Spectroscopic inspection method, image processing apparatus, and robot system
View Patent ↗A spectroscopic inspection method is a spectroscopic inspection method of performing an inspection using a spectral image, including an imaging step of executing imaging processing of imaging an object within an imaging range of a spectral camera using the spectral camera and acquiring the spectral image, an inspection step of executing inspection processing of executing imaging processing on the spectral image and outputting a result of the image processing as an inspection result, a signal transmission step of executing transmission processing of transmitting a signal for operation of the object based on the inspection result, and a setting step of setting a work procedure of the imaging processing, the inspection processing, and the signal transmission processing, wherein the setting step sets the work procedure to execute the inspection step after the imaging step ends and execute the signal transmission step after the imaging step ends and before the inspection step ends.
1. A spectroscopic inspection method of performing an inspection using a spectral image of an object captured by a spectral camera, comprising:
an imaging step of imaging the object within an imaging range of the spectral camera using the spectral camera and acquiring the spectral image;
an inspection step of executing image processing on the spectral image and outputting a result of the image processing as an inspection result;
a signal transmission step of transmitting a signal for operation of the object based on the inspection result; and
a setting step of setting a work procedure of the imaging step, the inspection step, and the signal transmission step, wherein
the setting step sets the work procedure to execute the inspection step after the imaging step ends and execute the signal transmission step after the imaging step ends and before the inspection step ends.
2. The spectroscopic inspection method according to claim 1 , further comprising a teaching step of receiving teaching of reference spectral data used for the image processing in advance, wherein
the inspection step outputs a difference between the spectral image and the reference spectral data as the inspection result.
3. The spectroscopic inspection method according to claim 2 , wherein
the reference spectral data includes threshold values for respective wavelengths contained in the spectral image, and
the inspection step outputs a result of a judgement based on a sum of differences between spectral luminance and the threshold values for the respective wavelengths contained in the spectral image as the inspection result.
4. The spectroscopic inspection method according to claim 2 , wherein
the reference spectral data includes a plurality of wavelengths contained in a wavelength band of visible light.
5. The spectroscopic inspection method according to claim 2 , wherein
the image processing includes processing of creating a grayscale image from the spectral image and setting the image as a representative image.
6. The spectroscopic inspection method according to claim 5 , wherein
the image processing sets a predetermined coordinate system in the representative image and outputs a difference between a spectrum of a pixel in a position based on the coordinate system and the reference spectral data as the inspection result.
7. The spectroscopic inspection method according to claim 6 , wherein
the reference spectral data includes threshold values for respective wavelengths contained in the spectral image, and
the image processing extracts pixels having the spectra smaller than the threshold values as an extracted area, and outputs the extracted area based on the coordinate system of the representative image as the inspection result.
8. The spectroscopic inspection method according to claim 7 , wherein
the image processing outputs shape information of the extracted area as the inspection result.
9. An image processing apparatus that performs an inspection using a spectral image of an object captured by a spectral camera, comprising:
an imaging unit control part that executes imaging processing of imaging the object within an imaging range of the spectral camera using the spectral camera and acquiring the spectral image;
an inspection part that executes inspection processing of executing image processing on the spectral image and outputting a result of the image processing as an inspection result;
a communication unit that executes transmission processing of transmitting a signal for operation of the object based on the inspection result; and
a setting part of setting a work procedure of the imaging processing, the inspection processing, and the transmission processing, wherein
the setting part sets the work procedure to execute the inspection processing after the imaging processing ends and execute the transmission processing after the imaging processing ends and before the inspection processing ends.
10. A robot system comprising:
a robot;
the image processing apparatus according to claim 9 ; and
a control apparatus that controls the robot based on the inspection result of the image processing apparatus.