JPH05223522A - Method and apparatus for detecting mending position of vehicle painting - Google Patents
Method and apparatus for detecting mending position of vehicle paintingInfo
- Publication number
- JPH05223522A JPH05223522A JP2266292A JP2266292A JPH05223522A JP H05223522 A JPH05223522 A JP H05223522A JP 2266292 A JP2266292 A JP 2266292A JP 2266292 A JP2266292 A JP 2266292A JP H05223522 A JPH05223522 A JP H05223522A
- Authority
- JP
- Japan
- Prior art keywords
- color
- correction
- image
- brightness
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明は、車両の塗装面をカラー
カメラで撮えて補修位置に付されているカラーマークを
画像認識により自動的に検出することおよびものに係わ
り、特にカラーカメラで撮えた三原色信号について明度
偏差の補正を行う車両塗装の補修位置検出方法およびそ
の装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically photographing a painted surface of a vehicle with a color camera to automatically detect a color mark attached to a repair position by image recognition. The present invention relates to a vehicle painting repair position detection method and apparatus for correcting the lightness deviation of the obtained three primary color signals.
【0002】[0002]
【従来の技術】自動車ボディの塗装面に生じた塗装不良
を水研して修正することは周知であり、車両塗装の補修
技術として、例えば特開昭58−64157号(B05
C 9/08)などの公報に見られるように、作業者が
搬送されてきた自動車ボディを目視検査し、発見した塗
装不良の部位と状態とを指示装置によっておのおのデー
タ入力することにより、搬送ラインの下流側でロボット
等による水研装置を作動させて自動的に水研を行うよう
な自動水研方法およびその装置が知られている。しかし
ながら、この技術にあっては、作業者が不良部位を発見
する毎に指示装置によって逐一データ入力しなければな
らないので、入力ミスが生じやすく、入力に手間がかか
り煩雑である。2. Description of the Related Art It is well known that a coating defect on a coating surface of an automobile body is corrected by water-polishing, and as a repairing technique for vehicle coating, for example, Japanese Patent Laid-Open No. 58-64157 (B05).
C 9/08) and the like, the worker visually inspects the conveyed car body, and inputs the data on the spot and the state of the coating defect found by the instruction device. There is known an automatic water polishing method and device for automatically performing water polishing by operating a water polishing device such as a robot on the downstream side. However, in this technique, since the operator has to input data one by one each time the operator finds a defective portion, an input error is likely to occur, and input is troublesome and complicated.
【0003】そこで、前記自動化補修技術を発展させ
て、搬送ラインの上流側で作業者により自動車ボディの
塗装面を目視検査して発見した不良部位に不良グレード
別のマークを付し、その下流側においてカラーカメラを
備えた検出用ロボットにより塗装面のマークの種類およ
びマークの位置を検出し、さらに下流側には研磨用ロボ
ットを配置しておき、検出用ロボットの検出結果の情報
を研磨用ロボットに供給してその研磨用ロボットによっ
て塗装不良部位へ修正研磨を施すようにすることが考え
られている。Therefore, by developing the above-mentioned automated repair technology, a defective portion found by visual inspection of the painted surface of the automobile body by an operator on the upstream side of the transfer line is marked with a mark for each defective grade, and the downstream side thereof. The detection robot equipped with a color camera detects the type of mark and the position of the mark on the painted surface, and a polishing robot is arranged further downstream, and the information of the detection result of the detection robot is used for the polishing robot. It is considered that the robot for polishing is used to correct and polish a defective coating portion.
【0004】前記検出用ロボットとしては、ハンド先端
のカラーカメラで被検査面、つまり自動車ボディの塗装
面を撮像し、不良部位に付されているマークを画像認識
により自動的に検出するものであり、ハンドを自動車ボ
ディに沿って移動させて被検査面を所定区画毎に撮像
し、画像を順次取り込んで画像認識、つまり補修位置の
検出を行っていく。As the detection robot, a color camera at the tip of the hand picks up an image of the surface to be inspected, that is, the coating surface of the automobile body, and automatically detects the mark attached to the defective portion by image recognition. The hand is moved along the automobile body to image the surface to be inspected for each predetermined section, and the images are sequentially captured to perform image recognition, that is, detection of the repair position.
【0005】[0005]
【発明が解決しようとする課題】しかしながら、このと
き搬送ライン上にある自動車ボディの位置ズレのため、
被検査面としての自動車ボディを照光している照明装置
と自動車ボディとの相対関係がズレてしまい、被検査面
に対してあらかじめ設定した条件では均一に照光できず
照明ムラが生じ、カラーカメラで撮えた画像に明度のム
ラが出るという不都合があった。However, at this time, due to the displacement of the automobile body on the transfer line,
The relative relationship between the illuminating device that illuminates the car body as the surface to be inspected and the car body is misaligned, and it is not possible to uniformly illuminate the surface to be inspected under the preset conditions, resulting in uneven illumination. There was the inconvenience that the brightness of the captured image was uneven.
【0006】しかも、被検査面としての自動車ボディは
多くの曲面からなる複雑な形状をしているので、照明ム
ラなく照光すること自体困難であり、このため自動車ボ
ディの位置ズレがたとえわずかであっても照光設定に大
きく影響があり、カラーカメラで撮えた画像に明度のム
ラが出て画像認識において検出ミスが発生し、マークを
安定に検出できず好ましくなかった。Moreover, since the automobile body as the surface to be inspected has a complicated shape consisting of many curved surfaces, it is difficult to illuminate it evenly, and therefore the displacement of the automobile body is slight. However, the illumination setting is greatly affected, and the image captured by the color camera has uneven brightness, resulting in a detection error in image recognition, which is not preferable because the mark cannot be detected stably.
【0007】本発明は前記の事情に鑑みてなされたもの
であり、その目的は、照明ムラによる撮像画像の明度の
ムラを除去して画像認識に際して検出ミスを防ぎ、マー
ク検出の確実性・安定性を向上できる車両塗装の補修位
置検出方法およびその装置を提供することにある。The present invention has been made in view of the above circumstances, and an object thereof is to eliminate unevenness in brightness of a picked-up image due to uneven illumination so as to prevent a detection error at the time of image recognition, and to ensure reliability and stability of mark detection. It is an object of the present invention to provide a method and apparatus for detecting a repair position of a vehicle painting that can improve the property.
【0008】[0008]
【課題を解決するための手段】前記目的を達成するため
本発明は、車両の塗装面をカラーカメラで撮像し、その
塗装面の補修位置に付されているカラーマークを画像認
識により自動的に検出する車両塗装の補修位置検出方法
において、前記カラーカメラで撮らえた三原色信号のお
のおのにつき、基準スケール上へ正規化変換し、色レベ
ルおよび白レベルに関して基準値を基に補正係数を求
め、それらの補正係数で正規化信号の明度偏差を補正す
ることを特徴とする。In order to achieve the above-mentioned object, the present invention is to automatically image a painted surface of a vehicle with a color camera and automatically recognize a color mark attached to a repair position of the painted surface by image recognition. In the vehicle paint repair position detection method to be detected, for each of the three primary color signals taken by the color camera, normalization conversion is performed on the reference scale, and the correction coefficient is obtained based on the reference values for the color level and the white level. It is characterized in that the correction coefficient corrects the brightness deviation of the normalized signal.
【0009】また、本発明は、車両の塗装面をカラーカ
メラで撮像し、その塗装面の補修位置に付されているカ
ラーマークを画像認識により自動的に検出する車両塗装
の補修位置検出装置において、前記カラーカメラで撮ら
えた三原色信号のおのおのにつき、基準スケール上へ正
規化変換する正規化変換手段と、色レベルおよび白レベ
ルに関して基準値を基に補正係数を求め、それらの補正
係数で正規化信号の明度偏差を補正する明度補正手段と
を備えたことを特徴とする。Further, the present invention relates to a vehicle painting repair position detecting device for picking up an image of a painting surface of a vehicle with a color camera and automatically detecting a color mark attached to the repairing position of the painting surface by image recognition. , For each of the three primary color signals taken by the color camera, a normalization conversion means for performing a normalization conversion on a reference scale, and a correction coefficient for the color level and the white level are obtained based on the reference values, and the correction coefficients are normalized. And a lightness correction means for correcting the lightness deviation of the signal.
【0010】[0010]
【作用】本発明の作用について述べると、画像認識のた
めカラーカメラで撮えた三原色信号は、おのおのがまず
基準スケール上へ正規化変換され、次に色レベルおよび
白レベルに関して基準値を基に補正係数が求められ、そ
れらの補正係数で正規化信号の明度偏差が補正される。
したがって、被撮像面で照明ムラが生じていても、撮像
画像としては明度が偏差なく基準に平坦・均一に合せら
れることになり、明度のムラを除去することができる。The operation of the present invention will be described. Each of the three primary color signals captured by a color camera for image recognition is first normalized and converted to a reference scale, and then corrected with respect to the color level and the white level based on the reference values. Coefficients are obtained, and the brightness deviation of the normalized signal is corrected by these correction coefficients.
Therefore, even if illumination unevenness occurs on the surface to be imaged, the brightness of the captured image can be flatly and evenly adjusted to the reference without deviation, and the unevenness of brightness can be removed.
【0011】[0011]
【実施例】以下、本発明の実施例につき、添付図面を参
照して説明する。図1は、本発明の好適な一実施例を示
す自動車製造ラインの平面図である。同図は上流から搬
送されてくる自動車ボディの塗装面の検査および修正研
磨を行う塗装補修ラインLを示している。Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a plan view of an automobile manufacturing line showing a preferred embodiment of the present invention. The figure shows a paint repair line L for inspecting and correcting the painted surface of an automobile body conveyed from upstream.
【0012】この塗装補修ラインLには、上流側から検
査マーキングステーションL1,マーク検出ステーショ
ンL2,補修ステーションL3および水洗ステーション
L4が順に設けられている。The coating repair line L is provided with an inspection marking station L1, a mark detection station L2, a repair station L3 and a water washing station L4 in this order from the upstream side.
【0013】検査マーキングステーションL1には、検
査員P1,P2が車体Bの左右におのおの臨んで配され
ている。ここでは、当該ステーションに搬送されてきた
車体Bの塗装面を検査員P1,P2により目視検査する
ようにしており、塗装面にピンホールや異物付着などの
塗装不良を発見したときには、発見した不良部位へ検査
員P1,P2が当該部位に対応して研磨グレードに応じ
たカラーマーカを用いてマークMを付ける。本実施例で
は、塗装不良部位に施すべき補修の研磨グレードは重研
磨,中研磨,軽研磨の三ランクとされており、各ランク
におのおの所定色が割付けられている。At the inspection marking station L1, inspectors P1 and P2 are arranged facing the left and right of the vehicle body B, respectively. Here, the coated surface of the vehicle body B conveyed to the station is visually inspected by the inspectors P1 and P2. When a coating defect such as a pinhole or foreign matter is found on the coated surface, the detected defect is detected. The inspectors P1 and P2 make marks M on the parts by using color markers corresponding to the polishing grades corresponding to the parts. In this embodiment, the polishing grades to be repaired on the defective coating portion are three ranks of heavy polishing, medium polishing and light polishing, and a predetermined color is assigned to each rank.
【0014】マーク検出ステーションL2の上流側部分
には、車体Bの種類を検知するため発光部1と受光部2
とを対にした車種検知センサ3が搬送ラインの左右に対
向して複数設けられており、下流側部分には車体Bに付
けられたマークMを検出するためのマーク検出ロボット
R1,R2,R3が車体Bの左右および上面におのおの
臨んで配設されている。各マーク検出ロボットR1,R
2,R3は、ハンド先端にカラーカメラ4がおのおの設
けられており、車体Bに付されたマークMの位置および
色等を検出するためハンドを車体Bに沿って移動し、カ
ラーカメラ4で車体Bの塗装面を所定区画毎に撮像する
ようになっている。At the upstream side of the mark detecting station L2, a light emitting section 1 and a light receiving section 2 for detecting the type of the vehicle body B are provided.
A plurality of vehicle type detection sensors 3 paired with and are provided facing each other on the left and right of the transport line, and mark detection robots R1, R2, R3 for detecting the mark M attached to the vehicle body B are provided in the downstream side portion. Are arranged so as to face the right and left sides and the upper surface of the vehicle body B, respectively. Each mark detection robot R1, R
2 and R3, a color camera 4 is provided at the tip of each hand, and the hand is moved along the vehicle body B to detect the position and color of the mark M attached to the vehicle body B. The painted surface of B is imaged for each predetermined section.
【0015】補修ステーションL3には、水洗シャワ5
が車体Bを取り囲んで複数設けられており、かつ研磨ロ
ボットR4,R5,R6が車体Bの左右および上面にお
のおの臨んで配設されている。各研磨ロボットR4,R
5,R6は、ハンド先端に研磨ツール6がおのおの設け
られており、マーク検出ステーションL2からのデータ
に基づいて研磨ツール6をマークMの位置へ導いて修正
研磨を行うようになっている。A washing shower 5 is attached to the repair station L3.
Are provided around the vehicle body B, and the polishing robots R4, R5, R6 are provided so as to face the left and right sides and the upper surface of the vehicle body B, respectively. Each polishing robot R4, R
The polishing tools 6 are respectively provided at the tips of the hands 5 and R6, and the polishing tool 6 is guided to the position of the mark M to perform the correction polishing based on the data from the mark detection station L2.
【0016】水洗ステーションL4には、水洗シャワ7
が車体Bを取り囲んで複数設けられており、かつ水洗ブ
ラシW1,W2,W3が車体Bの左右および上面におの
おの臨んで配設されていて、補修研磨後の車体Bを水洗
いするようになっている。A washing shower 7 is installed at the washing station L4.
Are provided around the vehicle body B, and the washing brushes W1, W2, W3 are provided so as to face the right and left sides and the upper surface of the vehicle body B, respectively, so that the vehicle body B after the repair and polishing is washed with water. There is.
【0017】検査マーキングステーションL1を除く各
ステーションL2〜L4には動作制御のための制御盤8
〜21が設けられており、図2の制御系ブロック図に示
すように、車種検知センサ3は車種検知盤8により、マ
ーク検出ロボットR1,R2,R3はおのおのマーク検
出ロボット制御盤9,10,11により、カラーカメラ
4,…はおのおのマーク検出盤12,13,14によ
り、研磨ロボットR4,R5,R6はおのおの研磨ロボ
ット制御盤15,16,17により、研磨ツール6,…
はおのおの研磨ツール制御盤18,19,20により、
水洗シャワ7,…および水洗ブラシW1,W2,W3は
水洗制御盤21により制御されるようになっている。そ
して、これらの制御盤8〜20は、バスライン22によ
って相互に接続されており、かつ外部から生産情報を受
ける生産情報ネット端末器23と接続されている。A control panel 8 for operation control is provided in each of the stations L2 to L4 except the inspection marking station L1.
2 are provided, as shown in the control system block diagram of FIG. 2, the vehicle type detection sensor 3 is a vehicle type detection panel 8 and the mark detection robots R1, R2, R3 are mark detection robot control panels 9, 10, respectively. 11, the color cameras 4, ... Are respectively marked by the mark detection panels 12, 13, 14, and the polishing robots R4, R5, R6 are respectively designated by the polishing robot control panels 15, 16, 17, and the polishing tools 6 ,.
With each polishing tool control panel 18, 19, 20
The washing shower 7, ... And the washing brushes W1, W2, W3 are controlled by the washing control board 21. The control panels 8 to 20 are connected to each other by a bus line 22 and are connected to a production information net terminal device 23 that receives production information from the outside.
【0018】マーク検出盤12,13,14はいずれも
同様の構成を有し、図3に示すように、明度補正プロセ
ッサ24と画像プロセッサ25とを備えている。カラー
カメラ4で撮えられた車体Bの塗装面の画像は、いわゆ
る三原色のビデオ信号VR ,VG ,VB として明度補正
プロセッサ24に取り込まれるものであり、マーク検出
盤12,13,14としては、明度補正プロセッサ24
において明度偏差の補正を行って補正ビデオ信号C
VR ,CVG ,CVB とし、それらの信号を画像プロセ
ッサ25へ送り込んで解析処理し、補修位置を示すマー
クMの位置および研磨グレードを示す色などの検出つま
り画像認識を行うようになっている。The mark detection boards 12, 13, 14 all have the same structure and, as shown in FIG. 3, are provided with a brightness correction processor 24 and an image processor 25. The image of the painted surface of the vehicle body B taken by the color camera 4 is taken into the brightness correction processor 24 as so-called three-primary-color video signals V R , V G , and V B , and the mark detection boards 12, 13, 14 are used. As the brightness correction processor 24
In the corrected video signal C
V R , CV G , and CV B are sent to the image processor 25 for analysis processing, and detection of the position of the mark M indicating the repair position and color indicating the polishing grade, that is, image recognition is performed. There is.
【0019】以下、図4のブロック図に基づいて、明度
補正プロセッサ24の作用について説明する。明度補正
プロセッサ24には複数の演算部26〜35が備えられ
ており、明度偏差の補正を行うための演算ロジックが構
成されている。The operation of the brightness correction processor 24 will be described below with reference to the block diagram of FIG. The brightness correction processor 24 is provided with a plurality of arithmetic units 26 to 35, and constitutes an arithmetic logic for correcting the brightness deviation.
【0020】ビデオカメラ4から入力されるビデオ信号
VR ,VG ,VB は、まず正規化演算部26,27,2
8へおのおの取り込まれ、それらのビデオ信号から零バ
イアスBR ,BG ,BB が減算除去され、スケールファ
クタGR ,GG ,GB が乗算されて正規化信号SR ,S
G ,SB として正規化される。The video signals V R , V G and V B input from the video camera 4 are first normalized by the normalizing operation units 26, 27 and 2.
8 and each of them is subjected to subtraction and removal of zero biases B R , B G , and B B from their video signals and multiplied by scale factors G R , G G , and G B to obtain normalized signals S R and S.
Normalized as G , S B.
【0021】次に、それら正規化信号が色レベル補正演
算部29,30,31へおのおの取り込まれ、色レベル
に関する基準値SBR ,SBG ,SBB が正規化信号S
R ,SG ,SB で除算され、かつ所定値αでべき乗がと
られて基準の色レベルに対する比率、すなわち色レベル
の補正係数が求められる。そして、その色レベル補正係
数を正規化信号SR ,SG ,SB へ乗じて、まず色レベ
ルの補正が行われる。正規化演算部26,27,28の
出力である正規化信号SR ,SG ,SB は白レベル補正
係数演算部32へ取り込まれ、色レベルに関する三つの
基準値SBR,SBG ,SBB のおのおのにつき二乗し
て全体の和をとったもの、つまり基準値SBR ,S
BG ,SBB のベクトル和を、正規化信号SR ,SG ,
SB のベクトル和で除算して基準の白レベルに対する比
率を求め、かつ所定値βでべき乗をとって白レベルの補
正係数K2とする。そして、色レベル補正信号SKR ,
SKG ,SKB が明度偏差補正演算部33,34,35
へ取り込まれ、それらに白レベルの補正係数K2が乗じ
られることによって白レベル補正がなされ、補正ビデオ
信号CVR ,CVG ,CVB が得られる。Next, they normalized signal is each incorporated into the color level correction calculating unit 29, 30, 31, the reference value SB R for the color level, SB G, SB B is normalized signal S
It is divided by R , S G , and S B , and is raised to a power of a predetermined value α to obtain the ratio to the reference color level, that is, the color level correction coefficient. Then, the color level correction coefficient is multiplied to the normalized signals S R , S G , and S B to first correct the color level. Which is the output normalized signal S R of the normalization arithmetic unit 26, 27, 28, S G, S B is incorporated into the white level correction coefficient calculating unit 32, three reference values SB R for the color level, SB G, SB The sum of the squares of each of the Bs , that is, the reference values SB R , S
The vector sum of B G and S B B is converted into the normalized signals S R , S G , and
The white level correction coefficient K2 is obtained by dividing by the vector sum of S B to obtain the ratio to the reference white level, and taking the power of a predetermined value β. Then, the color level correction signal SK R ,
SK G and SK B are brightness deviation correction calculation units 33, 34 and 35.
Incorporated into, their correction coefficient white level K2 white level correction by the multiplied made in the correction video signal CV R, CV G, is CV B obtained.
【0022】すなわち、図5のフローチャートに示すよ
うに、明度補正プロセッサ24ではカラーカメラ4から
取り込まれた三原色のビデオ信号VR ,VG ,VB のお
のおのにつき、まず基準スケール上へ正規化変換して正
規化信号SR ,SG ,SB とし(T1)、次に色レベル
および白レベルに関して基準値SBR ,SBG ,SBB
を基に補正係数KR ,KG ,KB ,K2をおのおの求め
(T2,T3)、それらの補正係数で正規化信号SR ,
SG ,SB が持っている明度偏差を補正して補正ビデオ
信号CVR ,CVG ,CVB を得るようにしている(T
4)。That is, as shown in the flow chart of FIG. 5, in the brightness correction processor 24, each of the three primary color video signals V R , V G , and V B taken in from the color camera 4 is first normalized and converted onto the reference scale. normalized signal S R by, S G, and S B (T1), a reference value with respect to the next color and white levels SB R, SB G, SB B
Each of the correction coefficients K R , K G , K B , and K2 is calculated based on (T2, T3), and the normalized signal S R ,
S G, and to obtain and correct the brightness deviation is S B have corrected video signal CV R, CV G, the CV B (T
4).
【0023】このように、画像認識のためカラーカメラ
4で撮えられた三原色のビデオ信号VR ,VG ,VB の
おのおのにつき明度偏差が補正されることから、車体B
の塗装面、つまり被撮像面に照明ムラが生じていても、
撮像画像としては明度が偏差なく基準に平坦・均一に合
せられることになる。例えば、図6はカメラレンズの絞
り値に対する画像信号の出力レベルを示すグラフであ
り、同図に示す二つの特性Vi ,CVi は照明ムラを擬
似実現するために絞り値を増減変化させて得ている。明
度偏差の補正を行わない場合は破線の特性Vi で示すよ
うに、カメラレンズを絞り込むに応じて画像信号の出力
レベルは当然に低減していくが、本発明によれば、実線
の特性CVi で示すように、出力レベルを絞り値にかか
わらず平坦・均一とできる。このような補正が撮像画像
の各部について行われるのですなわち明度のムラを除去
することができる。その結果画像認識に際して検出ミス
を防止してマーク検出の確実性・安定性を向上でき、補
修位置の検出を確実・安定に行えるようにすることがで
きる。As described above, since the lightness deviation is corrected for each of the three primary color video signals V R , V G , and V B taken by the color camera 4 for image recognition, the vehicle body B is corrected.
Even if there is illumination unevenness on the painted surface of, that is, the surface to be imaged,
As a captured image, the lightness can be adjusted to be flat and uniform without any deviation. For example, FIG. 6 is a graph showing the output level of the image signal with respect to the aperture value of the camera lens. The two characteristics V i and CV i shown in FIG. 6 are obtained by increasing / decreasing the aperture value in order to realize uneven illumination. It has gained. When the brightness deviation is not corrected, the output level of the image signal naturally decreases as the camera lens is narrowed down as indicated by the broken line characteristic V i. However, according to the present invention, the solid line characteristic CV As indicated by i , the output level can be flat and uniform regardless of the aperture value. Since such a correction is performed for each part of the captured image, it is possible to remove unevenness in brightness. As a result, it is possible to prevent detection errors during image recognition, improve the certainty and stability of mark detection, and reliably and stably detect the repair position.
【0024】[0024]
【発明の効果】以上詳細に説明したように、本発明に係
る車両塗装の補修位置検出方法およびその装置によれ
ば、画像認識のためカラーカメラで撮えた三原色信号の
おのおのにつき明度偏差が補正されるので、被撮像面に
照明ムラが生じていても、撮像画像としては明度が偏差
なく基準に平坦・均一に合せられることになり、明度の
ムラを除去することができる。その結果、画像認識にお
ける検出ミスを防止でき、マーク検出の確実性・安定性
を向上できる。As described in detail above, according to the vehicle painting repair position detecting method and apparatus according to the present invention, the lightness deviation is corrected for each of the three primary color signals taken by the color camera for image recognition. Therefore, even if illumination unevenness occurs on the surface to be imaged, the brightness of the captured image can be flatly and evenly adjusted to the reference without deviation, and the unevenness of brightness can be removed. As a result, it is possible to prevent a detection error in image recognition and improve the certainty and stability of mark detection.
【図1】本発明の一実施例を示す自動車製造ラインの平
面図である。FIG. 1 is a plan view of an automobile manufacturing line showing an embodiment of the present invention.
【図2】塗装補修ラインの制御系を示すブロック図であ
る。FIG. 2 is a block diagram showing a control system of a paint repair line.
【図3】マーク検出盤のブロック図である。FIG. 3 is a block diagram of a mark detection board.
【図4】明度偏差補正の演算ロジックを示すブロック図
である。FIG. 4 is a block diagram showing a calculation logic for brightness deviation correction.
【図5】図4に示す演算ロジックの動作を説明するフロ
ーチャートである。5 is a flowchart illustrating the operation of the arithmetic logic shown in FIG.
【図6】カメラレンズの絞り値に対する画像信号の出力
レベル特性を例示したグラフである。FIG. 6 is a graph illustrating an output level characteristic of an image signal with respect to an aperture value of a camera lens.
4 カラーカメラ 12,13,14 補修位置検出装置(マーク検出盤) 26,27,28 正規化変換手段(正規化演算部) 29,30,31 明度補正手段(色レベル補正演算
部) 32 明度補正手段(白レベル補正係数演算部) 33,34,35 明度補正手段(明度偏差補正演算
部) B 車両(車体) M カラーマーク(マーク) VR ,VG ,VB 三原色信号(ビデオ信号) SBR ,SBG ,SBB 基準値 KR ,KG ,KB ,K2 補正係数 SR ,SG ,SB 正規化信号4 Color camera 12, 13, 14 Repair position detection device (mark detection board) 26, 27, 28 Normalization conversion means (normalization calculation section) 29, 30, 31 Brightness correction means (color level correction calculation section) 32 Brightness correction means (white level correction coefficient calculating unit) 33, 34, 35 brightness correction means (brightness deviation correction calculation unit) B vehicle (vehicle body) M color mark (mark) V R, V G, V B three primary color signals (video signals) SB R , SB G , SB B reference values K R , K G , K B , K2 correction coefficients S R , S G , S B normalized signal
Claims (2)
その塗装面の補修位置に付されているカラーマークを画
像認識により自動的に検出する車両塗装の補修位置検出
方法において、 前記カラーカメラで撮らえた三原色信号のおのおのにつ
き、基準スケール上へ正規化変換し、色レベルおよび白
レベルに関して基準値を基に補正係数を求め、それらの
補正係数で正規化信号の明度偏差を補正する、 ことを特徴とする車両塗装の補修位置検出方法。1. An image of a painted surface of a vehicle is imaged by a color camera,
A method for detecting the repair position of a vehicle painting that automatically detects the color mark attached to the repair position on the painted surface by image recognition, wherein each of the three primary color signals taken by the color camera is normalized and converted to a reference scale. Then, a correction coefficient for the color level and the white level is obtained based on the reference values, and the lightness deviation of the normalized signal is corrected with these correction coefficients.
その塗装面の補修位置に付されているカラーマークを画
像認識により自動的に検出する車両塗装の補修位置検出
装置において、 前記カラーカメラで撮らえた三原色信号のおのおのにつ
き、基準スケール上へ正規化変換する正規化変換手段
と、 色レベルおよび白レベルに関して基準値を基に補正係数
を求め、それらの補正係数で正規化信号の明度偏差を補
正する明度補正手段と、 を備えたことを特徴とする車両塗装の補修位置検出装
置。2. An image of a painted surface of a vehicle is picked up by a color camera,
In a vehicle paint repair position detection device that automatically detects the color mark attached to the repair position on the painted surface by image recognition, for each of the three primary color signals taken by the color camera, normalization conversion to a reference scale is performed. And a brightness correction unit that calculates a correction coefficient for the color level and the white level based on the reference value and corrects the brightness deviation of the normalized signal with these correction coefficients. Vehicle paint repair position detection device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2266292A JP3053032B2 (en) | 1992-02-07 | 1992-02-07 | Method and apparatus for detecting repair position of vehicle coating |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2266292A JP3053032B2 (en) | 1992-02-07 | 1992-02-07 | Method and apparatus for detecting repair position of vehicle coating |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH05223522A true JPH05223522A (en) | 1993-08-31 |
JP3053032B2 JP3053032B2 (en) | 2000-06-19 |
Family
ID=12089062
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2266292A Expired - Fee Related JP3053032B2 (en) | 1992-02-07 | 1992-02-07 | Method and apparatus for detecting repair position of vehicle coating |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3053032B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010067223A (en) * | 2008-09-12 | 2010-03-25 | Canon Inc | Image processor, image processing method, and image processing program |
KR101271620B1 (en) * | 2010-12-31 | 2013-06-11 | 삼성중공업 주식회사 | Method of detecting painted surface and painting method using the same |
KR20180062212A (en) * | 2016-11-30 | 2018-06-08 | 주식회사 서연이화 | Color inspection system of car interior parts |
KR20210049509A (en) * | 2019-10-25 | 2021-05-06 | 박현덕 | Server for managing coating of bumper for as and integrated management method using it |
-
1992
- 1992-02-07 JP JP2266292A patent/JP3053032B2/en not_active Expired - Fee Related
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010067223A (en) * | 2008-09-12 | 2010-03-25 | Canon Inc | Image processor, image processing method, and image processing program |
US8737749B2 (en) | 2008-09-12 | 2014-05-27 | Canon Kabushiki Kaisha | Image processing apparatus, image processing method, and medium storing image processing program |
KR101271620B1 (en) * | 2010-12-31 | 2013-06-11 | 삼성중공업 주식회사 | Method of detecting painted surface and painting method using the same |
KR20180062212A (en) * | 2016-11-30 | 2018-06-08 | 주식회사 서연이화 | Color inspection system of car interior parts |
KR20210049509A (en) * | 2019-10-25 | 2021-05-06 | 박현덕 | Server for managing coating of bumper for as and integrated management method using it |
Also Published As
Publication number | Publication date |
---|---|
JP3053032B2 (en) | 2000-06-19 |
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