via a camera as an image, a detecting process 102 for detecting a defective part and a pattern boundary part, a mask creation process 103 for creating a mask consisting of the pattern boundary part, a synthesis process 104 for superposing a detected image and a mask image, a labeling 105 for extracting only the defective part by labeling and removing a mask part from the detected image. The process 103 has an image reducing process 1031 for temporarily reducing the picked up image, a mask preparing process 1032 for preparing the mask next and an image magnifying process 1033 for magnifying the mask image to an original size after then.

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