CN108745942A - A kind of detection method and device for product appearance - Google Patents
A kind of detection method and device for product appearance Download PDFInfo
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- CN108745942A CN108745942A CN201810394348.1A CN201810394348A CN108745942A CN 108745942 A CN108745942 A CN 108745942A CN 201810394348 A CN201810394348 A CN 201810394348A CN 108745942 A CN108745942 A CN 108745942A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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Abstract
The invention discloses a kind of detection method and device for product appearance, wherein method includes：Control locating module positions product, obtains the location information of the product；Based on the location information, control robot picks up the product, and the product is moved in the detection range of detection module；The detection module is controlled to be detected multiple surfaces of the product；Testing result based on acquisition controls the robot and the product is put into corresponding rewinding disk.Public affairs of the present invention solve to be used for the detection method of product appearance that there are Detection accuracies is low in the prior art, detection efficiency is low, detects incomplete technical problem, realizes raising Detection accuracy, detection efficiency is improved, and the technique effect of complete detection can be carried out to product appearance.
Description
Technical field
The present invention relates to manufacturing technology field more particularly to a kind of detection method and device for product appearance.
Background technology
With the development of manufacturing technology, China has become manufacturing power, nowadays, arrives aircraft, steamer greatly, small to arrive electronics core
Piece, we can manufacture.The product produced generally requires, by Multi-channel detection program, could finally dispatch from the factory, and becomes qualified
Product.Wherein, it is the detection of product appearance to have an important detection project.
It is presently used for the detection method of product appearance, present situation is：
(1) the judge mode of bad order is difficult to standardize, and often by artificial judgment, destabilizing factor is more, completes this
Work employee have to pass through training, it is very familiar to product, experienced, exist survey accuracy rate it is relatively low, detection efficiency compared with
It is low, the higher problem of testing cost.
(2) since bad order may betide each surface of product, and existing automatic detection scheme is mostly special dress
It is standby, it is detected only for some distinctive face, complete detection cannot be carried out to all surface of product, existing can not be to product
The problem of carrying out complete detection.
To sum up, currently used for the detection method of product appearance, there is that Detection accuracy is low, and detection efficiency is low mostly, detection
Incomplete technical problem.
Invention content
The embodiment of the present application solves in the prior art by providing a kind of detection method and device for product appearance
For the detection method of product appearance, that there are Detection accuracies is low, and detection efficiency is low, detects incomplete technical problem, realizes
Detection accuracy is improved, improves detection efficiency, and the technique effect of complete detection can be carried out to product appearance.
In a first aspect, the application is provided the following technical solutions by the embodiment of the application：
A kind of detection method for product appearance, including：
Control locating module positions product, obtains the location information of the product；
Based on the location information, control robot picks up the product, and the product is moved to detection module
In detection range；
The detection module is controlled to be detected multiple surfaces of the product；
Testing result based on acquisition controls the robot and the product is put into corresponding rewinding disk.
Preferably, the control locating module positions product, obtains the location information of the product, including：
It controls the first image acquisition units being arranged on the locating module and image is carried out to the product in the disk that feeds intake
Acquisition, and the product is positioned based on the image information of acquisition, obtain the location information of the product.
Preferably, the control robot picks up the product, including：
By the way that the suction nozzle in the robot is arranged, the product is drawn；Or
By the way that the clamping jaw in the robot is arranged, the product is captured.
Preferably, described that the product is moved in the detection range of detection module, including：
It controls the robot product is moved in the detection range of first detection module, wherein described first
Detection module is for being detected one of described product or multiple first faces；And
It controls the robot to be moved to the product in the detection range of the second detection module, wherein described second
Detection module is used to be detected other one or more second faces of the product.
Preferably, the control detection module is detected multiple surfaces of the product, including：
The first detection module is controlled to be detected one of described product or multiple first faces；
If the first detection module detects that each face of the product is qualified, second detection module pair is controlled
Other one or more second faces of the product are detected.
Preferably, the testing result based on acquisition controls the robot and the product is put into corresponding rewinding
In disk, including：
If the first detection module detects that each face of the product is qualified, the robot is controlled by the production
Product are put into the first rewinding disk；If the first detection module detects that at least one of which face of the product is unqualified,
It controls the robot product is put into the second rewinding disk；
If second detection module detects that each face of the product is qualified, the product is stayed in described first
In rewinding disk；If second detection module detects that at least one of which face of the product is unqualified, the machine is controlled
The product is transferred to from the first rewinding disk in third rewinding disk by device people.
Preferably, the method further includes：
When piling product in the first rewinding disk, control rewinding module will change the first rewinding disk and move down,
And rewinding disk management module is controlled to the empty rewinding disk of rewinding module transmission, to supplement the first rewinding disk；
When piling product in the third rewinding disk, control rewinding module moves down the third rewinding disk, and
Rewinding disk management module is controlled to the empty rewinding disk of rewinding module transmission, to supplement the third rewinding disk.
Preferably, the method further includes：
When the quantity for the first rewinding disk for piling product is more than the first numerical value, control output module output the first prompt letter
Breath, to prompt staff to take the first rewinding disk and product therein away；
When piling product in the second rewinding disk, control output module exports the second prompt message, to prompt work
Personnel take the second rewinding disk and product therein away；
When the quantity for the third rewinding disk for piling product is more than third value, control output module output third prompt letter
Breath, to prompt staff to take third rewinding disk and product therein away.
Preferably, the method further includes：
It controls air-purifying module and air purification is carried out to the environment where the product.
Second aspect, the application are provided the following technical solutions by the embodiment of the application：
A kind of detection device for product appearance, including：
First control unit positions product for controlling locating module, obtains the location information of the product；
Second control unit, for being based on the location information, control robot picks up the product, and by the product
It is moved in the detection range of detection module；
Third control unit is detected multiple surfaces of the product for controlling the detection module；
4th control unit is used for the testing result based on acquisition, controls the robot and the product is put into correspondence
Rewinding disk in.
Preferably, first control unit, is specifically used for：
Control is arranged the image acquisition units on the locating module and carries out Image Acquisition to the product in the disk that feeds intake,
And the product is positioned based on the image information of acquisition, obtain the location information of the product.
Preferably, second control unit, is specifically used for：
By the way that the suction nozzle in the robot is arranged, the product is drawn；Or
By the way that the clamping jaw in the robot is arranged, the product is captured.
Preferably, second control unit, is specifically used for：
It controls the robot product is moved in the detection range of first detection module, wherein described first
Detection module is for being detected one of described product or multiple first faces；And the control robot will be described
Product is moved in the detection range of the second detection module, wherein second detection module be used for the product other
One or more second faces are detected.
Preferably, the third control unit, is specifically used for：
The first detection module is controlled to be detected one of described product or multiple first faces；If described
One detection module detects that each face of the product is qualified, then control second detection module to the product other one
A or multiple second faces are detected.
Preferably, the 4th control unit, is specifically used for：
If the first detection module detects that each face of the product is qualified, the robot is controlled by the production
Product are put into the first rewinding disk；If the first detection module detects that at least one of which face of the product is unqualified,
It controls the robot product is put into the second rewinding disk；
If second detection module detects that each face of the product is qualified, the product is stayed in described first
In rewinding disk；If second detection module detects that at least one of which face of the product is unqualified, the machine is controlled
The product is transferred to from the first rewinding disk in third rewinding disk by device people.
Preferably, described device further includes：
5th control unit, when for piling product in the first rewinding disk, control rewinding module will change described the
One rewinding disk moves down, and controls rewinding disk management module to the empty rewinding disk of rewinding module transmission, with to described the
One rewinding disk is supplemented；When piling product in the third rewinding disk, control rewinding module by the third rewinding disk to
Lower movement, and control rewinding disk management module to the empty rewinding disk of rewinding module transmission, with to the third rewinding disk into
Row supplement.
Preferably, described device further includes：
6th control unit, when being more than the first numerical value for the quantity in the first rewinding disk for piling product, control output
Module exports the first prompt message, to prompt staff to take the first rewinding disk and product therein away；It is received described second
When piling product in charging tray, control output module export the second prompt message, with prompt staff take away the second rewinding disk with
And product therein；When the quantity for the third rewinding disk for piling product is more than third value, control output module exports third
Prompt message, to prompt staff to take third rewinding disk and product therein away.
Preferably, described device further includes：
7th control unit carries out air purification for controlling air-purifying module to the environment where the product.
The third aspect, the application are provided the following technical solutions by the embodiment of the application：
A kind of detection device for product appearance, including memory, processor and storage on a memory and can located
The computer program run on reason device, the processor realize following steps when executing the computer program：
Control locating module positions product, obtains the location information of the product；Based on the location information, control
Robot processed picks up the product, and the product is moved in the detection range of detection module；Control the detection module
Multiple surfaces of the product are detected；Testing result based on acquisition controls the robot and is put into the product
In corresponding rewinding disk.
Fourth aspect, the application are provided the following technical solutions by the embodiment of the application：
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Following steps are realized when row：
Control locating module positions product, obtains the location information of the product；Based on the location information, control
Robot processed picks up the product, and the product is moved in the detection range of detection module；Control the detection module
Multiple surfaces of the product are detected；Testing result based on acquisition controls the robot and is put into the product
In corresponding rewinding disk.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages：
In the embodiment of the present application, a kind of detection method for product appearance is disclosed, including：Control locating module pair
Product is positioned, and the location information of the product is obtained；Based on the location information, control robot picks up the product,
And the product is moved in the detection range of detection module；Control the detection module to multiple surfaces of the product into
Row detection；Testing result based on acquisition controls the robot and the product is put into corresponding rewinding disk.Due to utilizing
Locating module, robot and detection module are detected product appearance, compared to traditional manual detection mode, the present embodiment
Detection accuracy can be improved, detection efficiency is improved, meanwhile, and multiple surfaces of product can be detected, it realizes to production
The complete detection of product is used for the detection method of product appearance that there are Detection accuracies is low in the prior art so efficiently solving,
Detection efficiency is low, detects incomplete technical problem, realizes raising Detection accuracy, improves detection efficiency, and can be to production
Product appearance carries out the technique effect of complete detection.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of stereogram of detection device for product appearance in the embodiment of the present application；
Fig. 2 is that a kind of detection device (remove safety door frame 20) for product appearance is afterwards in the embodiment of the present application)
Explosive view；
Fig. 3 is a kind of flow chart of detection method for product appearance in the embodiment of the present application；
Fig. 4 is a kind of structure chart of detection device for product appearance in the embodiment of the present application；
Fig. 5 is a kind of structure chart of detection device for product appearance in the embodiment of the present application；
Fig. 6 is a kind of structure chart of computer readable storage medium in the embodiment of the present application.
Specific implementation mode
The embodiment of the present application solves in the prior art by providing a kind of detection method and device for product appearance
For the detection method of product appearance, that there are Detection accuracies is low, and detection efficiency is low, detects incomplete technical problem, realizes
Detection accuracy is improved, improves detection efficiency, and the technique effect of complete detection can be carried out to product appearance.
The technical solution of the embodiment of the present application is in order to solve the above technical problems, general thought is as follows：
A kind of detection method for product appearance, including：Control locating module positions product, obtains the production
The location information of product；Based on the location information, control robot picks up the product, and the product is moved to detection mould
In the detection range of block；The detection module is controlled to be detected multiple surfaces of the product；Detection knot based on acquisition
Fruit controls the robot and the product is put into corresponding rewinding disk.Due to utilizing locating module, robot and detection mould
Block is detected product appearance, and compared to traditional manual detection mode, the present embodiment can improve Detection accuracy, improves
Detection efficiency, meanwhile, and multiple surfaces of product can be detected, the complete detection to product is realized, so effectively solution
It has determined and has been used for the detection method of product appearance in the prior art that there are Detection accuracies is low, detection efficiency is low, and detection is incomplete
Technical problem realizes raising Detection accuracy, improves detection efficiency, and the technology of complete detection can be carried out to product appearance
Effect.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
Embodiment one
A kind of detection method for product appearance is present embodiments provided, can be applied to a kind of for product appearance
Detection device in, as shown in Figure 1 and Figure 2, the equipment include cabinet 10, be arranged in cabinet 10 (i.e.：Cabinet 10 and its safety
In space between door frame 20) locating module 21 and detection module (it includes：Second detection module 23 and first detects mould
Block 24) and the robot 22 that is arranged in cabinet 10, meanwhile, which further includes that (setting of industrial personal computer 40 exists an industrial personal computer 40
Side of cabinet), it is connect with locating module 21, detection module and robot 22, the detection method for product appearance is specific
Can completion be executed by the industrial personal computer 40.
As shown in figure 3, the detection method for product appearance, including：
Step S301：Control locating module 21 positions product, obtains the location information of product；
Step S302：Based on location information, control robot 22 picks up product, and product is moved to the inspection of detection module
It surveys in range；
Step S303：Control detection module is detected multiple surfaces of product；
Step S304：Product is put into corresponding rewinding disk by the testing result based on acquisition, control robot 22.
As a kind of optional embodiment, step S301, including：
The first image acquisition units 211 being arranged on locating module 21 are controlled to adopt product progress image in the disk that feeds intake
Collection, and the image information based on acquisition positions product, obtains the location information of product.
In specific implementation process, this method is for being detected the appearance of product, wherein the product can be：Disappear
Take class of electronic devices (such as：Smart mobile phone, tablet computer, music/video player, digital camera, etc.), chip, part
(such as：Camera module), etc., it is specifically which kind of product for the product, the present embodiment is not specifically limited.
In specific implementation process, setting one it can feed intake disk management module 25 in the cabinet 10, the disk management mould that feeds intake
Block 25 includes one point of disc mechanism and a transport mechanism, this, which divides in disc mechanism, can store multiple disks that feed intake, to be checked for holding
The product (can hold one or more products in the disk that each feeds intake) of survey, these disks that feed intake are stacked successively under upper, can be with
Save space.When being detected to product appearance, the disk management module 25 that feeds intake can be started, and control and divide disc mechanism from most bottom
Layer extracts the disk that feeds intake, then control transport mechanism the disk that feeds intake is sent in the orientation range of locating module 21 (such as：The
One image acquisition units, 211 face region) so that locating module 21 can position the product in the disk that feeds intake.Its
In, using transport mechanism transmission feed intake disk when, the disk that can will specifically feed intake first with feed belt is sent to locating module 21
Near, recycle cylinder to clamp the disk that feeds intake, and under the driving of servo motor, the disk that feeds intake is dragged to the positioning model of locating module 21
In enclosing.
In specific implementation process, be provided on locating module 21 first image acquisition units 211 (such as：Monocular is taken the photograph
As head or more mesh cameras), in the working range that the disk that feeds intake is sent to locating module 21 after, the first Image Acquisition can be controlled
To feeding intake, the progress of the product in disk is one or many to take pictures unit 211, and carries out image recognition to the picture of acquisition, identifies one
The placement position of a or multiple products obtains the location information of one or more products in the disk that feeds intake.Also, due in the disk that feeds intake
Product can constantly be taken away by robot 22, the position of remaining product may change in the disk that feeds intake, therefore, best
After robot 22 takes a product away every time, all controls locating module 21 and again the product in the disk that feeds intake once determine
Position.
As a kind of optional embodiment, the control robot 22 picks up product, including：By being arranged in robot 22
On suction nozzle, draw product.
In specific implementation process, robot 22 has a robotic arm, can move freely, and in robotic arm
Front end is provided with suction nozzle, can control robot 22 and draw any product to feed intake in disk by the suction nozzle, and product is driven to move
It is dynamic.It is of course also possible to consider other pickup products mode (such as：Product is captured by clamping jaw), the present embodiment is for other
Mode is not specifically limited.
It is described to be moved to product in the detection range of detection module 21 as a kind of optional embodiment, including：
Product is moved in the detection range of first detection module 24 by control robot 22, wherein first detection module
24 for one of product or multiple faces (i.e.：First face) it is detected；And control robot 22 moves product
To the detection range of the second detection module 23, wherein the second detection module 23 is used for other one or more faces to product
(i.e.：Second face) it is detected.
Below by taking the side of product is in the one or more faces to be detected of first detection module 24 as an example, then the second detection
Module 23 then detects the front of product.
In specific implementation process, 24 position of first detection module is fixed, and it includes 241 (examples of the second image acquisition units
Such as：Monocular cam or more mesh cameras), Image Acquisition is carried out for one or more sides to product, to product
When side is detected, need to control focal position (coke that product is moved to the second image acquisition units 241 by robot 22
Point position is the detection range of first detection module 21).
In specific implementation process, first passes through first detection module 24 and one or more sides of product is detected,
If each side is qualified, controls robot 22 and be put into product in the first rewinding disk 261 (in the first rewinding disk 261 as
The detection range of second detection module 23), wait for positive detection.
As a kind of optional embodiment, step S303, including：
First control first detection module 24 is detected one or more sides of product；If each side of product is examined
It is all qualified to survey, then controls the second detection module 23 and be detected to one or more fronts of product.
In specific implementation process, when being detected to product side, robot can be controlled according to the shape of product
22 multiple rotary products so that each side can be collected by the second image acquisition units 241 of first detection module 24
Image.
In specific implementation process, first passes through first detection module 24 and one or more sides of product is detected,
If each side detection is qualified, controls robot 22 and product is put into the first rewinding disk 261, and controls the second detection mould
Block 23 is detected one or more fronts of product, wherein the front of product is the face (letter that robot 22 draws product
Claim：Absorption face), when product is put into the first rewinding disk 261 by robot 22, the absorption is face-up.Meanwhile second detects mould
23 are located at 261 top of the first rewinding disk, and have tri- axis servo motor of third image acquisition units 231 and XYZ, and tri- axis of XYZ is watched
Taking motor can drive third image acquisition units 231 to be moved freely in three dimensions, to be directed at the front of product.
In specific implementation process, in image information (or the second detection module 23 obtained based on first detection module 24
The image information of acquisition) when being detected to the side of product (or front), machine learning and machine vision algorithm may be used
In conjunction with mode, compared to traditional manual detection mode, the detection method examination criteria in the present embodiment is consistent, and detection is accurate
Rate higher, detection speed faster, detection efficiency higher.
In the present embodiment, it is based on the second detection mould 23 and first detection module 24, it can be to the one or more of product
Front and one or more sides are detected, in this way, the technique effect for carrying out complete detection to product is realized, to solve
The detection method for being used for product appearance in the prior art exists and detects incomplete technical problem.
In specific implementation process, it is put into the first rewinding disk 261 by the product for completing side detection in robot 22
After (or in second rewinding disk 262), you can next product is drawn in the continuation of control robot 22 from the disk that feeds intake, and by the product
It is moved in the detection range of first detection module 21, to continue positive detection.
As a kind of optional embodiment, step S304, including：
If first detection module 24 detects that each side detection of product is qualified, controls robot 22 and be put into product
In first rewinding disk 261；If first detection module 24 detects that at least one side detection of product is unqualified, machine is controlled
Product is put into the second rewinding disk 262 by people 22；If the front detection of product is qualified, product is stayed in into the first rewinding disk 261
In；If the front detection of product is unqualified, controls robot 22 and product is transferred to third rewinding disk from the first rewinding disk 261
In 263.
In specific implementation process, as described above, the detection of product side is first carried out, if side detection is all qualified,
Product is put into the first rewinding disk 261 by control robot 22, if the detection of at least one side is unqualified, controls robot
22 are put into product in the second rewinding disk 262.Wherein, the product in the first rewinding disk 261 needs further to carry out positive detection,
And the product in the second rewinding disk 262 is generally the failure product of unrepairable.
In specific implementation process, when carrying out front detection to the product in the first rewinding disk 261, if front detection is closed
Lattice then stay in product in the first rewinding disk 261, if front detection is unqualified, control robot 22 by transferred product to the
In three rewinding disks 263, wherein the product in third rewinding disk 263 is generally recoverable product.And it is possible to control machine
People 22 does not conform to after detection qualified product in next side is put into the first rewinding disk 261, then by previous front detection
In the transferred product of lattice to third rewinding disk 263, in this way, the working efficiency higher of robot 22.
In specific implementation process, the first rewinding disk 261, the shape of the second rewinding disk 262 and third rewinding disk 263, ruler
Very little all same, difference lies in respective operating position difference, the product for containing different testing results.
In the present embodiment, (i.e. using locating module 21, robot 22 and detection module：First detection 24 and the second inspection
Survey module 23) product appearance is detected, compared to traditional manual detection mode, it is accurate that the present embodiment can improve detection
Rate improves detection efficiency.
Also, in the present embodiment, (it includes for locating module 21, detection module：First detection module 24 and second detects
Module 23), robot 22 can work at the same time, do not interfere with each other, therefore the detection efficiency of product appearance can be promoted.
As a kind of optional embodiment, the detection method for product appearance further includes：
When piling product in the first rewinding disk 261, control rewinding module 26 will change the first rewinding disk 261 and move down,
And the rewinding disk that rewinding disk management module 27 has been transmitted to rewinding module 26 is controlled, to supplement the first rewinding disk 261；
When piling product in third rewinding disk 263, control rewinding module 26 moves down third rewinding disk 263, and
The rewinding disk that control rewinding disk management module 27 has been transmitted to rewinding module 26, to supplement third rewinding disk 263.
It is placed side by side in rewinding module 26 to have the first rewinding disk 261, third rewinding disk 263 in specific implementation process
With the second rewinding disk 262, and, when the first currently used rewinding disk 261 piles product, the first rewinding disk can be controlled
261 move down certain distance, it is therefore an objective to upper space are reserved, to place the of the sky come by the supplement of rewinding disk management module 27
One rewinding disk 261 similarly when currently used third rewinding disk 263 piles product, can control the third rewinding disk
263 move down certain distance, it is therefore an objective to upper space are reserved, to place the of the sky come by the supplement of rewinding disk management module 27
Three rewinding disks 263.
In specific implementation process, in robot 22 to the first rewinding disk 261, the second rewinding disk 262 and third rewinding disk
When 263 dispensing product, the product quantity in each rewinding disk can be counted, the product quantity in a certain rewinding disk reaches
When to a preset value, then it is assumed that the rewinding disk piles product.
In specific implementation process, since the disqualification rate of side detection is relatively low (usually less than 2%), it can only be arranged one
A second rewinding disk 262, when piling product in the second rewinding disk 262, the second rewinding disk for having been replaced by staff
262；Certainly, if the disqualification rate of side detection is high, the side of the first rewinding disk 261 (or third rewinding disk 263) can also be used
Case, control rewinding disk management module 27 supplement the second empty rewinding disk 262 to rewinding module 26.
In specific implementation process, rewinding disk management module 27 is additionally provided in cabinet 10, wherein being stored with multiple skies
Rewinding disk, rewinding disk management module 27 is used to send empty rewinding disk to rewinding module 26, to be mended to rewinding module 26
Fill the first rewinding disk 261 and third rewinding disk 263.
In specific implementation process, rewinding disk management module 27 includes one point of disc mechanism and a transport mechanism, this divides disk machine
The rewinding disk of multiple skies is stored in structure, these disks that feed intake stack successively from top to bottom, can save space.In rewinding module 26
In the first rewinding disk 261 (or third rewinding disk 263) when piling product, you can start rewinding disk management module 27, control point
Disc mechanism extracts an empty rewinding disk from the bottom, then controlling transport mechanism (and under cooperation of the second detection module 23) will
The rewinding disk of the sky is sent to the operating position of the first rewinding disk 261 (or third rewinding disk 263) of rewinding module 26.
For example, the first rewinding disk 261 (or third rewinding disk 263) of the top layer in detecting rewinding module 26
When piling product, control rewinding module 26 moves down first charging tray 261 (or third rewinding disk 263), then controls rewinding
The rewinding disk that disk management module 27 has then been transmitted to rewinding module 26, with to the first rewinding disk 261 (or third rewinding disk 263)
It is supplemented.It wherein, can be first with transmission when control charging tray management module 27 transmits empty rewinding disk to rewinding module 26
Empty rewinding disk is sent near rewinding module 26 by mechanism (feed belt), then controls 23 (its setting of the second detection module
Have suction nozzle) the rewinding disk of the sky is drawn, and tri- axis servo motor movements of (second surveys module 23) XYZ are controlled, by the receipts of the sky
Charging tray is placed on the operating position (or operating position of third rewinding disk 263) of the first charging tray 261 of rewinding module 26, is located at
The surface of the first charging tray 261 (or third rewinding disk 263) originally.
As a kind of optional embodiment, the detection method for product appearance further includes：
When the quantity for the first rewinding disk 261 for piling product is more than the first numerical value, control output module output first carries
Show information, to prompt staff to take the first rewinding disk 261 and product therein away；
When piling product in the second rewinding disk 262, control output module exports the second prompt message, to prompt work people
Member takes the second rewinding disk 262 and product therein away；
When the quantity for the third rewinding disk 263 for piling product is more than third value, control output module output third carries
Show information, to prompt staff to take third rewinding disk 263 and product therein away.
In specific implementation process, output module 40 can be：Display or loud speaker, etc., it is arranged in industrial personal computer 40
On, for exporting above-mentioned prompt message.
For example, if the most multipotency of rewinding module 26 stores 10 the first rewinding disks 261, if first in rewinding module 26
The quantity of rewinding disk 261 has reached 10, then controls output module 40 and export the first prompt message, to prompt staff people
Work takes the first rewinding disk 261 and product therein away.
For example, if the most multipotency of rewinding module 26 stores 10 third rewinding disks 263, if the third in rewinding module 26
The quantity of rewinding disk 263 has reached 10, then controls output module 40 and export third prompt message, to prompt staff people
Work takes third rewinding disk 263 and product therein away.
For example, if fill product in the second rewinding disk 262, the output of output module 40 second prompt letter is controlled
Breath to prompt staff manually to take the second rewinding disk 262 and product therein away, and replaces the second empty rewinding disk 262.
As a kind of optional embodiment, the detection method for product appearance further includes：Control air purification mould
Block 30 carries out air purification to the environment where product.
In specific implementation process, air-purifying module 30 is arranged in cabinet 10, is specifically located at 10 top of cabinet,
During being detected to product appearance, the air-purifying module 30 can be opened, it is empty to be carried out to the environment where product
Gas purifies, and to obtain thousand grades of dustfree environments, protects detected product, advantageously ensures that the accuracy of testing result.
Technical solution in above-mentioned the embodiment of the present application, at least has the following technical effect that or advantage：
In the embodiment of the present application, a kind of detection method for product appearance is disclosed, including：Control locating module pair
Product is positioned, and the location information of the product is obtained；Based on the location information, control robot picks up the product,
And the product is moved in the detection range of detection module；Control the detection module to multiple surfaces of the product into
Row detection；Testing result based on acquisition controls the robot and the product is put into corresponding rewinding disk.Due to utilizing
Locating module, robot and detection module are detected product appearance, compared to traditional manual detection mode, the present embodiment
Detection accuracy can be improved, detection efficiency is improved, meanwhile, and multiple surfaces of product can be detected, it realizes to production
The complete detection of product is used for the detection method of product appearance that there are Detection accuracies is low in the prior art so efficiently solving,
Detection efficiency is low, detects incomplete technical problem, realizes raising Detection accuracy, improves detection efficiency, and can be to production
Product appearance carries out the technique effect of complete detection.
Embodiment two
Based on same inventive concept, as shown in figure 4, present embodiments providing a kind of detection device for product appearance
400, including：
First control unit 401 positions product for controlling locating module 21, obtains the position letter of the product
Breath；
Second control unit 402, for being based on the location information, control robot 22 picks up the product, and by institute
Product is stated to be moved in the detection range of detection module；
Third control unit 403 is detected multiple surfaces of the product for controlling the detection module；
4th control unit 404 is used for the testing result based on acquisition, controls the robot 22 and be put into the product
In corresponding rewinding disk.
As a kind of optional embodiment, the first control unit 401 is specifically used for：
The first image acquisition units 211 being arranged on the locating module 21 are controlled to carry out the product in the disk that feeds intake
Image Acquisition, and the product is positioned based on the image information of acquisition, obtain the location information of the product.
As a kind of optional embodiment, the second control unit 402 is specifically used for：
By the way that the suction nozzle in the robot 22 is arranged, the product is drawn；Or
By the way that the clamping jaw in the robot 22 is arranged, the product is captured.
As a kind of optional embodiment, the second control unit 402 is specifically used for：
It controls the robot 22 to be moved to the product in the detection range of first detection module 24, wherein described
First detection module 24 is for being detected one of described product or multiple first faces；And the control robot
22 are moved to the product in the detection range of the second detection module 23, wherein second detection module 23 is used for institute
Other one or more second faces for stating product are detected.
As a kind of optional embodiment, the third control unit 403 is specifically used for：
The first detection module 24 is controlled to be detected one of described product or multiple first faces；If described
First detection module detects that each face of the product is qualified, then control second detection module 23 to the product its
He detects in one or more second faces.
As a kind of optional embodiment, the 4th control unit 404 is specifically used for：
If the first detection module detects that each face of the product is qualified, controlling the robot 22 will be described
Product is put into the first rewinding disk 261；If the first detection module detects that at least one of which face of the product does not conform to
Lattice then control the robot 22 and the product are put into the second rewinding disk 262；
If second detection module detects that each face of the product is qualified, the product is stayed in described first
In rewinding disk 261；If second detection module detects that at least one of which face of the product is unqualified, described in control
The product is transferred to from the first rewinding disk 261 in third rewinding disk 263 by robot 22.
As a kind of optional embodiment, the detection device 400 for product appearance further includes：
5th control unit, when for piling product in the first rewinding disk, control rewinding module will change described the
One rewinding disk moves down, and controls rewinding disk management module to the empty rewinding disk of rewinding module transmission, with to described the
One rewinding disk is supplemented；When piling product in the third rewinding disk, control rewinding module by the third rewinding disk to
Lower movement, and control rewinding disk management module to the empty rewinding disk of rewinding module transmission, with to the third rewinding disk into
Row supplement.
As a kind of optional embodiment, the detection device 400 for product appearance further includes：
6th control unit, when being more than the first numerical value for the quantity in the first rewinding disk for piling product, control output
Module exports the first prompt message, to prompt staff to take the first rewinding disk and product therein away；It is received described second
When piling product in charging tray, control output module export the second prompt message, with prompt staff take away the second rewinding disk with
And product therein；When the quantity for the third rewinding disk for piling product is more than third value, control output module exports third
Prompt message, to prompt staff to take third rewinding disk and product therein away.
As a kind of optional embodiment, the detection device 400 for product appearance further includes：
7th control unit carries out air purification for controlling air-purifying module 30 to the environment where the product.
Since the detection device for product appearance that the present embodiment is introduced is to implement in the embodiment of the present application for producing
Device used by the detection method of product appearance, so based on the detection for product appearance described in the embodiment of the present application
Method, those skilled in the art can understand the specific implementation mode of the detection device for product appearance of the present embodiment
And its various change form, so how to be realized in the embodiment of the present application for the detection device for product appearance at this
Method be no longer discussed in detail.As long as those skilled in the art implement the detection for being used for product appearance in the embodiment of the present application
Device used by method belongs to the range to be protected of the application.
Technical solution in above-mentioned the embodiment of the present application, at least has the following technical effect that or advantage：
In the embodiment of the present application, a kind of detection device for product appearance is disclosed, including：First control unit,
Product is positioned for controlling locating module, obtains the location information of the product；Second control unit, for being based on institute
Location information is stated, control robot picks up the product, and the product is moved in the detection range of detection module；Third
Control unit is detected multiple surfaces of the product for controlling the detection module；4th control unit is used for base
In the testing result of acquisition, controls the robot and the product is put into corresponding rewinding disk.Due to using locating module,
Robot and detection module are detected product appearance, and compared to traditional manual detection mode, the present embodiment can improve
Detection accuracy improves detection efficiency, meanwhile, and multiple surfaces of product can be detected, it realizes to the comprehensive of product
Detection, so, efficiently solve detection method there are Detection accuracies low, the detection efficiency for being used for product appearance in the prior art
It is low, detect incomplete technical problem, realize raising Detection accuracy, improve detection efficiency, and can to product appearance into
The technique effect of row complete detection.
Embodiment three
Based on same inventive concept, as shown in figure 5, present embodiments providing a kind of detection device for product appearance
500, including memory 510, processor 520 and it is stored in the computer journey that can be run on memory 510 and on processor 520
Sequence 511, processor 520 realize following steps when executing computer program 511：
Control locating module 21 positions product, obtains the location information of the product；Based on the location information,
Control robot 22 picks up the product, and the product is moved in the detection range of detection module；Control the detection
Module is detected multiple surfaces of the product；Testing result based on acquisition controls the robot 22 by the production
Product are put into corresponding rewinding disk.
In specific implementation process, when processor 520 executes computer program 511, appointing in embodiment one may be implemented
One embodiment, details are not described herein again.
Example IV
Based on same inventive concept, as shown in fig. 6, a kind of computer readable storage medium 600 is present embodiments provided,
On be stored with computer program 611, the computer program 611 realizes following steps when being executed by processor (or industrial personal computer)：
Control locating module 21 positions product, obtains the location information of the product；Based on the location information,
Control robot 22 picks up the product, and the product is moved in the detection range of detection module；Control the detection
Module is detected multiple surfaces of the product；Testing result based on acquisition controls the robot 22 by the production
Product are put into corresponding rewinding disk.
In specific implementation process, reality may be implemented when being executed by processor (or industrial personal computer) in the computer program 611
Any embodiment in example one is applied, details are not described herein again.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
Instruct the processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine so that the instruction executed by computer or the processor of other programmable data processing devices is generated for real
The device for the function of being specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (12)
1. a kind of detection method for product appearance, which is characterized in that including：
Control locating module positions product, obtains the location information of the product；
Based on the location information, control robot picks up the product, and the product is moved to the detection of detection module
In range；
The detection module is controlled to be detected multiple surfaces of the product；
Testing result based on acquisition controls the robot and the product is put into corresponding rewinding disk.
2. being used for the detection method of product appearance as described in claim 1, which is characterized in that the control locating module is to production
Product are positioned, and the location information of the product is obtained, including：
It controls the first image acquisition units being arranged on the locating module and Image Acquisition is carried out to the product in the disk that feeds intake,
And the product is positioned based on the image information of acquisition, obtain the location information of the product.
3. being used for the detection method of product appearance as described in claim 1, which is characterized in that the control robot picks up institute
Product is stated, including：
By the way that the suction nozzle in the robot is arranged, the product is drawn；Or
By the way that the clamping jaw in the robot is arranged, the product is captured.
4. being used for the detection method of product appearance as described in claim 1, which is characterized in that described to be moved to the product
In the detection range of detection module, including：
It controls the robot product is moved in the detection range of first detection module, wherein first detection
Module is for being detected one of described product or multiple first faces；And
It controls the robot to be moved to the product in the detection range of the second detection module, wherein second detection
Module is used to be detected other one or more second faces of the product.
5. being used for the detection method of product appearance as claimed in claim 4, which is characterized in that the control detection module
Multiple surfaces of the product are detected, including：
The first detection module is controlled to be detected one of described product or multiple first faces；
If the first detection module detects that each face of the product is qualified, second detection module is controlled to described
Other one or more second faces of product are detected.
6. being used for the detection method of product appearance as claimed in claim 5, which is characterized in that the detection knot based on acquisition
Fruit controls the robot and the product is put into corresponding rewinding disk, including：
If the first detection module detects that each face of the product is qualified, controls the robot and put the product
Enter in the first rewinding disk；If the first detection module detects that at least one of which face of the product is unqualified, control
The product is put into the second rewinding disk by the robot；
If second detection module detects that each face of the product is qualified, the product is stayed in into first rewinding
In disk；If second detection module detects that at least one of which face of the product is unqualified, the robot is controlled
The product is transferred to from the first rewinding disk in third rewinding disk.
7. being used for the detection method of product appearance as claimed in claim 6, which is characterized in that the method further includes：
When piling product in the first rewinding disk, control rewinding module will change the first rewinding disk and move down, and control
Rewinding disk management module processed is to the empty rewinding disk of rewinding module transmission, to supplement the first rewinding disk；Institute
It states when piling product in third rewinding disk, control rewinding module moves down the third rewinding disk, and controls rewinding coil pipe
Module is managed to the empty rewinding disk of rewinding module transmission, to supplement the third rewinding disk.
8. being used for the detection method of product appearance as claimed in claim 7, which is characterized in that the method further includes：
When the quantity for the first rewinding disk for piling product is more than the first numerical value, control output module exports the first prompt message,
To prompt staff to take the first rewinding disk and product therein away；
When piling product in the second rewinding disk, control output module exports the second prompt message, to prompt staff
Take the second rewinding disk and product therein away；
When the quantity for the third rewinding disk for piling product is more than third value, control output module exports third prompt message,
To prompt staff to take third rewinding disk and product therein away.
9. the detection method for product appearance as described in claim 1~8 is any, which is characterized in that the method is also wrapped
It includes：
It controls air-purifying module and air purification is carried out to the environment where the product.
10. a kind of detection device for product appearance, which is characterized in that including：
First control unit positions product for controlling locating module, obtains the location information of the product；
Second control unit, for being based on the location information, control robot picks up the product, and the product is moved
To the detection range of detection module；
Third control unit is detected multiple surfaces of the product for controlling the detection module；
4th control unit is used for the testing result based on acquisition, controls the robot and the product is put into corresponding receipts
In charging tray.
11. a kind of detection device for product appearance, including memory, processor and storage on a memory and can handled
The computer program run on device, which is characterized in that the processor realizes following steps when executing the computer program：
Control locating module positions product, obtains the location information of the product；Based on the location information, control machine
Device people picks up the product, and the product is moved in the detection range of detection module；The detection module is controlled to institute
The multiple surfaces for stating product are detected；Testing result based on acquisition controls the robot and the product is put into correspondence
Rewinding disk in.
12. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
Following steps are realized when being executed by processor：
Control locating module positions product, obtains the location information of the product；Based on the location information, control machine
Device people picks up the product, and the product is moved in the detection range of detection module；The detection module is controlled to institute
The multiple surfaces for stating product are detected；Testing result based on acquisition controls the robot and the product is put into correspondence
Rewinding disk in.
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| CN201810394348.1A CN108745942B (en) | 2018-04-27 | 2018-04-27 | Product appearance detection method and device |
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|---|---|---|---|
| CN201810394348.1A CN108745942B (en) | 2018-04-27 | 2018-04-27 | Product appearance detection method and device |
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