JP7310554B2 - PARTS INSPECTION SUPPORT DEVICE, PARTS INSPECTION SUPPORT METHOD AND PROGRAM - Google Patents

Description

The present invention relates to a component inspection support device, a component inspection support method, and a program.

In recent years, collaborative robots that can work safely with humans have been developed as businesses for industrial applications such as factories. For example, in the inspection market in the collaborative robot business, parts appearance inspection is being developed.

Conventionally, it is difficult for simple systems such as cameras to detect abnormalities in transparent objects (such as lenses) and specular objects (such as molds), so visual appearance inspections are generally performed. On the other hand, transparent bodies and mirror-finished bodies often require a high degree of precision for their parts, and therefore, 100% inspection is often performed. Therefore, an observer (examiner) needs to be able to perform the above inspection accurately in a short time.

Therefore, as a configuration for supporting component inspection, a configuration has been disclosed in which a robot is used to move an object to be inspected so that reflected light from the surface of the object to be inspected is incident on the eye point of the observer (for example, See Patent Document 1).
In addition, a configuration is disclosed in which a robot is used to perform inspections according to the frequency of occurrence of scratches, thereby optimizing the number of images to be captured and the locations of images to be captured, thereby shortening the inspection cycle time (see, for example, Patent Document 2). ).

JP-A-2001-237306 JP 2019-7891 A

However, in the configuration described in Patent Document 1, the eye point of the observer is uniquely determined, so that appropriate macro observation can be performed when the observer changes or the observation point changes. Gone. Therefore, an observer with a high degree of proficiency may be able to detect anomalies, but when the sitting height of the observer is simply different, when an observer with a low degree of proficiency observes, or when an observer observes from an inappropriate position. , there is a high probability of missing anomalies. As a result, variations in inspection results occur, and the possibility of outflow of defective products increases.
In addition, in the configuration described in Patent Document 2, the inspection itself is also performed by the system, and the configuration is such that the light to be shown to the camera is uniquely determined. Appropriate images may not be obtained. Therefore, when the inspection is performed visually by a person, the observer himself/herself can change to another person, the line of sight can be changed according to the positional relationship with the lighting, or the focus can be changed while moving the object to be inspected (moving the face closer or farther away). Therefore, it is necessary for the observer to change the viewpoint depending on the features that the observer sees. However, since the configuration described in Patent Document 2 does not have a structure for changing the viewpoint, it was not possible to perform appropriate visual observation.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a component inspection support device, a component inspection support method, and a program that enable appropriate observation of an object to be inspected, regardless of the observer, with a fixed appearance.

The invention according to claim 1 was made to achieve the above object,
In the parts inspection support device,
a moving unit that moves the object to be inspected;
a detection unit that detects an observer's eyepoint;
a storage unit that stores a sample consisting of position conditions and visual inspection actions of the object to be inspected;
a control unit that controls movement of the inspection object by the moving unit;
with
The control unit controls at least the object to be inspected according to the eye point detected by the detection unit so that the light incident on the observer's eyes is the same as the sample stored in the storage unit. It is characterized by controlling movement.

The invention according to claim 2 is the component inspection support device according to claim 1,
The detection unit detects the eye point based on the eye position and line-of-sight direction of the observer.

The invention according to claim 3 is the component inspection support device according to claim 1 or 2,
The object to be inspected is characterized by being a transparent body or a specular body.

The invention according to claim 4 is the component inspection support device according to any one of claims 1 to 3,
It is characterized by comprising an operating section that allows the observer to operate the moving section.

The invention according to claim 5 is the component inspection support device according to claim 4,
The control unit updates the sample of the operation mode based on the operation of the moving unit by the operation unit.

The invention according to claim 6 is the component inspection support device according to any one of claims 1 to 5,
The control unit is characterized in that, when the eyepoint detected by the detection unit deviates from a predetermined position/angle, the movement of the inspection object by the moving unit is stopped.

The invention according to claim 7 is the component inspection support device according to any one of claims 1 to 6,
The control unit controls the movement of the inspection object by the moving unit according to the amount of change per unit time of the eyepoint detected by the detection unit.

The invention according to claim 8 is the component inspection support device according to any one of claims 1 to 7,
It is characterized by comprising an instruction unit for instructing the observer to observe an observation point of the object to be inspected.

The invention according to claim 9 is the component inspection support device according to claim 8,
The control unit switches the instruction by the instruction unit depending on whether the observer's eye point is within a predetermined distance from the sample stored in the storage unit or when it is outside the predetermined distance. .

The invention according to claim 10 is the component inspection support device according to any one of claims 1 to 9,
a polarizing filter that polarizes light incident on the eye of the observer;
The control unit has a mode of positioning the polarizing filter between the inspected object and the observer.

The invention according to claim 11 is the component inspection support device according to any one of claims 1 to 10,
The control unit selects the sample to be used based on the proficiency level input by the observer.

The invention according to claim 12 is the component inspection support device according to any one of claims 1 to 11,
It is characterized by comprising an illumination unit for illuminating the inspection object.

The invention according to claim 13 is the component inspection support device according to claim 12,
The control unit has a sample storage mode for storing the sample including illumination conditions by the illumination unit, position conditions of the object to be inspected, and visual inspection actions in the storage unit.

The invention according to claim 14 is the component inspection support device according to claim 13,
In the sample storage mode, the control unit changes at least one of light intensity and wavelength of light emitted from the illumination unit and stores the change in the storage unit.

The invention according to claim 15 is the component inspection support device according to any one of claims 12 to 14,
The detection unit detects the focus of the observer,
The control unit is characterized by controlling movement of at least one of the object to be inspected and the illumination unit according to the focus detected by the detection unit.

The invention according to claim 16 is the component inspection support device according to any one of claims 1 to 15,
The control unit is characterized by having a depth inspection mode in which the inspection object is not moved in the line-of-sight direction of the observer when the inspection object is a transparent body.

The invention according to claim 17,
Parts inspection support comprising: a moving unit for moving an object to be inspected; a detection unit for detecting an observer's eyepoint; A component inspection support method for an apparatus,
Control for controlling at least the movement of the object to be inspected according to the eye point detected by the detection unit so that the light incident on the observer's eyes is the same as the sample stored in the storage unit. Including process.

The invention according to claim 18,
Parts inspection support comprising: a moving unit for moving an object to be inspected; a detection unit for detecting an observer's eyepoint; device computer,
Control for controlling at least the movement of the object to be inspected according to the eye point detected by the detection unit so that the light incident on the observer's eyes is the same as the sample stored in the storage unit. part,
It is a program for functioning as

ADVANTAGE OF THE INVENTION According to this invention, the appearance of an object to be inspected can be fixed, and appropriate observation can be performed regardless of the observer.

It is a figure which shows schematic structure of the components inspection assistance apparatus which concerns on this embodiment. It is a functional block diagram showing the control structure of the parts inspection support device according to the present embodiment. It is a flow chart which shows an example of operation of a parts inspection support device concerning this embodiment. It is a flow chart which shows an example of operation of a parts inspection support device concerning this embodiment. It is a figure which shows an example of a mode that the reflected light of a lens injects into an observer. It is a figure which shows an example of a mode that the transmitted light of a lens injects into an observer. 4 is a flow chart showing an example of a sample storage mode; 4 is a flow chart showing an example of an inspection mode; It is a flowchart which shows an example of the operation|movement result of an observer's interrupt processing manually. It is a flowchart which shows an example of the test|inspection mode updated by learning the interrupt operation result. It is a figure which shows an example of the test|inspection method of a camera-lens unit.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[1. Description of configuration]
A component inspection support device 100 according to this embodiment is installed on a workbench 101, as shown in FIGS. The parts inspection support apparatus 100 includes a 6-axis robot 1, a hand 2 provided at the tip of the 6-axis robot 1, a movable illumination 3, and a projector (instruction unit) for instructing an observer OB an observation point of an object to be inspected. ) 4, a camera (detection unit) 5 for detecting the eye point of the observer OB, a movable polarizing filter 6, a joystick 7 for operating the 6-axis robot 1, a control unit 10 (see FIG. 2), is configured with

In this embodiment, the hand 2 holds a plastic lens L, which is an object to be inspected. The hand 2 functions as a moving part of the present invention that moves the lens L. As shown in FIG. The control unit 10 controls movement of the lens L by the hand 2 . Here, the movement of the lens L by the hand 2 indicates the general movement of the lens L by the hand 2. For example, movement of the lens L in various directions (for example, horizontal direction), This includes rotation in a fixed state.
An observer OB observes the lens L through the polarizing filter 6 and inspects for flaws, foreign matter, molding defects, and the like.

As shown in FIG. 1, the component inspection support device 100 stores the positional conditions of the object to be inspected (positional information of the hand 2), the illumination conditions, and the observation points of the observer OB (visual inspection actions) in chronological order. A controller (storage unit) 8 for storing samples is connected. Here, the visual inspection behavior indicates where the eyes are and in which direction the line of sight is directed with respect to time. The control unit 10 controls the eyepoint detected by the camera 5 (detected from the viewpoint and line of sight G of the observer OB) so that the sample and the light incident on the eyes of the observer OB are the same. At least the movement of the lens L is controlled. Here, the camera 5 detects the eye point based on the eye position and line-of-sight direction of the observer OB. In this embodiment, the eye point is the point at which the observer OB is observing (that is, where the observer OB is looking at (the object to be inspected)), and is specified based on the eye position and line-of-sight direction. be done. Further, controlling the movement of the lens L means controlling to move the lens L in various directions, or to rotate the lens L while the position of the lens L is substantially fixed.
In this embodiment, the camera 5 is exemplified as a device for detecting the line of sight of the observer OB, but the present invention is not limited to this. You may make it use the device which detects operation|movement of.

The movable illumination 3 functions as an illumination unit of the present invention for illuminating the lens L. The movable illumination 3 is configured to be able to adjust the amount of light incident on the eyes of the observer OB and the optical axis. In addition, the movable illumination 3 has a wavelength that can be changed in order to make it easier to see the flaws on the object to be inspected. In order to change the light intensity and wavelength of the movable illumination 3, a plurality of different light sources may be prepared, or the wavelength may be changed by changing a filter or the like.

In this embodiment, the lens L, which is the object to be inspected, is a transparent body such as an aspherical lens/fθ lens. Generally, in visual inspection of a transparent body such as a lens L, observation is performed with reflected light when viewing the surface of the lens L, and with transmitted light when viewing foreign matter inside the lens L. In such a case, it is necessary to observe while changing the way of eye contact such as the focus point, which increases the difficulty of inspection. Not only transparent objects but also specular objects with a large amount of reflection can be inspected with a high degree of difficulty. The present invention is more effective in such highly difficult inspections. That is, the inspected object of the present invention is, for example, a transparent object or a specular object.

During inspection, the observer OB can operate the joystick 7 to operate the 6-axis robot 1 (hand 2) to change the attitude (for example, the angle and orientation of the lens L) and position of the lens L. . For example, when the observer OB wants to observe the same spot repeatedly, such as when he/she cannot clearly determine whether or not the flaw he/she finds is a flaw, the observer OB operates the joystick 7 to freely change the posture and position of the lens L. That is, the joystick 7 functions as an operating section of the present invention that allows the observer OB to operate the hand 2 .

When the eye point of the observer OB detected by the camera 5 deviates from a predetermined position/angle, the control unit 10 stops the operation of the 6-axis robot 1 (hand 2) (movement of the lens L by the hand 2). . This makes it possible to prevent oversights in inspection.

Also, when the line-of-sight direction and the eye position of the observer OB detected by the camera 5 suddenly change, if the highly sensitive 6-axis robot 1 (hand 2) follows them, it may rather be difficult to observe. . Therefore, the control unit 10 controls (changes) the movement of the lens L by the hand 2 according to the amount of change per unit time of the eye point detected by the camera 5 . As a result, even if the line of sight of the observer OB changes abruptly, the 6-axis robot 1 (hand 2) performs a slow-response operation, so that it is possible to observe the moving object while firmly following it.

The projector 4 projects light onto the lens L and indicates an observation point (observation point) to be viewed by the observer OB. The control unit 10 controls whether the head position (eyepoint) of the observer OB is within a predetermined distance from the sample stored in the controller 8 or when it is outside the predetermined distance. to switch. Here, the predetermined distance is determined appropriately for each sample. That is, when the observer OB moves the eyepoint to a more correct position (a position within a predetermined distance from the sample), the color displayed by the projector 4 changes. This makes it possible to observe the component from the correct position.

A polarizing filter 6 is arranged between the lens L and the observer OB to polarize the light incident on the eyes of the observer OB. The polarizing filter 6 is movable, and the control unit 10 can detect the above position (lens L and and the observer OB).

The control unit 10 selects a sample to be used based on the own proficiency level input by the observer OB. For example, if an observer OB with a high degree of skill who can perform an examination quickly and accurately performs an examination in a slow sequence, not only will the efficiency of the examination decrease, but he will also feel mental stress. In such a case, it is possible to select an appropriate inspection sequence according to the proficiency level.

[2. Description of operation]
Next, the operation of the component inspection support device 100 according to this embodiment will be described with reference to the flow charts of FIGS. 3 and 4. FIG.

First, the control unit 10 determines whether or not there is an inspection object (lens L) (step S101).
When the control unit 10 determines that there is an object to be inspected (step S101: YES), the process proceeds to the next step S102.
On the other hand, when the control unit 10 determines that there is no inspected object (step S101: NO), the process ends.

Next, the control unit 10 controls the 6-axis robot 1 to grip the lens L, which is the object to be inspected, with the hand 2 (step S102).

Next, the control unit 10 moves the lens L and the movable illumination 3 to make appropriate light incident on the observer OB (step S103). Specifically, the control unit 10 causes the reflected light RF of the lens L to enter (the eye point of) the observer OB so that the observer OB can observe the surface of the lens L (see FIG. 5A).
Next, the controller 10 causes the observer OB to observe the surface of the lens L (step S104).

Next, the control unit 10 determines whether or not all observation points on the surface of the lens L have been observed (step S105).
When determining that all observation points on the surface of the lens L have been observed (step S105: YES), the control unit 10 proceeds to the next step S106.
On the other hand, when the control unit 10 determines that all the observation points on the surface of the lens L have not been observed (step S105: NO), the process proceeds to step S103 to move the lens L and the movable illumination 3 again. process.

Next, the control unit 10 determines whether or not there is an abnormality on the surface of the lens L (step S106). For example, the control unit 10 determines that the surface of the lens L has an abnormality when an input operation indicating that the lens L has an abnormality is received from the observer OB.
When the control unit 10 determines that the surface of the lens L has an abnormality (step S106: YES), the lens L that has been determined to have an abnormality on the surface of the lens L is stored in the defective product storage case (step S107). ), the process proceeds to step S101, and the process of determining whether or not there is an object to be inspected is performed again.
On the other hand, when the control unit 10 determines that there is no abnormality on the surface of the lens L (step S106: NO), the process proceeds to step S108.

Next, the control unit 10 moves the lens L and the movable illumination 3 so that appropriate light is incident on the observer (step S108). Specifically, the control unit 10 causes the reflected light of the lens L to enter the observer OB so that the observer OB can observe the rear surface of the lens L. FIG.
Next, the controller 10 causes the observer OB to observe the rear surface of the lens L (step S109).

Next, the control unit 10 determines whether or not all observation points on the back surface of the lens L have been observed (step S110).
When the control unit 10 determines that all observation points on the back surface of the lens L have been observed (step S110: YES), the process proceeds to the next step S111.
On the other hand, when the control unit 10 determines that all the observation points on the back surface of the lens L have not been observed (step S110: NO), the process proceeds to step S108 to move the lens L and the movable illumination 3 again. process.

Next, the control unit 10 determines whether or not there is an abnormality on the rear surface of the lens L (step S111). For example, the control unit 10 determines that the rear surface of the lens L has an abnormality when an input operation indicating that the lens L has an abnormality is received from the observer OB.
If the control unit 10 determines that the rear surface of the lens L has an abnormality (step S111: YES), the lens L that has been determined to have an abnormality on the rear surface of the lens L is accommodated in the defective product storage case (step S107). ), the process proceeds to step S101, and the process of determining whether or not there is an object to be inspected is performed again.
On the other hand, when the control unit 10 determines that there is no abnormality on the rear surface of the lens L (step S111: NO), the process proceeds to the next step S112.

Next, the control unit 10 moves the lens L and the movable illumination 3 to allow appropriate light to enter the observer (step S112). Specifically, the controller 10 causes the transmitted light TR of the lens L to enter (the eye point of) the observer OB so that the observer OB can observe the inside of the lens L (see FIG. 5B).
Next, the controller 10 causes the observer OB to observe the inside of the lens L (step S113).

Next, the control unit 10 determines whether or not all observation points inside the lens L have been observed (step S114).
When determining that all the observation points inside the lens L have been observed (step S114: YES), the control unit 10 proceeds to the next step S115.
On the other hand, when the control unit 10 determines that all the observation points inside the lens L have not been observed (step S114: NO), the process proceeds to step S112 to move the lens L and the movable illumination 3 again. process.

Next, the control unit 10 determines whether or not there is an abnormality inside the lens L (step S115). For example, the control unit 10 determines that there is an abnormality inside the lens L when an input operation indicating that the lens L has an abnormality is received from the observer OB.
When the controller 10 determines that there is an abnormality inside the lens L (step S115: YES), the lens L determined to have an abnormality inside the lens L is accommodated in the defective product storage case (step S107). ), the process proceeds to step S101, and the process of determining whether or not there is an object to be inspected is performed again.
On the other hand, when the control unit 10 determines that there is no abnormality inside the lens L (step S115: NO), the control unit 10 accommodates the lens L determined as having no abnormality inside the lens L into the non-defective storage case (step After S116), the process proceeds to step S101, and the process of determining whether or not there is an object to be inspected is performed again.

Next, the process of moving the lens L and the movable illumination 3 (see step S112 in FIG. 4) will be described with reference to flowcharts in FIGS. 6 to 9. FIG.

[Sample memory mode]
FIG. 6 shows an example of a sample storage mode for storing samples.
First, the control unit 10 acquires the eye point (eye position) of the observer OB detected by the camera 5 (step S201).

Next, the controller 10 moves the lens L to a predetermined position based on the operation of the joystick 7 by the observer OB (step S202).
Next, based on the operation of the joystick 7 by the observer OB, the control unit 10 rotates the lens L once in 3 seconds around the z-axis (light incident direction) (step S203).

As a result, the controller 8 stores the sample (the positional condition of the lens L and the visual inspection behavior).
As described above, the control unit 10 has a sample storage mode for storing a sample consisting of the positional conditions of the lens L and visual inspection actions in the controller 8 . In the sample storage mode, the control unit 10 may cause the controller 8 to store a sample to which the illumination conditions of the movable illumination 3 are added. Here, in the sample storage mode, the control unit 10 changes at least one of the light intensity and wavelength of the light emitted from the movable illumination 3 and causes the controller 8 to store the change.

[Inspection mode]
FIG. 7 shows an example of inspection modes created based on the sample.
First, the control unit 10 acquires the eye point (eye position) of the observer OB detected by the camera 5 (step S301).

Next, the control unit 10 compares the eyepoint acquired in step S301 with the sample eyepoint stored in the controller 8, and determines whether or not there is a difference (step S302).
If the controller 10 determines that there is a difference between the eyepoint acquired in step S301 and the sample eyepoint stored in the controller 8 (step S302: YES), the lens L position is corrected from the sample lens L position. Then, the position of the lens L is corrected according to the above difference (step S303).
On the other hand, when the controller 10 determines that there is no difference between the eyepoint acquired in step S301 and the sample eyepoint stored in the controller 8 (step S302: NO), the lens L position from the sample lens L position It is determined that there is no need to correct , and the process proceeds directly to step S304.

Next, the controller 10 moves the lens L to a predetermined position based on the sample stored in the controller 8 (step S304). If it is determined that there is a difference between the eyepoint acquired in step S301 and the sample eyepoint (step S302: YES), the lens L is moved to the corrected lens L position in step S303.
Next, the control unit 10 rotates the lens L around the z-axis once every three seconds (step S305).
As a result, the inspection of the lens L, which is the object to be inspected, is performed.

[Interrupt operation result]
FIG. 8 shows an example of an operation result of manual interrupt processing performed by the observer OB when the inspection is performed using the inspection mode described above.
First, the processing from step S401 to step S404 is the same as the processing from step S301 to step S304 in FIG. 7, so description thereof will be omitted.

Next, the control unit 10 rotates the lens L once around the z-axis (step S405).

Next, based on the operation of the joystick 7 by the observer OB, the control unit 10 rotates the lens L once around the z-axis in the direction opposite to step S405 (step S406).
Next, the controller 10 rotates the lens L once around the z-axis based on the operation of the joystick 7 by the observer OB (step S407).
That is, in the example shown in FIG. 8, after the inspection in the inspection mode (see steps S401 to S405), a manual interruption operation (rotation operation of the lens L: see steps S406 and S407) is added by the observer OB. ing.

[Inspection mode after update]
FIG. 9 shows an example of the inspection mode updated by learning the above interrupt operation result.
First, the processing from step S501 to step S504 is the same as the processing from step S301 to step S304 in FIG. 7, so description thereof will be omitted.

Next, the control unit 10 rotates the lens L around the z-axis once every 5 seconds (step S505). Instead of rotating the lens L around the z-axis once every 5 seconds, the lens L may be rotated twice around the z-axis.

As shown in FIG. 8, when the observer OB manually moves the lens L (see steps S406 and S407), the control conditions are updated when inspecting the next lens L (see FIG. 7). step S305→step S505 in FIG. 9). Here, the control conditions are the moving angles and moving speeds of the arm, the hand 2, and the movable lighting 3, and the like. For example, when the inspection sequence includes a rotation mode and a translation mode, and the observer OB manually changes the rotation mode (see steps S406 and S407), the original rotation operation (see FIG. 7 step 305) is too early (3 seconds) to be observed. Therefore, from the next time onwards, the sample is updated by, for example, changing the control to slow rotation (5 seconds) (see step S505 in FIG. 9). That is, the control unit 10 updates the mode sample (control condition) at the time of operation based on the operation of the 6-axis robot 1 (hand 2) with the joystick 7. FIG. As a result, even an inexperienced observer OB can observe slowly, so that an abnormality is not overlooked.

FIG. 10 shows an example of an inspection method for the camera lens unit CLU, which is an object to be inspected.
The camera 5 detects the focus F of the observer OB. The control unit 10 controls at least the object to be inspected (lens L in the camera lens unit CLU) and the movable illumination 3 according to the focus F (where the object to be inspected is hit) detected by the camera 5 . Controls a single movement (posture or position). Note that the focus F is estimated from the intersection of the left and right lines of sight G. FIG. This method has the effect of correcting individual differences in visual acuity. For example, if the observer OB is nearsighted, the distance between the observer OB and the camera lens unit CLU (lens L inside) should be made shorter than normal. , conduct inspections.

In the example shown in FIG. 10, the lens unit LU of the camera 5 in which a plurality of lenses L overlap is inspected. When it is necessary to inspect such an abnormality of each lens L as a unit (lens unit LU), the observer OB needs to inspect while changing the focus F (while changing the lens L of interest). In such a case, if the focus F is moved in such a way that it is not determined, the accuracy of the inspection will be hindered. In the example shown in FIG. 10, the object is rotated around the z-axis, and is not moved in the xyz-axis directions or rotated around the xy-axis. Such an operation makes it easier for the observer OB to adjust the focus F, so that variations in inspection are less likely to occur.
That is, when the object to be inspected is a transparent body (lens L or the like), the control unit 10 does not move the object to be inspected in the line-of-sight direction (z direction) of the observer OB (moves in other directions). / rotate) depth inspection mode.

[3. effect]
As described above, the component inspection support apparatus 100 according to the present embodiment includes a moving unit (hand 2) that moves the object to be inspected (lens L), and a detection unit (camera 5) that detects the eye point of the observer OB. ), a storage unit (controller 8) for storing a sample including position conditions and visual inspection actions of an object to be inspected, and a control unit 10 for controlling movement of the object to be inspected by a moving unit. Further, the control unit 10 moves at least the object to be inspected according to the eye point detected by the detection unit so that the light incident on the eyes of the observer OB becomes the same as the sample stored in the storage unit. to control.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, the orientation and position of the object to be inspected can be changed according to the eyepoint of the observer OB. As a result, illumination and scattered light from the surroundings are incident on the object to be inspected, which has been changed to an appropriate posture and position according to the eye position and line of sight of the observer OB, and the light is transmitted or reflected, Incident on the eyes of the observer OB. At this time, regardless of who the observer OB is, the object to be inspected is observed in the same manner as the sample.
That is, according to the component inspection support apparatus 100 according to the present embodiment, the attitude and position of the object to be inspected can be changed according to the eye point of the observer OB, so the observer OB may move more than necessary. Therefore, it is possible to make the appearance of the inspected object constant. Therefore, appropriate observation can be performed regardless of the observer OB.

Further, according to the parts inspection support device 100 according to the present embodiment, the detection unit detects the eye point based on the eye position and line-of-sight direction of the observer OB.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, it is possible to control the light incident on the observer OB with higher positional accuracy, so that more appropriate observation can be performed.

Further, according to the component inspection support device 100 according to the present embodiment, the inspected object is a transparent object or a specular object.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, even in a highly difficult inspection in which the proficiency level tends to vary, the appearance of the object to be inspected can be made uniform. appropriate observation can be made.

The component inspection support device 100 according to the present embodiment also includes an operation unit (joystick 7) that allows the observer OB to operate the moving unit.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, the observer OB can manually change the attitude and position of the object to be inspected. Observations can be made.

Further, according to the component inspection support apparatus 100 according to the present embodiment, the control unit 10 updates the mode sample at the time of operation based on the operation of the moving unit by the operation unit.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, manual operations by the observer OB can be learned, so that appropriate observation can be performed according to the degree of proficiency of the observer OB.

Further, according to the component inspection support apparatus 100 according to the present embodiment, when the eyepoint detected by the detection unit deviates from the predetermined position/angle, the control unit 10 causes the moving unit to move the object to be inspected. stop.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, it is possible to stop the movement of the object to be inspected when the observer OB performs an abnormal observation, thereby reducing the oversight of inspection. becomes possible, and more reliable observation can be performed.

Further, according to the component inspection support apparatus 100 according to the present embodiment, the control unit 10 causes the moving unit to move the object to be inspected according to the amount of change per unit time of the eyepoint detected by the detection unit. Control.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, it is possible to prevent the object to be inspected from suddenly moving in response to a sudden change in line of sight, so that it is particularly difficult to determine the observation point. Appropriate observation can be performed even in the case of the observer OB.

The component inspection support apparatus 100 according to the present embodiment also includes an instruction unit (projector 4) that instructs the observer OB about an observation point of the object to be inspected.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, the observer OB can intuitively grasp the points to be observed, so that the observation can be easily and reliably performed.

Further, according to the parts inspection support apparatus 100 according to the present embodiment, the control unit 10 can control whether the eye point of the observer OB is within a predetermined distance from the sample stored in the storage unit or when it is outside the predetermined distance. , the instruction by the instruction unit is switched.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, the object to be inspected can be observed from an appropriate position, neither too close nor too far, so that more appropriate observation can be performed.

The component inspection support device 100 according to this embodiment also includes a polarizing filter 6 that polarizes the light incident on the eyes of the observer OB. The control unit 10 also has a mode in which the polarizing filter 6 is positioned between the object to be inspected and the observer OB.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, even in a highly difficult inspection such as an inspection that cannot be seen with normal white light, the appearance of the object to be inspected can be easily changed. Since it can be made constant, appropriate observation can be performed regardless of the observer OB.

Further, according to the parts inspection support apparatus 100 according to the present embodiment, the control unit 10 selects a sample to be used based on the proficiency level input by the observer OB.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, even in a highly difficult inspection in which the proficiency level tends to vary, the appearance of the object to be inspected can be made uniform. appropriate observation can be made. In particular, since it is possible to make an observer OB with a high proficiency level perform observation without stress, it is possible to perform flexible observation according to the proficiency level of the observer OB.

The component inspection support device 100 according to this embodiment also includes an illumination unit (movable illumination 3) that illuminates the inspection object.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, the object to be inspected can be easily seen, so that more appropriate observation can be performed.

Further, according to the component inspection support apparatus 100 according to the present embodiment, the control unit 10 stores a sample including illumination conditions by the illumination unit, positional conditions of the object to be inspected, and visual inspection gestures in the storage unit. have.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, even in a highly difficult inspection in which the proficiency level tends to vary, the appearance of the object to be inspected can be made uniform. appropriate observation can be made. In addition, for example, it is possible to create "samples for the purpose of proficiency" for people with low proficiency, and "samples for use on the production line". time can be used effectively.

Further, according to the component inspection support device 100 according to the present embodiment, in the sample storage mode, the control unit 10 changes at least one of the light amount and the wavelength of the light emitted from the illumination unit and stores it in the storage unit. .
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, even in a highly difficult inspection in which the proficiency level tends to vary, the appearance of the object to be inspected can be made uniform. appropriate observation can be made. In addition, since the light incident on the observer OB can be more appropriately controlled, more appropriate observation can be performed.

Further, according to the parts inspection support apparatus 100 according to the present embodiment, the detection unit detects the focus of the observer OB, and the control unit 10 detects the focus of the object to be inspected and the focus detected by the detection unit. Control movement of at least one of the illuminators.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, even when the observer OB inspects by changing only the focus without changing the viewing angle, such as when a plurality of lenses L are combined, Since the appearance of the object to be inspected can be made uniform, appropriate observation can be performed regardless of the observer OB.

Further, according to the component inspection support apparatus 100 according to the present embodiment, the control unit 10 sets the depth inspection mode in which the inspection object is not moved in the line-of-sight direction of the observer OB when the inspection object is a transparent body. have.
Therefore, according to the component inspection support apparatus 100 according to the present embodiment, even when the observer OB inspects by changing only the focus without changing the viewing angle, such as when a plurality of lenses L are combined, Since the appearance of the object to be inspected can be made uniform, appropriate observation can be performed regardless of the observer OB.

As described above, the present invention has been specifically described based on the embodiments, but the present invention is not limited to the above embodiments, and can be modified without departing from the scope of the invention.

[4. Modification]
For example, in the above embodiment, the instruction (color of light) by the projector 4 is switched depending on whether the eye point of the observer OB is within a predetermined distance from the sample or when it is outside the predetermined distance. It is not limited to this. For example, instead of switching the color of the light, the light may be switched from a flashing state to a lit state.

In the above embodiment, when the eye point detected by the camera 5 deviates from the predetermined position/angle, the movement of the lens L by the 6-axis robot 1 (hand 2) is stopped. It is not limited. For example, instead of the eye point, the movement of the lens L may be stopped when at least one of the eye position and line-of-sight direction deviates from a predetermined position/angle.
Similarly, in the above embodiment, the movement of the lens L by the 6-axis robot 1 (hand 2) is controlled according to the amount of change per unit time of the eye point detected by the camera 5. is not limited to For example, instead of the eye point, the movement of the lens L may be controlled according to the amount of change per unit time of at least one of the eye position and line-of-sight direction.

Further, in the above embodiment, the controller 8 has a sample storage mode for storing samples, but the present invention is not limited to this. For example, by storing samples in the controller 8 in advance, it is possible to employ a configuration that does not have a sample storage mode.

In addition, the detailed configuration and detailed operation of each device that constitutes the component inspection support device can be changed as appropriate without departing from the gist of the present invention.

100 component inspection support device 1 6-axis robot 2 hand (moving unit)
3 Movable lighting (lighting part)
4 Projector (Instructor)
5 Camera (Detector)
6 polarizing filter 7 joystick (operation part)
8 Controller (storage unit)
10 control unit 101 workbench L lens (object to be inspected)
CLU Camera lens unit LU Lens unit OB Observer G Line of sight RF Reflected light TR Transmitted light F Focus

Claims (18)

a moving unit that moves the object to be inspected;
a detection unit that detects an observer's eyepoint;
a storage unit that stores a sample consisting of position conditions and visual inspection actions of the object to be inspected;
a control unit that controls movement of the inspection object by the moving unit;
with
The control unit controls at least the object to be inspected according to the eye point detected by the detection unit so that the light incident on the observer's eyes is the same as the sample stored in the storage unit. A component inspection support device characterized by controlling movement. 2. The component inspection support device according to claim 1, wherein the detection unit detects the eye point based on the eye position and line-of-sight direction of the observer. 3. The component inspection support device according to claim 1, wherein the object to be inspected is a transparent body or a specular body. 4. The component inspection support device according to claim 1, further comprising an operation unit that allows the observer to operate the moving unit. 5. The parts inspection support device according to claim 4, wherein the control unit updates the sample of the mode at the time of operation based on the operation of the moving unit by the operation unit. 6. The method according to any one of claims 1 to 5, wherein the control unit stops movement of the inspection object by the moving unit when the eye point detected by the detection unit deviates from a predetermined position/angle. The component inspection support device according to any one of the items. 7. The apparatus according to any one of claims 1 to 6, wherein the control unit controls the movement of the object to be inspected by the moving unit according to the amount of change per unit time of the eye point detected by the detection unit. The component inspection support device according to any one of the items. 8. The component inspection support device according to claim 1, further comprising an instruction unit for instructing the observer to observe an observation point of the object to be inspected. The control unit switches the instruction by the instruction unit depending on whether the observer's eye point is within a predetermined distance from the sample stored in the storage unit or when it is outside the predetermined distance. The component inspection support device according to claim 8. a polarizing filter that polarizes light incident on the eye of the observer;
The component inspection according to any one of claims 1 to 9, wherein the control unit has a mode for positioning the polarizing filter between the inspected object and the observer. support equipment. 11. The parts inspection support device according to claim 1, wherein the control unit selects the sample to be used based on the proficiency level input by the observer. 12. The component inspection support device according to claim 1, further comprising an illumination unit that illuminates the object to be inspected. The control unit has a sample storage mode for storing the sample including illumination conditions by the illumination unit, positional conditions of the object to be inspected, and visual inspection actions in the storage unit. Item 13. The component inspection support device according to Item 12. 14. The component inspection according to claim 13, wherein, in the sample storage mode, the control unit changes at least one of the light intensity and wavelength of the light emitted from the illumination unit and stores it in the storage unit. support equipment. The detection unit detects the focus of the observer,
15. The method according to any one of claims 12 to 14, wherein the control unit controls movement of at least one of the inspection object and the illumination unit according to the focus detected by the detection unit. A component inspection support device described. 1 to 5, wherein the control unit has a depth inspection mode in which the object to be inspected is not moved in the line-of-sight direction of the observer when the object to be inspected is a transparent body. 16. The component inspection support device according to any one of 15. Parts inspection support comprising: a moving unit for moving an object to be inspected; a detection unit for detecting an observer's eyepoint; A component inspection support method for an apparatus,
Control for controlling at least the movement of the object to be inspected according to the eye point detected by the detection unit so that the light incident on the observer's eyes is the same as the sample stored in the storage unit. A component inspection support method including processes. Parts inspection support comprising: a moving unit for moving an object to be inspected; a detection unit for detecting an observer's eyepoint; device computer,
Control for controlling at least the movement of the object to be inspected according to the eye point detected by the detection unit so that the light incident on the observer's eyes is the same as the sample stored in the storage unit. part,
A program to function as

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