JP2010185741A - Method and apparatus for determining state of tire transfer and tire visual inspection system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately obtain the state of tire transfer in which a tire is not accurately mounted to a prescribed position of a second position, to prevent reductions in tire inspection accuracy and measurement accuracy, and to prevent damage to inspection cameras. <P>SOLUTION: In monitoring the state of tire transfer for transferring a tire 40 placed at a first position 21 over the second position 22 and mounting the tire 40 to the second position 22, one or more types of comparison images are compared with a reference image obtained by photographing the tire 40 placed in such a state that its equatorial plane 41 may be a horizontal plane before being gripped by a gripping device 10 to determine anomalies in the state of tire transfer in a method for determining the state of tire transfer. The comparison images are one or more types of comparison images obtained by photographing the tire 40 immediately before being gripped by the gripping device 10 and transferred, comparison images obtained by photographing the tire 40 in a state of being gripped by the gripping device 10 and transferred toward the second position 22; and comparison images obtaind by photographing the tire 40 mounted to the second position 22. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a tire conveyance state determination method capable of preventing the inspection accuracy and measurement accuracy of a tire from being lowered and the inspection camera from being damaged.

  A vulcanized tire (hereinafter referred to as a tire) after vulcanizing a raw tire (green tire) was conveyed to a first position located directly under a gripping device called a chuck device by a conveying means such as a belt conveyor device. Later, the gripping device grabs the tire installed at the first position and transports it to the second position, and installs the tire on the second position. The second position is, for example, an upper surface of a tire mounting table such as an inspection table that performs an appearance inspection of a tire or a measurement table that performs a uniformity measurement of the tire.

JP-A-6-305681 JP 2000-343918 A Japanese Patent Laid-Open No. 2006-300678

Inspecting the appearance of the tire and measuring the uniformity of the tire is carried out in a state where the tire is not installed at a predetermined position on the upper surface of the tire mounting table as the second position, with the equator plane and the horizontal plane in parallel. If this happens, the inspection accuracy and measurement accuracy will decrease. That is, in order to increase inspection accuracy and measurement accuracy, it is important that the tire is accurately installed at a predetermined position on the upper surface of the tire installation base.
Further, as shown in FIGS. 2A and 2B, in the appearance inspection of the tire 40, as a tire installation base in which an inner inspection camera mechanism 50 is installed on the inner side and an inspection hole 39 is formed on the upper surface 26. An inspection table 25 is used. Then, an inspection camera 51 and illumination outside the figure are placed inside the tire 40 installed on the inspection table 25 to examine the presence or absence of scratches on the tire inner surface 49. The tire 40 includes a wheel mounting hole 30 formed in a circular hole concentric with the center P of the tire 40 in order to mount the wheel on the tire 40. The tire 40 is installed on the inspection table 25 so that the hole edge 31 of the wheel mounting hole 30 is positioned inside the hole edge 38 of the inspection hole 39. Thereafter, the inspection camera 51 is inserted into the tire 40 from the outside of the tire 40 via the inspection hole 39 and the wheel mounting hole 30. An inner inspection camera mechanism 50 for taking the inspection camera 51 into and out of the tire 40 includes a vertical stretchable body 52 and a plurality of horizontal stretchable bodies 53 projecting in a horizontal direction from the vertical stretchable body 52 on the tip side of the vertical stretchable body 52. And an inspection camera 51 provided at the tip of each of the plurality of horizontal stretchable bodies 53. The inner inspection camera mechanism 50 is controlled by a control device (not shown). That is, the control device controls the upper and lower elastic bodies 52 to extend so that the plurality of horizontal elastic bodies 53 are positioned inside the tire 40, and then the plurality of horizontal elastic bodies 53 are extended. As a result, the inspection cameras 51 provided at the tips of the plurality of horizontal stretchable bodies 53 move to positions close to the back surface of the tread surface 42 of the tire 40, so the state of the back surface of the tread surface 42 is clear with the inspection camera 51. It is possible to take pictures and improve the inspection accuracy. In addition, the tire 40 installed on the inspection table 25 in order to inspect whether or not the appearance shape of the outer surface of the tire 40 installed on the inspection table 25 and the tread pattern shape of the tire 40 have a predetermined shape. The tire 40 is compared with a tire appearance master data image acquired in advance, and the appearance of the tire 40 is inspected. The inner inspection camera mechanism 50 is installed so that the center axis of the upper and lower telescopic body 52 coincides with the center O of the inspection hole 39, and the plurality of inspection cameras 51 are provided on the tire 40 for reasons such as the limit of downsizing the mechanism. When entering the inside, the inspection camera 51 passes through a position close to the hole edge 31 of the wheel mounting hole 30. Accordingly, when the tire 40 is not accurately installed at a predetermined position on the inspection table 25, the inspection camera 51 collides with the hole edge 31 of the wheel mounting hole 30 when entering the inside of the tire 40, and the inspection camera 51 may be damaged. For example, as shown in FIG. 3A, when the tire 40 is installed on the horizontal upper surface 26 of the inspection table 25, the center P of the tire 40 and the center O of the inspection hole 39 installed on the tire inspection table 25. When the inspection camera 51 is shifted, the inspection camera 51 may collide with the hole edge 31 of the wheel mounting hole 30 when entering the inside of the tire 40. Further, as shown in FIG. 3B, the upper surface 26 of the inspection table 25 is provided with an engagement circle 29 raised along the hole edge 38 of the inspection hole 39, and a tire 40 is provided on the engagement circle 29. When the tire 40 is installed on the inspection table 25 so that the bead portions 28 of the tire 40 are engaged with each other, if the center O of the inspection hole 39 and the center P of the tire 40 are shifted, the tire 40 is inclined and installed. When the inspection camera 51 enters the inside of the tire 40, it may collide with the hole edge 31 of the wheel mounting hole 30. Therefore, in order to prevent the inspection camera 51 from being damaged, it is important that the tire 40 is accurately installed at a predetermined position on the inspection table 25.
However, conventionally, it is impossible to grasp the tire conveyance situation in which the tire 40 is not accurately installed at the predetermined position of the second position 22, and the inspection accuracy and measurement accuracy are lowered, or the inspection camera 51 is damaged. The problem could not be resolved.
The present invention has been made in view of the above-described problems, and can accurately grasp a tire conveyance situation in which a tire is not accurately installed at a predetermined position of the second position, and the inspection accuracy and measurement accuracy of the tire are lowered. And to prevent damage to the inspection camera.

In the tire conveyance situation determination method according to the present invention, in the monitoring of the tire conveyance situation in which the tire placed at the first position is grasped by the grasping device and conveyed to the second position and installed at the second position, A tire conveyance situation determination method for comparing a reference image obtained by photographing a tire placed in a state where an equatorial plane is in a horizontal plane before being grasped by a grasping apparatus and one or more types of comparison target images to determine abnormality in the tire conveyance situation. The comparison target image is a comparison target image obtained by photographing a tire immediately before being grasped and conveyed by the grasping device, and a comparison obtained by photographing the tire in a state of being grasped by the grasping device and conveyed toward the second position. Since the target image is one or more of the comparison target images obtained by photographing the tire installed at the second position, the tire is accurately installed at the predetermined position of the second position. No tire transport situation can be accurately grasped, it is possible to prevent inspection damage accuracy and measurement accuracy falls possible and inspection cameras tire.
In the tire conveyance status determination device according to the present invention, in the monitoring of the tire conveyance status in which the tire placed at the first position is grasped by the grasping device and conveyed to the second position and installed at the second position, A tire conveyance situation determination device that compares a reference image obtained by photographing a tire placed in a state where an equatorial plane is in a horizontal plane before being grasped by a grasping apparatus and one or more comparison target images to determine abnormality in the tire conveyance situation. A reference image capturing camera for capturing a reference image, a comparison target image capturing camera for capturing a comparison target image, and a comparison determination unit. The comparison determination unit is immediately before being grasped and conveyed by the gripping device. A comparison target image obtained by photographing the tire, a comparison target image obtained by photographing the tire in a state where it is grasped by the gripping device and conveyed toward the second position, and the tire installed at the second position Since one or more types of comparison target images out of the shadowed comparison target images are compared with the reference image, the tire conveyance situation in which the tire is not accurately installed at the predetermined position of the second position can be accurately determined. It can be grasped, and the inspection accuracy and measurement accuracy of the tire can be lowered and the inspection camera can be prevented from being damaged.
Since the reference image and the comparison target image are tread images obtained by photographing the tread surface of the tire, the amount of rotation can be detected by determining the coincidence of the tread image pattern, and scratches can be detected in the tire appearance inspection. And dirt position can be specified.
After inspection by the tire conveyance status determination device and the tire conveyance status determination device, a tire appearance master data image acquired in advance separately from the reference image and the tire installed at the second position were photographed with a camera. Inspection for performing a tire appearance inspection for inspecting whether or not the appearance shape of the outer surface of the tire installed at the second position or the tread pattern shape of the tire is a predetermined shape as compared with the comparison target image By providing the apparatus, it is possible to reliably determine the conveyance failure, and thus it is possible to reliably prevent the determination that the appearance is defective even though the appearance is not defective.

The schematic diagram which shows the imaging | photography process of the tire by a tire conveyance condition determination apparatus (form 1). (A), (b) is a figure which shows operation | movement of the inner side inspection camera mechanism which image | photographs the inner side of a tire (conventional). (A) is a diagram showing a state in which the tire is installed on the examination table with the center of the examination table being shifted from the center of the tire, and (b) is an example where the tire is installed on the examination table inclining with respect to the upper surface of the examination table. The figure which shows the state made (conventional).

Form 1
In the tire conveyance status determination method according to the first embodiment, a tire placed in a horizontal state in which the equator plane is a horizontal plane at the first position is grasped by the grabbing device and conveyed to the second position. This is a method for judging abnormality of the tire conveyance situation by comparing a reference image obtained by photographing the tire placed at the first position and three or more types of comparison target images in monitoring the tire conveyance situation to be installed. The comparison target image is a second comparison target image obtained by photographing the tire immediately before being grasped and conveyed by the grasping device, and the first image obtained by photographing the tire in a state of being grasped by the grasping device and conveyed toward the second position. 3 comparison target images, and a first comparison target image obtained by photographing a tire installed at the second position are used.

As shown in FIG. 1, the tire conveyance status determination device 1 according to the first mode includes a reference image capturing camera 2, a first comparison target image capturing camera 3, a second comparison target image capturing camera 4, and a third comparison target image capturing camera 2. A comparison target image capturing camera 5, a control device 6, and a notification device 7 are provided. The control device 6 includes a comparison determination unit 8. The notification device 7 is, for example, an image display device or a sound output device.
The reference image photographing camera 2 is a camera for photographing the tread surface 42 of the tire 40 installed in a horizontal state, that is, in a state where the equator surface 41 and the horizontal plane are parallel before being grasped by the grasping device 10. .
The first comparison target image capturing camera 3 is a camera for capturing the tread surface 42 of the tire 40 installed at the second position 22. The second comparison target image capturing camera 4 is a camera for capturing the tread surface 42 of the tire 40 immediately after being gripped by the gripping device 10 and immediately before being transported by the gripping device 10. The third comparison target image capturing camera 5 is a camera for capturing the tread surface 42 of the tire 40 in a state where the third comparison target image capturing camera 5 is transported toward the second position 22 by the gripping device 10 after being gripped by the gripping device 10. is there. As shown in FIG. 1, when a camera is attached to the gripping device 10, one camera can be used as the comparison target image capturing camera 4; 5.
The gripping device 10 is a device called a chuck device, and has a gripping portion 12 for gripping a tire by hooking a claw provided at the tip of the arm 11 to the inner surface of the hole edge 31 of the wheel mounting hole 30, and the tip of the arm 11. There is a method including a grip portion 12 that grips the tire 40 by pressing the expansion and contraction body provided on the wheel mounting hole 30 to the hole edge 31. The gripping device 10 is configured to be able to reciprocate between a position directly above the first position 21 and a position directly above the second position 22 by the gripping device transfer means 13, and commands from a control device (not shown). Based on the above, the arm 11 is moved up and down, grasped, traveled, stopped, and so on. The gripping device transfer means 13 is a drive wheel, a chain transfer device, or the like.
The reference image is placed in the horizontal state at the first position 21 where the gripping device 10 grips the tire 40, and a specific part of the tread surface 42 of the tire 40 before being gripped by the gripping device 10 is photographed with a camera. Can be obtained. The reference image may be acquired on the upstream side of the first position 21 in the conveyance path for conveying the tire 40 to the first position 21.
The second position 22 is an upper surface 26 of an inspection table 25 as a tire installation table for performing an appearance inspection of the tire 40 and a uniformity measurement of the tire 40.
The reference image and the three types of comparison target images are output to the comparison determination unit 8.
The comparison determination unit 8 includes a computer and a comparison determination processing program that causes the computer to function as a comparison determination unit based on, for example, a pattern matching method.

The comparison target image capturing cameras 3; 4; 5 are accurately positioned at a predetermined position at the second position 22 without rotating around the center P of the tire 40 while the tire 40 remains horizontal from the first position 21. When installed, it is installed so that the same part of the tread surface 42 of the tire 40 can be photographed. Accordingly, when the tire 40 is accurately placed at the predetermined position of the second position 22 without rotating around the center P of the tire 40 while maintaining the horizontal state from the first position 21, the reference image is captured. The reference image photographed by the camera 2 and the three comparison object images photographed by the three comparison object image photographing cameras 3; 4; 5 are all the same image.
If the tire 40 installed at the second position 22 is not accurately installed at the predetermined position of the second position 22 or has been rotated from the state where it was installed at the first position 21, The first comparison target image captured by one comparison target image capturing camera 3 and the reference image are not the same tread image.
If the tire 40 immediately after being gripped by the gripping device 10 and immediately before being transported by the gripping device 10 is held in a tilted state or the gripping device 10 does not grip the tire 40, the second comparison target image The second comparison target image photographed by the photographing camera 4 and the reference image are not the same image.
When the tire 40 being transported toward the second position 22 by the gripping device 10 after being gripped by the gripping device 10 is gripped in an inclined state, or the tire 40 has fallen off from the gripping device 10 In this case, the third comparison target image captured by the third comparison target image capturing camera 5 and the reference image are not the same image.

Next, a tire conveyance status determination method by the tire conveyance status determination device 1 will be described.
First, when the control device 6 inputs a signal indicating “with tire” from a sensor (not shown) that detects the tire 40 installed at the first position 21, the tire has been conveyed to the first position 21. If recognized, the reference image capturing camera 2 is driven to cause the reference image capturing camera 2 to capture the reference image. After inputting the reference image from the reference image capturing camera 2, the control device 6 moves the arm 11 of the gripping device 10 downward, drives the gripping portion 12 to grip the tire 40 with the gripping portion 12, and then moves the arm 11 is moved upward.

The control device 6 inputs a signal indicating “with tire” from a sensor (not shown) that detects the tire 40 when the arm 11 of the gripping device 10 moves to the uppermost position just above the first position 21. When it is recognized that the gripping device 10 is gripping the tire 40, the second comparison target image capturing camera 4 is driven to cause the second comparison target image capturing camera 4 to capture a second comparison target image. The comparison determination unit 8 of the control device 6 inputs the second comparison target image from the second comparison target image capturing camera 4. The comparison determination unit 8 compares the second comparison target image and the reference image by a pattern matching method. For example, the comparison determination unit 8 first determines whether or not a tread pattern exists in the second comparison target image. This can be determined by image processing such as binarization processing. When the comparison determination unit 8 determines that the tread pattern does not exist in the second comparison target image, the comparison determination unit 8 recognizes that the gripping device 10 does not hold the tire 40.
Then, the comparison / determination means 8 outputs abnormality information indicating that fact to the notification device 7 to notify the operator or the supervisor and to the control device 6, whereby the control device 6 causes the gripping device 10 to be in the first state. Is returned to a position directly above position 21 (hereinafter referred to as abnormal processing).

  The comparison determination means 8 determines that a tread pattern exists in the second comparison target image, and determines that the tread pattern of the second comparison target image is inclined with respect to the tread pattern of the reference image. In this case, the reference image is tilted so that the inclination of the tread pattern of the reference image matches the inclination of the tread pattern of the second comparison target image, and in this case, how many times the reference image is inclined is calculated. Then, it is recognized how many times the tire 40 grasped by the grasping device 10 is inclined with respect to the horizontal plane. The comparison determination unit 8 compares the tilt angle of the reference image with the threshold angle, and if the tilt angle is equal to or greater than the threshold angle (tilt angle ≧ threshold angle), the gripping state by the gripping device 10 is determined. Judged to be abnormal. Then, an abnormality process is performed. Thereafter, the worker or the supervisor performs processing for correcting the gripping state of the tire by the gripping device 10 (hereinafter referred to as gripping state correction processing). As described above, the first comparison target image capturing camera 3 and the second comparison target image capturing camera 4 are provided, and the gripping device 10 is gripped by comparing the reference image and the second comparison target image. By providing the comparison determination means 8 for determining the inclination of the tire 40, it is possible to prevent the tire 40 from being transported while being tilted by the gripping device 10 and being accurately installed at the predetermined position of the second position 22. . That is, it is possible to accurately grasp the tire conveyance situation in which the tire 40 is not accurately installed at the predetermined position of the second position 22, and it is possible to prevent the inspection accuracy and measurement accuracy of the tire 40 from being lowered and the inspection camera 51 from being damaged. It becomes like this.

  When the tilt angle is smaller than the threshold angle (tilt angle <threshold angle), the control device 6 recognizes that the gripping state is normal and controls the gripping device transfer means 13 to control the gripping device. 10 is moved toward the second position 22. The control device 6 starts the movement of the gripping device 10 toward the second position 22 and then passes the predetermined time t until the gripping device 10 reaches just above the second position 22. The third comparison target image capturing camera 5 is driven at least once to cause the third comparison target image capturing camera 5 to capture the third comparison target image. The comparison determination unit 8 of the control device 6 inputs the third comparison target image from the third comparison target image capturing camera 5. The comparison determination means 8 determines whether or not a tread pattern is present in the third comparison target image. If it is determined that no tread pattern is present in the third comparison target image, the tire 40 is grasped. Recognize that the device 10 has been dropped. Then, the abnormality processing described above is performed.

  When it is determined that a tread pattern exists in the third comparison target image and it is determined that the tread pattern of the third comparison target image is inclined with respect to the tread pattern of the reference image, the reference In the same manner as described above by comparing the image with the third comparison target image, if the inclination angle is equal to or greater than the threshold angle, the abnormality processing and the gripping state correction processing described above are performed. In this manner, the first comparison target image capturing camera 3 and the third comparison target image capturing camera 5 are provided, and the reference device and the third comparison target image are compared to be grasped by the gripping device 10. By providing the comparison determination means 8 for determining the inclination of the tire 40 being conveyed, the tire 40 is conveyed in an inclined state by the gripping device 10 and cannot be accurately installed at the predetermined position of the second position 22. Can be prevented. That is, it is possible to accurately grasp the tire conveyance situation in which the tire 40 is not accurately installed at the predetermined position of the second position 22, and it is possible to prevent the inspection accuracy and measurement accuracy of the tire 40 from being lowered and the inspection camera 51 from being damaged. It becomes like this.

  The control device 6 recognizes that the gripping state is normal when the inclination angle <the threshold angle. Then, the control device 6 inputs a “present” signal indicating that the grip device 10 or the tire 40 has been detected from a sensor (not shown) that detects the grip device 10 or the tire 40 that has just reached the second position 22. When it is recognized that the tire 40 has been conveyed immediately above the second position 22, the arm 11 of the gripping device 10 is moved downward, the gripping portion 12 is driven, and the gripping portion 12 is moved to the tire 40. After releasing from the above, the arm 11 is moved upward.

  The control device 6 recognizes that the tire 40 is installed at the second position 22 by inputting a signal indicating “tired” from a sensor (not shown) that detects the tire 40 installed at the second position 22. In this case, the first comparison target image capturing camera 3 is driven to cause the first comparison target image capturing camera 3 to capture the first comparison target image. The comparison determination means 8 of the control device 6 inputs the first comparison target image from the first comparison target image photographing camera 3. The comparison determination unit 8 compares the reference image with the first comparison target image.

  At this time, as shown in FIG. 3A, when the tire 40 is installed on the horizontal upper surface 26 of the inspection table 25, the center P of the tire 40 installed on the inspection table 25 and the center O of the inspection hole 39 Is shifted, the position of the tread portion in the reference image is shifted from the position of the tread portion in the first comparison target image. Therefore, the comparison determination means 8 calculates the distance between the end of the tread surface 42 in the reference image and the end of the tread portion in the first comparison target image, and if this distance is greater than the threshold distance. Then, it is determined that the installation state is abnormal, and information indicating that is output to the notification device 7 to notify the worker or the supervisor. As a result, the worker or the supervisor accurately resets the tire at a predetermined position on the inspection table 25. At this time, the threshold distance is the distance between the center position of the inspection hole 39 when the inspection camera 51 comes into contact with the hole edge 31 of the wheel mounting hole 30 and the center position of the tire 40 installed on the inspection table 25. A deviation amount may be set.

  Further, as shown in FIG. 3B, when the tire 40 is installed on the inspection table 25 so that the bead portion 28 of the tire 40 is engaged with the engagement circle 29 of the inspection table 25, the inspection is performed. If the center O of the hole 39 deviates from the center P of the tire, the tire 40 is inclined and installed. Therefore, the comparison determination unit 8 compares the reference image and the first comparison target image, and determines that the installation state is abnormal if the inclination angle ≧ the threshold angle as described above, Information indicating this is output to the notification device 7 to notify the worker or the supervisor. As a result, the worker or the supervisor accurately re-installs the tire 40 at a predetermined position on the inspection table 25. In this case, the threshold angle may be set to the inclination angle of the tire 40 with respect to the horizontal plane when the inspection camera 51 comes into contact with the hole edge 31 of the wheel mounting hole 30.

  As described above, the reference image photographing camera 2 and the first comparison target image photographing camera 3 are provided, and the tire 40 is compared with the predetermined position at the second position 22 by comparing the reference image with the first comparison target image. By including the comparison determination means 8 for determining whether or not the tire 40 is correctly installed at the position, it is possible to accurately grasp the tire conveyance situation in which the tire 40 is not accurately installed at the predetermined position of the second position 22; The inspection accuracy and measurement accuracy of the tire 40 can be lowered and the inspection camera 51 can be prevented from being damaged.

  As a result of comparing the reference image and the first comparison target image, the comparison determination unit 8 determines whether the tire 40 is rotating when it is determined that the installation state is not abnormal. Positions such as scratches and dirt detected in the appearance inspection are specified based on, for example, the position of a barcode representing information on the tire 40. The positions of the inner inspection camera that inspects the inside of the tire 40 and the outer inspection camera that inspects the outside of the tire 40 are provided in the bead portion 28 and the sidewall portion 35 of the tire 40 that are accurately installed at the second position 22. The position of the bar code is provided as a reference position, and if this reference position does not change, the position of scratches or dirt in the image taken by the camera can be specified from the relationship between the reference position and the camera position. However, when the tire 40 installed at the second position 22 rotates around the center P of the tire 40 from the state installed at the first position 21, the position of the barcode has changed. Therefore, it becomes impossible to specify the position of the scratch or dirt detected in the appearance inspection. Therefore, in order to specify the position of the scratch or dirt, it is necessary to calculate the rotation amount and correct the position of the scratch or dirt.

In this case, the comparison determination unit 8 compares the reference image with the first comparison target image to determine the installation state abnormality and determines that there is no installation state abnormality, and subsequently performs the tire rotation presence / absence determination. If the comparison determination means 8 determines that there is tire rotation, the tread portion pattern in the reference image does not match the tread portion pattern in the first comparison target image, so the first comparison is performed by image processing. The target image is rotated to match the pattern of the tread portion in the reference image with the pattern of the tread portion in the first comparison target image, and the rotation angle of the first comparison target image until they match is calculated. The comparison / determination unit 8 can calculate the position of the scratch or dirt on the basis of the barcode position by correcting the position of the scratch or dirt recognized by the inspection camera 51 by the rotation angle. Therefore, even when the tire 40 installed at the second position 22 rotates around the center P of the tire 40 from the state installed at the first position 21, the scratch and dirt positions are output. The operator can easily find the position of scratches and dirt.
That is, by determining the match of the tread image pattern, the amount of rotation can be detected, and the position of scratches and dirt can be specified in the appearance inspection of the tire.

  According to the first aspect, the reference image obtained by photographing the tire 40 in which the equatorial plane 41 is placed in a horizontal plane at the first position 21 is compared with one or more types of comparison target images, and the reference image and the comparison target image are compared. If the tires 40 do not coincide with each other, the gripping device 10 may occur from the state where the tire 40 is placed at the first position 21 to the state where the tire 40 is gripped and conveyed by the gripping device 10 and is installed at the second position 22. It is possible to determine an abnormality in the gripping state of the tire 40 by the tire, an abnormality in the conveyance state of the tire by the gripping device 10, and an abnormality in the installation state of the tire 40 installed at the second position 22. Thus, it is possible to accurately grasp the tire conveyance situation that is not installed in the tire, and it is possible to prevent the inspection accuracy and measurement accuracy of the tire 40 from being lowered and the inspection camera 51 from being damaged.

  According to the first aspect, since the reference image and the comparison target image are images obtained by photographing the tread surface 42 of the tire 40, it is possible to specify a scratch or a dirt position in the appearance inspection of the tire 40.

  In addition, it is sufficient that at least one or more of the above-described gripping state abnormality, conveyance state abnormality, and installation state abnormality can be determined. The details will be described below.

Form 2
A reference image obtained by photographing the tire 40 placed at the first position 21 with a camera and a comparison target image obtained by photographing the tire 40 placed at the second position 22 with a camera are compared with each other. When the tires 40 do not coincide with each other, it may be determined that the tire 40 is not properly installed in the normal state at the second position 22 as an abnormal installation state. That is, the reference image capturing camera 2 for capturing the tire 40 placed at the first position 21, the comparison target image capturing camera 3 for capturing the tire 40 disposed at the second position 22, and the reference image and the comparison target. The tire conveyance state determination device 1 may be configured to include the comparison determination unit 8 that determines that the installation state is abnormal when the images do not match.

Form 3
A reference image obtained by photographing the tire 40 placed at the first position 21 with a camera and a comparison target image obtained by photographing the tire 40 immediately before being grasped and transported by the grasping device 10 are compared with the reference image and the comparison target. If the image does not match, it may be determined that the gripping state is abnormal. That is, the reference image capturing camera 2 that captures the tire 40 placed at the first position 21, the comparison target image capturing camera 4 that captures the tire immediately before being transported by the gripping device 10, and the reference image are compared. The tire conveyance state determination device 1 may include a comparison determination unit 8 that determines that the gripping device 10 is abnormal in the gripping state when the target image does not match.

Form 4
A reference image obtained by photographing the tire 40 placed at the first position 21 with a camera is compared with a comparison target image obtained by photographing the tire being grasped by the grasping device 10 and being conveyed with the camera, and a reference image and a comparison target image are obtained. If they do not match, it may be determined that the conveyance state is abnormal. That is, the reference image capturing camera 2 that captures the tire 40 placed at the first position 21, the comparison target image capturing camera 5 that captures the tire being gripped by the gripping device 10, and the reference image and the comparison target image. The tire conveyance status determination device 1 may be configured to include the comparison determination unit 8 that determines that the conveyance state is abnormal when the two do not match.

Form 5
If only the inclination and the shift are determined, the outer shape image of the tire 40 may be pattern-matched instead of the pattern matching of the tread image.

Form 6
The method and apparatus which combined form 2 and form 3, the method and apparatus which combined form 2 and form 4, and the method and apparatus which combined form 3 and form 4 may be sufficient.

  A tire appearance master data image acquired in advance separately from the reference image after the inspection by the tire conveyance status determination device 1 according to any one of the first to sixth aspects and the tire conveyance status determination device 1 and the second Compared with the comparison target image obtained by photographing the tire 40 installed at the position 22 with the camera, the outer shape of the outer surface of the tire 40 installed at the second position 22 and the tread pattern shape of the tire 40 are a predetermined shape. By constructing a tire appearance inspection system including an inspection device for inspecting whether or not the tire is inspected, the following effects can be obtained. That is, in the conventional tire appearance inspection system that does not include the tire conveyance status determination device 1, even if the tire 40 installed at the second position 22 is tilted, the tire image and the tire appearance master imaged in the tilted state are captured. When the tire image and the tire appearance master data image are inconsistent because the data image is compared, whether the tire 40 is caused by the appearance defect that the appearance shape or pattern shape of the tire 40 is not a predetermined shape. It could not be understood whether the cause of the conveyance failure due to the fact that 40 is inclined and conveyed. Therefore, it may be determined that the external appearance is poor even though the external appearance is not defective. On the other hand, according to the tire appearance inspection system incorporating the tire conveyance status determination device 1 as in the present invention, since it is possible to reliably determine the conveyance failure, The effect that it can prevent reliably that it is judged that it is inferior is acquired.

  The tire conveyance status determination method and the tire conveyance status determination device of the present invention can also be introduced into a uniformity measurement system.

1 tire conveyance status judging device, 2 reference image taking camera,
3, 4, 5 comparison target image capturing camera, 8 comparison determination means, 10 gripping device,
21 first position, 22 second position, 40 tires, 41 equatorial plane,
42 Tread surface.

Claims (4)

  In the monitoring of the tire conveyance situation in which the tire placed in the first position is grasped with the grasping device and conveyed to the second position and installed at the second position, the equator plane is leveled before being grasped by the grasping device. A tire conveyance situation determination method for comparing a reference image obtained by photographing a tire placed in a state to be in comparison with one or more types of comparison target images to determine abnormality in the tire conveyance situation, wherein the comparison target image is a gripping device The comparison target image obtained by photographing the tire immediately before being transported by the grip, the comparison target image capturing the tire in the state of being gripped by the gripping device and transported toward the second position, and installed at the second position One or more types of comparison target images obtained by photographing tires.   In the monitoring of the tire conveyance situation in which the tire placed in the first position is grasped with the grasping device and conveyed to the second position and installed at the second position, the equator plane is leveled before being grasped by the grasping device. A tire conveyance situation determination device that compares a reference image obtained by photographing a tire placed in a state to be compared with one or more comparison target images to determine abnormality in the tire conveyance situation, and is a reference image for photographing a reference image A comparison target image photographing camera that captures a comparison target image and a comparison determination unit. The comparison determination unit is a comparison target image obtained by capturing a tire immediately before being grasped and conveyed by the grasping device. One or more of a comparison target image obtained by photographing the tire in a state where it is grabbed and conveyed toward the second position, and a comparison target image obtained by photographing the tire installed at the second position. Tire conveyance status determination apparatus characterized by comparing the comparison image with the reference image.   The tire conveyance state determination device according to claim 2, wherein the reference image and the comparison target image are tread images obtained by photographing a tread surface of a tire.   The tire appearance master data image acquired in advance separately from the reference image and the second position after the inspection by the tire conveyance status determination device according to claim 2 or claim 3 and the tire conveyance status determination device. Comparing the installed tire with the comparison target image taken by the camera, it is determined whether the outer shape of the outer surface of the tire installed at the second position and the tread pattern shape of the tire are a predetermined shape. A tire appearance inspection system comprising: an inspection device for inspecting a tire appearance for inspection.

Images