JP7654733B2 - Inspection system and inspection method - Google Patents

Description

This disclosure relates to an inspection system and an inspection method.

Conventionally, surface inspection devices are known (see, for example, Patent Document 1).

The above-mentioned Patent Document 1 discloses a surface inspection device that inspects the painted surface of an object. In this surface inspection device, an image of the object is captured by a camera. Any scratches on the object are then detected from the captured image of the object. The position of the detected scratch on the object is then converted to a position on the graphic of the object displayed on a display device, and is then displayed on the display device.

JP 2008-046103 A

However, the surface inspection device described in Patent Document 1 above only displays the location of scratches on the object on a graphic representation of the object, which means that there is a problem in that the convenience for the user regarding the image of the object as a workpiece is insufficient.

This disclosure has been made to solve the above-mentioned problems, and aims to provide an inspection system and an inspection method that can improve user convenience regarding workpiece images.

An inspection system according to a first aspect of this disclosure comprises a robot, an inspection unit for inspecting a workpiece, and a processing unit that performs the following processes: acquiring an inspection image of the workpiece by having the robot move the inspection unit relative to the workpiece and inspecting the workpiece with the inspection unit; detecting defects in the workpiece in the acquired inspection image; displaying the positions of the detected defects in a three-dimensional image of the workpiece; and, when input is made for the displayed defect , performing processing related to the actual workpiece in relation to the input defect ; the processing unit displays an operation image corresponding to the defect, and, when the displayed operation image is operated, automatically moves the three-dimensional image of the workpiece so that the position of the defect corresponding to the operated operation image is easier to see, and performs processing related to the actual workpiece in relation to the defect corresponding to the operated operation image .

As described above, the inspection system according to the first aspect of this disclosure performs the process of displaying the position of the detected target on a three-dimensional image of the workpiece, and, when input is made for the displayed target, the process of performing processing on the actual workpiece in relation to the input target. This not only enables the user to confirm the position of the target on the workpiece using the three-dimensional image, but also allows the user to perform processing on the actual workpiece in relation to the input target by making input for the target. As a result, it is possible to improve the user's convenience regarding the workpiece image compared to the case where the position of the target is simply displayed on the workpiece image.

An inspection method according to a second aspect of this disclosure comprises: acquiring an inspection image of the work by using a robot to move an inspection unit relative to the work and inspecting the work with the inspection unit; detecting defects in the work in the acquired inspection image; displaying the positions of the detected defects in a three-dimensional image of the work; and, when input is made for the displayed defect , performing processing related to the actual work for the input defect , wherein performing processing related to the actual work when input is made for the displayed defect includes displaying an operation image corresponding to the defect, and, when the displayed operation image is operated, automatically moving the three-dimensional image of the work so that the position of the defect corresponding to the operated operation image becomes easier to see, and performing processing related to the actual work for the defect corresponding to the operated operation image .

In the inspection method according to the second aspect of this disclosure, as described above, the position of the detected target is displayed on a three-dimensional image of the workpiece, and when input is made for the displayed target, processing is performed on the actual workpiece for the input target. This allows the user not only to check the position of the target on the workpiece using the three-dimensional image, but also to perform processing on the actual workpiece for the input target by making input for the target. As a result, it is possible to provide an inspection method that can improve the user's convenience regarding the workpiece image, compared to a case where the position of the target is simply displayed on the workpiece image.

According to the present disclosure, as described above, it is possible to improve the user's convenience regarding work images.

FIG. 1 illustrates an inspection system according to one embodiment. FIG. 1 is a block diagram illustrating an inspection system according to one embodiment. 11 is a flowchart for explaining a control process of the inspection system according to an embodiment. FIG. 1 is a diagram for explaining inspection of a workpiece according to an embodiment. FIG. 1 is a diagram for explaining an inspection image according to an embodiment. FIG. 13 is a diagram for explaining display of inspection results according to an embodiment. 11A and 11B are diagrams for explaining a case where an operation image for operating a robot according to an embodiment is operated. 1A to 1C are diagrams for explaining how a target position is indicated on an actual workpiece by a robot according to an embodiment. 13A and 13B are diagrams for explaining a case where an operation image for displaying an inspection image is operated according to one embodiment. FIG. 13 is a diagram for explaining display of an inspection image according to an embodiment. FIG. 13 is a diagram for explaining an indication of whether or not a procedure has been completed according to one embodiment.

Below, an embodiment of this disclosure will be described with reference to the drawings.

(Inspection system configuration)
The overall configuration of an inspection system 100 according to one embodiment will be described with reference to FIGS.

As shown in FIG. 1, the inspection system 100 is an appearance inspection system that inspects the appearance of a workpiece 200. The workpiece 200 is, for example, a product or part related to an automobile, agricultural machinery, ceramics, or household electrical appliance. The workpiece 200 is not particularly limited.

The inspection system 100 includes a robot 10, an inspection unit 20, an instruction unit 30, a robot controller 40, an image processing device 50, and a result display device 60.

The robot 10 moves the inspection unit 20 relative to the workpiece 200. The robot 10 is a vertical multi-joint robot. The robot 10 includes a base unit 11 and an arm unit 12 connected to the base unit 11. The base unit 11 is fixed to an installation surface such as a floor, a wall, or a ceiling. The base unit 11 may be attached to a movable cart. The arm unit 12 has a plurality of joints. Each of the plurality of joints has a servo motor as a driving source. The tip of the arm unit 12 holds the inspection unit 20 and the instruction unit 30. The robot 10 moves the inspection unit 20 and the instruction unit 30 held at the tip of the arm unit 12 relative to the fixed workpiece 200 by driving the plurality of joints of the arm unit 12.

The inspection unit 20 is disposed on the robot 10 and inspects the workpiece 200. The inspection unit 20 is an imaging unit and images the workpiece 200. Specifically, the inspection unit 20 is a line-type camera that is moved along the surface of the workpiece 200 by the robot 10 to scan and image the surface of the workpiece 200.

The instruction unit 30 is disposed on the robot 10, and indicates to the workpiece 200 the position of the target 201 (described later) that is obtained by inspection. The instruction unit 30 is a laser irradiation unit, and irradiates a laser beam to indicate the position of the target 201 to the workpiece 200.

As shown in Figures 1 and 2, the robot controller 40 controls the operation of the robot 10. The robot controller 40 includes a processing unit 41 and a storage unit 42. The processing unit 41 includes a processor and performs various processes related to the operation of the robot 10. The storage unit 42 includes a non-volatile memory and stores various information such as programs for operating the robot 10.

The image processing device 50 performs image processing on the image captured by the inspection unit 20. The image processing device 50 also controls the timing of imaging by the inspection unit 20. The image processing device 50 includes a processing unit 51 and a storage unit 52. The processing unit 51 includes a processor, and performs various processes related to the image captured by the inspection unit 20 and the timing of imaging by the inspection unit 20. The storage unit 52 includes a non-volatile memory, and stores various information such as programs for performing image processing.

The result display device 60 displays the inspection results of the work 200. The result display device 60 includes a processing unit 61, a storage unit 62, a display unit 63, and an operation unit 64. The processing unit 61 includes a processor and performs various processes related to the display of the inspection results of the work 200. The storage unit 62 includes a non-volatile memory and stores various information such as a program for displaying the inspection results of the work 200 and a three-dimensional image of the work 200. The display unit 63 includes a monitor such as a liquid crystal monitor and displays a screen of the inspection results of the work 200. The operation unit 64 includes input devices such as a mouse and a keyboard and accepts input operations from the user. The display unit 63 and the operation unit 64 may be integrated. In other words, the display unit 63 and the operation unit 64 may be configured by an operation unit and display unit such as a touch panel.

(Control process of the inspection system)
The control process of the inspection system 100 will be described with reference to FIGS.

As shown in Figures 3 and 4, in step S1, the processing unit 41 of the robot controller 40 operates the robot 10 based on the movement path 13, and performs processing to inspect the workpiece 200 by the inspection unit 20. The movement path 13 is a path for operating the arm unit 12 of the robot 10, and multiple movement paths 13 are generated in order to inspect the workpiece 200. In addition, the movement paths 13 are generated in advance before inspecting the workpiece 200.

For example, the processing unit 41 receives instructions from the user on the operation of the arm unit 12, and performs processing to generate a movement path 13 for the robot 10 based on the received instructions. Also, for example, the processing unit 41 performs processing to automatically generate a movement path 13 for the robot 10, regardless of instructions from the user on the operation of the arm unit 12. Also, the processing unit 41 performs processing to generate a movement path 13 that follows the surface of the workpiece 200, such as a curved surface.

As shown in Figures 3 to 5, the processing unit 51 of the image processing device 50 performs processing to obtain an inspection image 21 based on the output result of the inspection unit 20. The inspection image 21 is an image of the surface of the workpiece 200 captured by the inspection unit 20.

The processing unit 51 operates the inspection unit 20 to inspect the workpiece 200 at regular intervals along the moving path 13, and performs a process of acquiring the inspection image 21. Specifically, the processing unit 51 operates the inspection unit 20 to image the workpiece 200 at regular intervals, and performs a process of scanning and imaging the workpiece 200. More specifically, the processing unit 41 performs a process of outputting a pulse signal to the processing unit 51 at regular intervals. The processing unit 51 performs a process of outputting a trigger signal to the inspection unit 20 at regular intervals based on the pulse signal from the processing unit 41. The inspection unit 20 images the workpiece 200 at regular intervals based on the trigger signal. The regular intervals are the intervals of the control point of the robot 10. When the inspection unit 20 is an imaging unit, the control point of the robot 10 is set to the focal position of the imaging of the inspection unit 20. Also, the focal position of the imaging of the inspection unit 20 is set near the surface of the workpiece 200. The control point of the robot 10 is provided to perform the process of imaging the workpiece 200 by the inspection unit 20.

The processing unit 41 performs a process of inspecting the workpiece 200 using the inspection unit 20 for all of the movement paths 13. The processing unit 51 also performs a process of acquiring the inspection image 21 for all of the movement paths 13.

As shown in FIG. 3 and FIG. 5, in step S2, the processing unit 51 of the image processing device 50 performs processing to detect the object 201 of the workpiece 200 in the inspection image 21. The processing unit 51 performs processing to detect the object 201 in the inspection image 21 by performing a predetermined image processing on the inspection image 21. The object 201 is, for example, a defect such as a scratch, a foreign object, or a dent. The processing unit 51 performs processing to detect the object 201 in the inspection image 21 for all the inspection images 21. The processing unit 51 also performs processing to output the inspection results of the workpiece 200 to the processing unit 41 of the robot controller 40 and the processing unit 61 of the result display device 60.

3 and 6, in step S3, the processing unit 61 of the result display device 60 performs a process of displaying the position of the object 201 on the three-dimensional image of the workpiece 200. Specifically, the processing unit 61 performs a predetermined coordinate conversion process of converting the coordinate values of the object 201 in the inspection image 21 into the coordinate values of the object 201 in the three-dimensional image of the workpiece 200, and performs a process of displaying the position of the object 201 on the three-dimensional image of the workpiece 200. At this time, the processing unit 61 performs a process of superimposing an image indicating the position of the object 201 on the three-dimensional image of the workpiece 200. Then, the processing unit 61 performs a process of displaying the three-dimensional image of the workpiece 200 on which the image indicating the position of the object 201 is superimposed on the display unit 63. Note that the three-dimensional image of the workpiece 200 on which the image indicating the position of the object 201 is superimposed can be enlarged, reduced, or rotated based on the user's operation using the operation unit 64. In addition, the image indicating the position of the object 201 may be displayed in a different color or shape depending on the type of the object 201, such as a scratch, foreign object, or dent.

The processing unit 61 also performs processing to display the inspection results of the workpiece 200 in list format. The inspection results of the workpiece 200 represent the results of processing to detect the object 201 in the inspection image 21 for all the inspection images 21. The inspection results of the workpiece 200 include the number of the detected object 201 and the type of the detected object 201.

In addition, in this embodiment, the processing unit 61 performs a process of displaying the operation images 71 and 72 in a list format together with the inspection results of the workpiece 200. The operation image 71 is an image for performing a process of operating the robot 10 so that the position of the target 201 described later is shown on the actual workpiece 200. The operation image 72 is an image for performing a process of displaying the inspection image 21 of the target 201 described later. The operation images 71 and 72 are displayed in a list format together with the inspection results of the workpiece 200 so that the correspondence with the number and type of the detected target 201 can be identified. The processing unit 61 performs a process of displaying the inspection results of the workpiece 200 in the list format and the operation images 71 and 72 on the display unit 63. The processing unit 61 also performs a process of displaying the three-dimensional image of the workpiece 200, the inspection results of the workpiece 200 in the list format, and the operation images 71 and 72 in the same frame. The operation image 71 is an example of a first operation image. The operation image 72 is an example of a second operation image.

In this embodiment, as shown in FIG. 3 and FIG. 7 to FIG. 10, in steps S4 and S5, when an input is made to the target 201, the processing unit 61 performs processing on the actual workpiece 200 for the input target 201. Specifically, when the operation images 71, 72 corresponding to the target 201 are operated, the processing unit 61 performs processing on the actual workpiece 200 for the target 201 corresponding to the operated operation images 71, 72. The user operates the desired operation images 71, 72 using the operation unit 64.

When the operation image 71 is operated, the processing unit 61 performs the process of step S4. As shown in FIG. 7 and FIG. 8, in step S4, the processing unit 61 performs a process of operating the robot 10 so that the position of the target 201 corresponding to the operated operation image 71 is shown on the actual workpiece 200. Specifically, the processing unit 61 performs a process of outputting specific information for identifying the target 201 corresponding to the operated operation image 71 to the processing unit 41 of the robot controller 40. The specific information is, for example, the number of the target 201. The processing unit 41 performs a process of identifying the target 201 based on the specific information from the processing unit 61, and operates the robot 10 so that the position of the identified target 201 is shown on the actual workpiece 200 as the position of the target 201 corresponding to the operated operation image 71.

More specifically, the processing unit 41 operates the robot 10 and performs a process of indicating the position of the target 201 on the actual workpiece 200 by the instruction unit 30. That is, the processing unit 41 operates the robot 10 and performs a process of moving the instruction unit 30 to a predetermined position where the position of the target 201 can be indicated. Then, with the instruction unit 30 placed at the predetermined position, the processing unit 41 irradiates laser light from the instruction unit 30 and performs a process of indicating the position of the target 201 on the actual workpiece 200.

The position of the target 201 corresponding to the operation image 71 may be displayed on the real workpiece 200 for only one operation image 71, or may be displayed on multiple operation images 71 at once. For example, the processing unit 61 may perform a process of operating the robot 10 so that the position of the target 201 corresponding to the operated operation image 71 is displayed on the real workpiece 200 each time the operation image 71 is operated. Also, for example, when multiple operation images 71 are operated at once, the processing unit 61 may perform a process of operating the robot 10 so that the positions of multiple targets 201 corresponding to the operated multiple operation images 71 are successively displayed on the real workpiece 200. In this case, it is possible to easily confirm the positions of multiple targets 201 in the real workpiece 200. Also, if multiple operation images 71 of the same type are operated at once, it is possible to easily confirm the positions of multiple targets 201 of the same type in the real workpiece 200.

In addition, in this embodiment, when the operation image 71 is operated, the processing unit 61 performs processing to highlight the position of the target 201 corresponding to the operated operation image 71 in the three-dimensional image of the workpiece 200, and to operate the robot 10 so that the position of the target 201 corresponding to the operated operation image 71 is shown in the actual workpiece 200. For example, the processing unit 61 performs processing to highlight the position of the target 201 in the three-dimensional image of the workpiece 200 by a highlighting method such as blinking, enlargement, or color change.

When the operation image 72 is operated, the processing unit 61 performs the process of step S5. As shown in FIG. 9 and FIG. 10, in step S5, the processing unit 61 performs a process of displaying the inspection image 21 of the target 201 corresponding to the operated operation image 72. Specifically, the processing unit 61 performs a process of displaying the inspection image 21 in a frame different from the frame in which the three-dimensional image of the workpiece 200, the inspection results of the workpiece 200 in list format, and the operation images 71 and 72 are displayed. Note that the processing unit 61 may perform a process of displaying the inspection image 21 in the same frame as the frame in which the three-dimensional image of the workpiece 200, the inspection results of the workpiece 200 in list format, and the operation images 71 and 72 are displayed.

In addition, in this embodiment, when the operation image 72 is operated, the processing unit 61 performs a process of highlighting the position of the target 201 corresponding to the operated operation image 72 in the three-dimensional image of the workpiece 200, and displaying the inspection image 21 of the target 201 corresponding to the operated operation image 72. For example, the processing unit 61 performs a process of highlighting the position of the target 201 in the three-dimensional image of the workpiece 200 by a highlighting method such as blinking, enlargement, or color change.

When the operation image 72 is operated, the processing unit 61 moves the three-dimensional image of the workpiece 200 so that the position of the target 201 corresponding to the operated operation image 72 is easily visible, and displays the inspection image 21 of the target 201 corresponding to the operated operation image 72. For example, the processing unit 61 performs a process of making the position of the target 201 easier to see by rotating the three-dimensional image of the workpiece 200 so that the position of the target 201 corresponding to the operated operation image 72 faces forward. At this time, the position of the three-dimensional image of the workpiece 200 is not fixed to a position facing forward, and the user can freely rotate the three-dimensional image of the workpiece 200 using the operation unit 64.

In this embodiment, as shown in FIG. 11, the processing unit 61 performs processing to display an identification display 73 that indicates whether or not treatment of the target 201 has been completed. Treatment of the target 201 means, for example, performing repair work on the target 201 as a defect. The identification display 73 is a check mark that is entered into a check box 73a. When treatment of the target 201 has been completed, the user uses the operation unit 64 to perform an operation to enter a check mark into the check box 73a, thereby displaying the identification display 73.

The processing unit 61 also performs processing to display the identification display 73 and check box 73a in list format together with the inspection results of the workpiece 200 and the operation images 71, 72. The identification display 73 and check box 73a are displayed in list format together with the inspection results of the workpiece 200 so that the correspondence with the number and type of the detected object 201 can be identified. The processing unit 61 performs processing to display the inspection results of the workpiece 200 in list format, the operation images 71, 72, the identification display 73, and the check box 73a on the display unit 63. The processing unit 61 also performs processing to display the three-dimensional image of the workpiece 200, the inspection results of the workpiece 200 in list format, the operation images 71, 72, the identification display 73, and the check box 73a in the same frame.

In addition to displaying the identification display 73, in this embodiment, the processing unit 61 also performs processing to display the position of the target 201 for which treatment has been completed in a color different from the position of the target 201 for which treatment has not been completed in the three-dimensional image. For example, if the color of the target 201 for which treatment has not been completed is red, the position of the target 201 for which treatment has been completed is displayed in green. That is, when the identification display 73 is displayed in the check box 73a, the processing unit 61 performs processing to display the position of the target 201 corresponding to the check box 73a in which the identification display 73 is displayed in a color different from the color before the identification display 73 was displayed.

(Effects of this embodiment)
In this embodiment, as described above, the process of displaying the position of the detected target 201 on the three-dimensional image of the workpiece 200 and the process of performing a process on the actual workpiece 200 for the input target 201 when an input is made to the displayed target 201 are performed. This allows the user to not only confirm the position of the target 201 on the workpiece 200 using the three-dimensional image of the workpiece 200, but also to perform a process on the actual workpiece 200 for the input target 201 by making an input to the target 201. As a result, the user's convenience regarding the image of the workpiece 200 can be improved compared to the case where the position of the target 201 is simply displayed on the image of the workpiece 200.

In addition, by displaying the position of the target 201 on a three-dimensional image of the workpiece 200, the position of the target 201 can be displayed more clearly than when the position of the target 201 is displayed on a two-dimensional image of the workpiece 200, because the image is three-dimensional.

In addition, in this embodiment, as described above, the processing unit 61 displays the operation images 71, 72 corresponding to the target 201, and when the displayed operation images 71, 72 are operated, performs processing related to the actual workpiece 200 for the target 201 corresponding to the operated operation images 71, 72. This allows the user to easily input to the target 201 using the operation images 71, 72, so that the user's convenience regarding the image of the workpiece 200 can be easily improved.

In addition, in this embodiment, as described above, when the operation images 71 and 72 are operated, the processing unit 61 performs either a process of operating the robot 10 so that the position of the target 201 corresponding to the operated operation images 71 and 72 is shown on the actual workpiece 200, or a process of displaying the inspection image 21 of the target 201 corresponding to the operated operation images 71 and 72. As a result, when operating the robot 10 so that the position of the target 201 corresponding to the operated operation images 71 and 72 is shown on the actual workpiece 200, the user can operate the robot 10 to show the position of the target 201 on the actual workpiece 200 simply by operating the operation images 71 and 72 while checking the three-dimensional image of the workpiece 200. As a result, the convenience of the user who wishes to check the target 201 on the actual workpiece 200 can be effectively improved. Furthermore, when displaying the inspection image 21 of the object 201 corresponding to the operated operation images 71, 72, the user can display the inspection image 21 acquired from the actual workpiece 200 simply by operating the operation images 71, 72 while checking the three-dimensional image of the workpiece 200. As a result, the convenience of the user who wishes to check the inspection image 21 can be effectively improved.

In addition, in this embodiment, as described above, when the operation images 71, 72 are operated, the processing unit 61 performs processing to highlight the position of the target 201 corresponding to the operated operation images 71, 72 in the three-dimensional image of the workpiece 200, and to operate the robot 10 so that the position of the target 201 corresponding to the operated operation images 71, 72 is shown on the actual workpiece 200. As a result, when operating the robot 10 so that the position of the target 201 is shown on the actual workpiece 200, the user can easily confirm the position of the target 201 corresponding to the operated operation images 71, 72 in the three-dimensional image of the workpiece 200. As a result, when the user mistakenly operates the operation images 71, 72 corresponding to the target 201 that the user does not want to confirm, the user can easily recognize that he or she has mistakenly operated them.

In addition, in this embodiment, as described above, when the operation images 71, 72 are operated, the processing unit 61 performs processing to highlight the position of the target 201 corresponding to the operated operation images 71, 72 in the three-dimensional image of the workpiece 200 and display the inspection image 21 of the target 201 corresponding to the operated operation images 71, 72. As a result, when the inspection image 21 of the target 201 corresponding to the operated operation images 71, 72 is displayed, the user can easily confirm the position of the target 201 corresponding to the operated operation images 71, 72 in the three-dimensional image of the workpiece 200. As a result, when the user mistakenly operates the operation images 71, 72 corresponding to the target 201 that the user does not want to confirm, the user can easily recognize that he or she has mistakenly operated them.

In addition, in this embodiment, as described above, the operation images 71 and 72 include the operation image 71 for performing a process of operating the robot 10 so that the position of the target 201 is shown on the actual workpiece 200, and the operation image 72 for performing a process of displaying the inspection image 21 of the target 201. When the operation image 71 is operated, the processing unit 61 performs a process of operating the robot 10 so that the position of the target 201 corresponding to the operated operation image 71 is shown on the actual workpiece 200, and when the operation image 72 is operated, the processing unit 61 performs a process of displaying the inspection image 21 of the target 201 corresponding to the operated operation image 72. As a result, since the operation image 71 and the operation image 72 are provided separately, the user can reliably perform each of the process of operating the robot 10 by operating the operation image 71 and the process of displaying the inspection image 21 by operating the operation image 72.

In addition, in this embodiment, as described above, the processing unit 61 performs processing to display the operation images 71, 72 in list format together with the inspection results of the workpiece 200. This allows the operation images 71, 72 to be displayed in list format together with the inspection results of the workpiece 200, so that the user can easily identify and operate the operation images 71, 72 of the object 201 that the user wishes to check.

In addition, in this embodiment, as described above, the processing unit 61 performs processing to display an identification display 73 that indicates whether or not the treatment of the target 201 has been completed. This allows the user to reliably check whether or not the treatment of the target 201 has been completed by using the identification display 73. Also, by displaying whether or not the treatment of the target 201 has been completed, traceability can be ensured.

In addition to displaying the identification display 73, in this embodiment, the processing unit 61 also displays the positions of the targets 201 for which processing has been completed in a color different from the positions of the targets 201 for which processing has not been completed in the three-dimensional image of the workpiece 200. This allows the user to more reliably confirm whether or not the processing of the target 201 has been completed by using both the identification display 73 and the color of the target 201.

(Modification)
It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

For example, in the above embodiment, an example has been shown in which the inspection system is an appearance inspection system that inspects the appearance of a workpiece, but the present disclosure is not limited to this. In the present disclosure, the inspection system may be an inspection system that inspects the inside of a workpiece. In this case, the inspection unit may be an ultrasonic flaw detection unit that inspects the workpiece by transmitting ultrasonic waves to the inside of the workpiece and receiving ultrasonic waves reflected from the inside of the workpiece. Using the ultrasonic flaw detection unit, it is possible to detect objects such as defects inside the workpiece.

In addition, in the above embodiment, an example was shown in which the robot was a vertical articulated robot, but the present disclosure is not limited to this. In the present disclosure, the robot may be an industrial robot other than a vertical articulated robot.

In addition, in the above embodiment, an example has been shown in which the robot moves the imaging unit to move the inspection unit relative to the workpiece, but the present disclosure is not limited to this. In the present disclosure, the robot may move the workpiece to move the inspection unit relative to the workpiece.

In the above embodiment, the processing unit of the robot controller, the processing unit of the image processing device, and the processing unit of the result display device share the tasks of performing various processes, but the present disclosure is not limited to this. In the present disclosure, the number and configuration of the processing units are not particularly limited. One processing unit may perform the various processes of the above embodiment, or multiple processing units may perform the various processes of the above embodiment. The configuration of the storage unit is also not limited. The configuration of the robot controller, the image processing device, and the result display device is also not limited. The robot controller, the image processing device, and the result display device may be configured as an integrated unit, or may be configured separately as in the above embodiment. The robot controller, the image processing device, and the result display device may also be configured separately. For example, an operation device for operating the result display device may be provided separately from the result display device.

In addition, in the above embodiment, an example was shown in which both the process of operating the robot so that the position of the target corresponding to the operation image is shown on the actual workpiece and the process of displaying an inspection image corresponding to the operation image are performed, but the present disclosure is not limited to this. In the present disclosure, only one of the process of operating the robot so that the position of the target corresponding to the operation image is shown on the actual workpiece and the process of displaying an inspection image corresponding to the operation image may be performed.

In addition, in the above embodiment, an example is shown in which the operation image is displayed in list format together with the workpiece inspection results, but the present disclosure is not limited to this. In the present disclosure, the operation image may be displayed separately from the workpiece inspection results.

In the above embodiment, the indication unit is a laser irradiation unit, but the present disclosure is not limited to this. In the present disclosure, the indication unit is not particularly limited as long as it is possible to indicate the position of the target on the workpiece. For example, the indication unit may be an ink application unit that applies ink to indicate the position of the target on the workpiece. For example, the indication unit may be a stamp imprinting unit that imprints a stamp to indicate the position of the target on the workpiece. For example, the indication unit may be a paint gun that sprays paint to indicate the position of the target on the workpiece. For example, the indication unit may be an attachment unit that affixes an attachment such as a sticky note to indicate the position of the target on the workpiece. Unlike the above embodiment, the position of the target may be indicated on the actual workpiece by an augmented reality display device that displays augmented reality. The augmented reality display device displays an augmented reality image that indicates the position of the target on the workpiece.

In the above embodiment, an example was shown in which the instruction unit was arranged on the inspection robot, but the present disclosure is not limited to this. In the present disclosure, an instruction robot having an instruction unit arranged thereon may be provided separately from the inspection robot. The instruction robot operates to indicate the position of the target on the actual workpiece. In addition, the location where the inspection robot inspects the workpiece and the location where the instruction robot issues instructions for the workpiece may be separate, distant locations.

In addition, in the above embodiment, an example has been shown in which, when an operation image is operated, the position of the target corresponding to the operated operation image is highlighted in the three-dimensional image of the workpiece, but the present disclosure is not limited to this. In the present disclosure, when an operation image is operated, the position of the target corresponding to the operated operation image does not have to be highlighted in the three-dimensional image of the workpiece.

In addition, in the above embodiment, an example is shown in which an identification display is displayed to indicate whether or not treatment on the target has been completed, but the present disclosure is not limited to this. In the present disclosure, it is not necessary to display an identification display to indicate whether or not treatment on the target has been completed.

In addition, in the above embodiment, an example was shown in which the positions of targets for which treatment has been completed are displayed in a color different from the positions of targets for which treatment has not been completed in the three-dimensional image, but the present disclosure is not limited to this. In the present disclosure, the positions of targets for which treatment has been completed do not have to be displayed in a color different from the positions of targets for which treatment has not been completed in the three-dimensional image.

The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general purpose processors, special purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and/or combinations thereof, configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. If the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and/or the processor.

[Aspects]
The above-described embodiment is a specific example of the following aspects.

(Aspect 1)
Robots and
An inspection unit that inspects the workpiece;
a process of acquiring an inspection image of the workpiece by moving the inspection unit relative to the workpiece using the robot and inspecting the workpiece using the inspection unit;
detecting an object of the workpiece within the acquired inspection image;
A process of displaying the detected position of the target on a three-dimensional image of the workpiece;
When an input is made to the displayed object, a process is performed on the actual workpiece in relation to the input object;
and a processing unit that performs the above.

(Aspect 2)
The processing unit displays an operation image corresponding to the target, and when the displayed operation image is operated, performs processing related to the actual workpiece with respect to the target corresponding to the operated operation image.

(Aspect 3)
The processing unit, when the operation image is operated, performs either a process of operating the robot so that the position of the target corresponding to the operated operation image is shown on the actual workpiece, or a process of displaying the inspection image of the target corresponding to the operated operation image, in the inspection system described in aspect 2.

(Aspect 4)
The processing unit, when the operation image is operated, performs processing to highlight the position of the target corresponding to the operated operation image in the three-dimensional image, and to operate the robot so that the position of the target corresponding to the operated operation image is shown on the actual workpiece.

(Aspect 5)
The processing unit, when the operation image is operated, performs processing to highlight the position of the object corresponding to the operated operation image in the three-dimensional image and display the inspection image of the object corresponding to the operated operation image.

(Aspect 6)
The operation image is
a first operation image for performing a process of operating the robot so as to indicate the position of the target on the actual workpiece;
A second operation image for performing a process of displaying the inspection image of the object; and
Including,
The processing unit includes:
When the first operation image is operated, a process is performed to operate the robot so that the position of the target corresponding to the operated first operation image is shown on the actual workpiece;
An inspection system described in any one of aspects 3 to 5, which, when the second operation image is operated, performs a process of displaying the inspection image of the object corresponding to the operated second operation image.

(Aspect 7)
The processing unit performs processing to display the operation image in list format together with the inspection results of the workpiece, in an inspection system described in any one of aspects 2 to 6.

(Aspect 8)
The inspection system according to any one of aspects 1 to 7, wherein the processing unit performs processing to display an identification display indicating whether or not treatment on the subject has been completed.

(Aspect 9)
The processing unit, in addition to displaying the identification display, also performs processing to display the position of the object for which treatment has been completed in a color different from the position of the object for which treatment has not been completed in the three-dimensional image.

(Aspect 10)
Using a robot to move an inspection unit relative to a workpiece, and inspecting the workpiece with the inspection unit to obtain an inspection image of the workpiece;
Detecting an object of the workpiece within the acquired inspection image;
Displaying the detected position of the object on a three-dimensional image of the workpiece;
When input is made for the displayed object, processing is performed on the actual work in relation to the input object.

REFERENCE SIGNS LIST 10 Robot 20 Inspection unit 21 Inspection image 41 Processing unit 51 Processing unit 61 Processing unit 71 Operation image (first operation image)
72 Operation image (second operation image)
73 Identification mark 100 Inspection system 200 Work 201 Object

Claims (9)

Robots and
An inspection unit that inspects the workpiece;
a process of acquiring an inspection image of the workpiece by moving the inspection unit relative to the workpiece using the robot and inspecting the workpiece using the inspection unit;
A process of detecting defects of the workpiece in the acquired inspection image;
A process of displaying the position of the detected defect on a three-dimensional image of the workpiece;
When an input is made for the displayed defect , a process is performed for the actual workpiece in relation to the input defect ;
A processing unit that performs the steps of :
The processing unit displays an operation image corresponding to the defect, and when the displayed operation image is operated, automatically moves a three-dimensional image of the work so that the position of the defect corresponding to the operated operation image is easier to see, and performs processing on the actual work with respect to the defect corresponding to the operated operation image.This is an inspection system. The inspection system of claim 1, wherein when the operation image is operated, the processing unit performs one of a process of operating the robot so as to indicate the position of the defect corresponding to the operated operation image in the actual workpiece, and a process of displaying the inspection image of the defect corresponding to the operated operation image. The inspection system of claim 2, wherein when the operation image is operated, the processing unit performs processing to highlight the position of the defect corresponding to the operated operation image in the three-dimensional image, and to operate the robot so that the position of the defect corresponding to the operated operation image is shown in the actual workpiece. The inspection system of claim 2, wherein the processing unit, when the operation image is operated, performs processing to highlight the position of the defect corresponding to the operated operation image in the three-dimensional image and to display the inspection image of the defect corresponding to the operated operation image . The operation image is
a first operation image for performing a process of operating the robot so as to indicate the position of the defect on the actual workpiece;
a second operation image for performing processing to display the inspection image of the defect ;
Including,
The processing unit includes:
When the first operation image is operated, a process is performed to operate the robot so that the position of the defect corresponding to the operated first operation image is shown on the actual workpiece;
The inspection system according to claim 2 , further comprising a process for displaying, when the second operation image is operated, the inspection image of the defect corresponding to the operated second operation image. The inspection system according to claim 1 , wherein the processing unit performs processing for displaying the operation images together with the inspection results of the workpiece in a list format. The inspection system according to claim 1 , wherein the processing unit performs processing for displaying an identification indication indicating whether or not treatment for the defect has been completed. The inspection system according to claim 7 , wherein, in addition to displaying the identification indication, the processing unit performs processing to display the positions of the defects for which processing has been completed in a color different from the positions of the defects for which processing has not been completed in the three -dimensional image. Using a robot to move an inspection unit relative to a workpiece, and inspecting the workpiece with the inspection unit to obtain an inspection image of the workpiece;
Detecting defects of the workpiece in the acquired inspection image;
Displaying the positions of the detected defects on a three-dimensional image of the workpiece;
When an input is made for the displayed defect , a process is performed for the actual workpiece with respect to the input defect ,
An inspection method in which performing processing on the actual workpiece when input is made for the displayed defect includes displaying an operation image corresponding to the defect, and when the displayed operation image is operated, automatically moving a three-dimensional image of the workpiece so that the position of the defect corresponding to the operated operation image becomes easier to see, and performing processing on the actual workpiece with respect to the defect corresponding to the operated operation image .

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