CN111665194A

CN111665194A - Appearance detection system and detection method

Info

Publication number: CN111665194A
Application number: CN201910171971.5A
Authority: CN
Inventors: 丁亮; 陈永明; 汪良良; 刘刚; 王一琪; 孟祥吉; 宋道磊; 柯光磊; 韦桂明; 孙孝央; 陈璐; 徐陈聪; 郭春玲; 倪锡荣
Original assignee: Ningbo Sunny Opotech Co Ltd
Current assignee: Ningbo Sunny Opotech Co Ltd
Priority date: 2019-03-07
Filing date: 2019-03-07
Publication date: 2020-09-15

Abstract

An appearance inspection system is disclosed, which includes a base; the feeding mechanism, the detection mechanism and the discharging mechanism are sequentially arranged on the base, and the transmission mechanism is arranged on the base. The transport mechanism is rotatably disposed on the base relative to the base and includes a plurality of stations for placing workpieces to be inspected. The conveying mechanism can drive the workpiece to be detected to move to the next station from one station of the stations, and when the conveying mechanism drives the workpiece to be detected to move, the workpiece to be detected placed on the stations is respectively positioned at the operation positions of the feeding mechanism, the detecting mechanism and the discharging mechanism.

Description

Appearance detection system and detection method

Technical Field

The present disclosure relates to an appearance inspection system, and more particularly, to an appearance inspection system capable of performing loading, inspection, and unloading operations in parallel at different stations. In addition, the application also relates to an appearance detection method for integrally detecting the appearance of the workpiece to be detected by parallelly carrying out loading, detecting and unloading operations at different stations.

Background

In industrial production, the performance and appearance quality of products are essential steps before the products leave the factory.

Conventional manual inspection methods cannot accommodate existing production speeds due to their inefficiency. Automated production and testing are a necessary trend in technology development. Therefore, the detection device, the detection equipment, the detection system and the detection mode are different according to the difference of the structural characteristics and the performance characteristics of the product to be detected. However, unlike other performance tests, product appearance tests are currently typically accomplished using machine vision techniques. The appearance of the surface of the product to be detected is shot through a camera, and then the surface is compared with a preset standard image in a characteristic mode, so that whether the appearance quality of the product in the direction meets the factory requirements or not is judged.

In order to realize high-efficiency automatic detection, a product appearance detection device and a transmission device are commonly arranged in a matched mode, or a production line type or rotating disc type arrangement mode is adopted.

For example, in a carousel arrangement, a workpiece is positioned on an automated carousel, the upper surface of the workpiece is photographed using a CCD camera disposed above the carousel for detecting the appearance of the upper surface of the workpiece, and the lower surface of the workpiece is photographed using a CCD camera disposed below the carousel for detecting the appearance of the lower surface of the workpiece. In this configuration, since the product fixed on the turntable is directly photographed, the turntable is required to be made of a transparent rigid material, especially in the process of photographing the lower surface of the detection workpiece from bottom to top. Generally, the turntable is made of glass. However, glass is easily worn or scratched during use, thereby affecting an image of the appearance of a product photographed by a CCD camera. On the other hand, as the glass is used for a longer time, the light transmittance of the glass is also changed, and the image of the workpiece is greatly influenced.

Furthermore, whether in a pipelined or carousel arrangement, only a single inspection or shot is typically performed at a single workstation. In order to image a surface in the same direction, it is assumed that the entire surface is generally imaged. However, the depth of the structural feature of the product at each position in the same direction is different, so that the image definition of a part of the position on the whole image is difficult to meet the detection requirement at the position, and the detection difficulty is increased. In the prior art, in order to obtain a clearer image of the structural details in this direction, the product to be detected needs to be moved to another station for detection, which results in a need for a larger number of station arrangements, resulting in a large floor space for the equipment. In addition, because shooting needs to be carried out at different stations, the detection efficiency is low, and the production requirements are difficult to meet.

Disclosure of Invention

In order to solve or partially solve the above problems, the present application provides an appearance inspection system and method capable of rapidly inspecting the quality of an appearance of a product. According to the appearance detection system and the detection method, parallel processing of different procedures can be realized through the turntable arrangement. In addition, this application outward appearance detecting system's adoption arm clamp gets the product on the carousel to the outward appearance of the lower surface of carrying out the product is shot. To different positions on the same face, the appearance detection system can shoot on the same station respectively, so that clear and comprehensive product appearance image groups which can meet local judgment image requirements and contain overall information are obtained, and efficient and accurate detection of appearance quality is achieved.

According to one aspect of the present application, an appearance detection system is disclosed. The appearance inspection system may include: a base; the feeding mechanism, the detection mechanism and the blanking mechanism are sequentially arranged on the base, and the transmission mechanism is movably arranged on the base relative to the base and comprises a plurality of stations for placing workpieces to be detected. The conveying mechanism can drive the workpiece to be detected to move from one station of the stations to the next station of the stations, and when the conveying mechanism drives the workpiece to be detected to rotate, the workpiece to be detected placed on the stations is respectively positioned at the operating positions of the feeding mechanism, the detecting mechanism and the discharging mechanism. The detection mechanism can detect the characteristics of different positions and different depths of the workpiece to be detected on the same detection station.

According to an exemplary embodiment of the application, the detection mechanism may comprise a plurality of detection devices. The conveying mechanism can be configured to position the workpieces to be detected placed on the plurality of stations at the operating positions of the feeding mechanism, each of the plurality of detection devices and the blanking mechanism in a one-to-one corresponding manner when the workpieces to be detected are driven to move from one station of the plurality of stations to the next station of the plurality of stations.

According to an exemplary embodiment of the present application, the transport mechanism may include, for example, a loading station, a first inspection station, a second inspection station, and a blanking station. When the conveying mechanism drives the workpiece to be detected to move, the workpiece to be detected placed on the feeding station, the first detection station, the second detection station and the discharging station is respectively positioned at the operation positions of the feeding mechanism, the first detection device of the detection devices, the second detection device of the detection devices and the discharging mechanism.

According to an exemplary embodiment of the present application, the appearance inspection system may further include a central controller. The central controller may be configured to receive feedback information of the feeding mechanism, the detecting mechanism, the discharging mechanism, and the transmitting mechanism and control the feeding mechanism, the detecting mechanism, and the discharging mechanism to operate based on the feedback information.

According to an exemplary embodiment of the present application, the central controller may control the feeding mechanism, the detecting mechanism, and the discharging mechanism to operate in parallel based on the feedback information.

According to an exemplary embodiment of the present application, the detection device may include: a frame; the module picking device is arranged at the first end part of the rack and used for picking the workpiece to be detected from the corresponding station in the plurality of stations of the transmission mechanism; and a vision photographing device disposed on the base at a second end of the frame opposite to the first end. The vision photographing device may include: a driving device having a first driving mechanism driven in an X-axis direction and a second driving mechanism driven in a Y-axis direction; the camera is fixed on the driving device on the side facing the module picking device and is driven by the first driving mechanism and the second driving mechanism to move in the X-axis direction and the Y-axis direction, so that different positions of the workpiece to be detected can be shot; and the combined light source comprises a plurality of light sources which can be controlled to be switched to light sources corresponding to the materials according to the materials of different positions of the workpiece to be detected.

According to an exemplary embodiment of the present application, the detection apparatus may further include a detection controller, and when the camera is aligned with different positions of the workpiece to be detected, the detection controller controls the plurality of light sources to be automatically switched to the light sources corresponding to the materials according to preset materials of the workpiece to be detected at the different positions.

According to an exemplary embodiment of the present application, the detection apparatus may further include a detection controller, and the detection controller is configured to control one of the plurality of light sources and the camera to detect the material of the workpiece to be detected at different positions in real time, and control the plurality of light sources to automatically switch to the light source corresponding to the material according to the detection result.

According to an exemplary embodiment of the application, the plurality of light sources can be arranged on the camera, the direction of emergent light of the plurality of light sources is set to face one side of the module pickup device, and the plurality of light sources are automatically switched into corresponding light sources for shooting the positions according to materials of different positions of the workpiece to be detected.

According to an exemplary embodiment of the present application, the detection apparatus may further include a position detection sensor for detecting different positions of the workpiece to be detected, so that the detection controller automatically switches the plurality of light sources according to the detected positions.

According to an exemplary embodiment of the present application, the module picking device is disposed at an upper portion of the vision photographing device and includes a Z-axis driving mechanism, and the Z-axis driving mechanism drives the workpiece to be detected to move along a Z-axis direction so as to adjust a distance between the workpiece to be detected and the vision photographing device, thereby performing a lower vision test on the workpiece to be detected.

According to an exemplary embodiment of the present application, the module pickup device is disposed at a lower portion of the vision photographing device, and the driving device includes a third axis driving mechanism for driving the camera and the combined light source to move along a Z-axis direction, so as to adjust a distance between the workpiece to be detected and the vision photographing device, thereby performing an upper vision test on the workpiece to be detected.

According to an exemplary embodiment of the present application, the feed mechanism may include: a conveyor arranged to be movable relative to the base; the position acquisition device is fixed above the conveying device; and the module extracting device is fixed above the conveying device on one side of the conveying device adjacent to the detection mechanism. The position acquisition device is used for acquiring position information of a workpiece to be detected on the conveying device and transmitting the position information to the module extraction device, so that the module extraction device extracts the workpiece to be detected from the conveying device according to the position information and places the extracted workpiece to be detected on the feeding station of the conveying mechanism.

According to an exemplary embodiment of the present application, the blanking mechanism may include: a first conveyor arranged to be movable relative to the base; a second conveyor arranged to be movable relative to the base on one side of the first conveyor; the position acquisition device is fixed above the first conveying device and the second conveying device; and the module extracting device is fixed above the first conveying device and the second conveying device on one sides of the first conveying device and the second conveying device, which are adjacent to the detection mechanism. The position acquisition device is used for acquiring position information on the first conveying device and the second conveying device and transmitting the acquired position information to the module extraction device, and the module extraction device places the detected module at a corresponding position on the first conveying device or the second conveying device from the blanking station of the conveying mechanism according to the position information and the detection result of the detection device.

According to another aspect of the present application, an appearance detection method is provided. The method can comprise the following steps: loading a workpiece to be detected on a feeding station of a conveying mechanism; the conveying mechanism is driven to rotate so as to sequentially convey the workpieces to be detected to a plurality of detection stations of the conveying mechanism from the feeding station of the conveying mechanism; respectively detecting the workpiece to be detected at each detection station, wherein the workpiece to be detected at each detection station can detect the characteristics of the workpiece to be detected at different positions and different depths; driving the transmission mechanism to rotate so as to convey the detected workpiece from the last detection station of the plurality of detection stations of the transmission mechanism to the blanking station of the transmission mechanism; and unloading the detected workpiece from a blanking station of the conveying mechanism.

According to an exemplary embodiment of the present application, the loading operation at the loading station, the inspection operation at each of the plurality of inspection stations, and the unloading operation at the unloading station are controlled to be performed in parallel via a controller.

According to an exemplary embodiment of the present application, the plurality of inspection stations may include, for example, a first inspection station and a second inspection station. The appearance detection method may further include: the conveying mechanism is driven to rotate so as to sequentially convey the workpiece to be detected to the first detection station and the second detection station from the feeding station of the conveying mechanism; performing first detection operation on the workpiece to be detected on the first detection station and performing second detection operation on the workpiece to be detected on the second detection station; and driving the transmission mechanism to rotate so as to convey the detected workpiece from the second detection station to a blanking station of the transmission mechanism.

According to an exemplary embodiment of the present application, the loading operation may include: conveying the workpiece to be detected to a position adjacent to a feeding station of the conveying mechanism by using a conveying device; acquiring the position information of the workpiece to be detected on the conveying device; transmitting the position information to a module extraction device; and unloading the workpiece to be detected from the conveying device and loading the workpiece to be detected on the feeding station of the conveying mechanism through the module extracting device based on the position information.

According to an exemplary embodiment of the present application, the detecting operation may include: clamping the workpiece to be detected by using a module picking device; driving a vision shooting device along the X-axis direction and the Y-axis direction to enable the vision shooting device to align with different positions of the workpiece to be detected along the Z-axis direction; and shooting different positions of the workpiece to be detected by using a combined light source through the vision shooting device, wherein the combined light source comprises a plurality of light sources, and the plurality of light sources can be switched according to materials of the different positions of the workpiece to be detected.

According to an exemplary embodiment of the present application, the detecting operation may further include recognizing different positions of the workpiece to be detected to automatically switch the combined light source to a corresponding light source suitable for photographing the positions based on the different positions of the workpiece to be detected.

According to an exemplary embodiment of the present application, the first inspection operation may include driving the workpiece to be inspected to move in a Z-axis direction to adjust a distance between the workpiece to be inspected and the vision photographing device.

According to an exemplary embodiment of the present application, the second detecting operation may include driving the vision photographing device and the combined light source to move in a Z-axis direction to adjust a distance between the workpiece to be detected and the vision photographing device.

According to an exemplary embodiment of the present application, the unloading operation may include: receiving detection information of the detection operation; acquiring position information on a first conveying device and a second conveying device; transmitting the detection information and the position information to a module extraction device; unloading the detected workpiece to be detected from the blanking station of the conveying mechanism by using the module extracting device and loading the workpiece to be detected at the corresponding position of the first conveying device or the second conveying device based on the detection information and the position information.

According to the appearance detection system, the mechanical arm is used for clamping the product to replace the product on the rotary table to be shot directly, and the interference of the appearance detection of the workpiece caused by the abrasion and scratch of the rotary table is avoided. Through adopting transmission device, can shoot the not equidirectional outward appearance characteristic of work piece on the station of difference to material loading, detection and unloading operation are gone on in parallel, have improved the efficiency that detects greatly and the accuracy that detects. The appearance detection system and the detection method can respectively shoot different detection positions in the same direction, so that the accuracy of product appearance quality detection is improved. In addition, different detection positions in the same direction can be shot at different depths (namely at different Z-axis coordinates) in the same station, so that the station arrangement on the appearance detection system is reasonable and compact, and the structure of the appearance detection system is simplified.

Drawings

The principles of the inventive concept are explained below by describing non-limiting embodiments of the present application in conjunction with the drawings. It is to be understood that the drawings are intended to illustrate exemplary embodiments of the application and not to limit the same. The accompanying drawings are included to provide a further understanding of the inventive concepts of the application, and are incorporated in and constitute a part of this specification. Like reference numerals in the drawings denote like features. In the drawings:

fig. 1 shows a schematic representation of an appearance detection system according to an exemplary embodiment of the present application;

FIG. 2 shows a schematic view of an appearance detection system according to an exemplary embodiment of the present application;

FIG. 3 shows a schematic flow chart of an operational procedure of an appearance detection system according to an exemplary embodiment of the present application;

fig. 4 shows a schematic perspective view of a feeding mechanism of an appearance inspection system according to an exemplary embodiment of the present application;

FIG. 5 shows a schematic side view of a feed mechanism of an appearance inspection system according to an exemplary embodiment of the present application;

FIG. 6 illustrates an exemplary representation of a transport mechanism of an appearance inspection system according to an exemplary embodiment of the present application;

FIG. 7 shows a schematic view of a detection mechanism of an appearance detection system according to an exemplary embodiment of the present application;

FIG. 8 shows a schematic view of another detection mechanism of an appearance detection system according to an exemplary embodiment of the present application; and

fig. 9 shows a schematic view of a blanking mechanism of an appearance inspection system according to an exemplary embodiment of the present application.

Detailed Description

For a better understanding of the present application, various aspects of the present application will be described in more detail below with reference to exemplary embodiments shown in the drawings. It should be understood that the detailed description is merely illustrative of exemplary embodiments of the present application and does not limit the scope of the present application in any way. Throughout the specification, the same reference numerals refer to the same elements or components. The expression "and/or" includes any and all combinations of one or more of the associated listed items.

It should be noted that in the present description and claims, the expressions first, second, etc. are used only for distinguishing one feature from another, and do not represent any limitation of the features. Thus, a first orientation, first inspection station discussed herein may also be referred to as a second orientation, second inspection station, and vice versa, without departing from the teachings of the present application.

In the drawings, the shapes and relative positions of the respective members, mechanisms are schematically shown for convenience of explanation. Accordingly, the drawings are intended to be illustrative only and not to be restrictive of the specific shapes, structures, and arrangements of the parts.

It will be understood that the terms "comprises," "comprising," "includes," "including," "has," "including," and/or "including," when used in this specification, specify the presence of stated features, elements, components, and/or steps, but do not preclude the presence or addition of one or more other features, elements, components, steps, and/or groups thereof. Moreover, when a statement such as "at least one of" appears after a list of listed features, the entirety of the listed features is modified rather than modifying individual elements in the list. Furthermore, when describing embodiments of the present application, the use of "may" mean "one or more embodiments of the present application. Also, the expression "exemplary" is intended to refer to or illustrate an example of an embodiment.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The claimed appearance inspection system and method are exemplified by a camera module. However, it should be understood that the appearance inspection system and method disclosed in the present application can be used for inspecting not only the camera module, but also other products. The various illustrative descriptions in this specification are in no way intended to limit the scope of the present application in any way.

Various aspects of the present application will be described in more detail below with reference to the accompanying drawings in conjunction with specific embodiments, but the embodiments of the present application are not limited thereto.

In the description of the present application, the first direction/X-axis direction refers to a left-right direction, the second direction/Y-axis direction refers to a front-rear direction, and the third direction/Z-axis direction refers to an up-down direction or a depth direction of a workpiece to be detected.

For different workpieces, the appearance of the workpiece is often irregular due to various factors such as structure, function and aesthetics, and for different appearance surfaces, the depth of each structural feature is different. Therefore, in the appearance inspection, it is often necessary to inspect a plurality of surfaces of the workpiece. Furthermore, to detect detailed structures on certain faces, it is necessary to extract features at different depths on the same apparent face. In order to realize high-efficiency parallel processing, the application provides that the loading, detection and unloading operations of the workpieces are synchronously carried out, so that the loading and unloading time of the workpieces can be saved.

Fig. 1 schematically illustrates the principle of an appearance detection system according to an exemplary embodiment of the present application. As shown in fig. 1, the appearance inspection system 100 may include a feeding mechanism 10, an inspection mechanism 20, and a discharging mechanism 30 that are circumferentially arranged on a base 80 (see fig. 2). The appearance inspection system 100 further includes a transfer mechanism 50, and the transfer mechanism 50 may be arranged to be movably provided on the base 80 with respect to the base 80 so as to be rotatable with respect to the feeding mechanism 10, the inspection mechanism 20, and the discharging mechanism 30. The conveying mechanism 50 may include a plurality of stations for placing the workpiece to be detected and may drive the workpiece to be detected placed on one of the stations to move (or rotate) to the next station when the conveying mechanism 50 is actuated. When the conveying mechanism 50 drives the workpiece to rotate among the stations, the workpieces to be detected placed on the feeding station, the detecting station P2 and the discharging station P3 of the conveying mechanism 50 are respectively positioned at the operating positions of the feeding mechanism 10, the detecting mechanism 20 and the discharging mechanism 30. In an exemplary embodiment, the transport mechanism 50 may be, for example, a turntable. In another exemplary embodiment, the conveying mechanism 50 may include a rotating member and a fixing device disposed on the rotating member for fixing the workpiece, and when the conveying mechanism drives the rotating member to rotate, the fixing device disposed on the rotating member may drive the workpiece to be detected to move (e.g., rotate) to a next station.

The appearance inspection system 100 may also include a central controller (not shown). The central controller can receive the feedback information of the feeding mechanism 10, the detecting mechanism 20, the discharging mechanism 30 and the transmission mechanism 50 and control the feeding mechanism 10, the detecting mechanism 20 and the discharging mechanism 30 to operate correspondingly based on the received feedback information.

During inspection by the appearance inspection system, the loading mechanism 10 is used to load workpieces to be inspected onto the transport mechanism 50 and is positioned at the corresponding loading station P1 of the transport mechanism 50. In the exemplary embodiment, transport mechanism 50 is, for example (but not limited to), a turntable. The conveying mechanism 50 drives the workpieces to be detected to sequentially pass through a plurality of appearance detection stations P2 from a feeding station P1 to a discharging station P3. The blanking mechanism 30 is used for moving the workpieces subjected to detection from the blanking station P3 of the conveying mechanism 50 to the product tray. Meanwhile, the blanking mechanism 30 can also screen and classify the workpieces according to the detection results, and place the workpieces with unqualified appearance detection results on a defective product material box. The detection mechanism 20 is used for visually detecting a plurality of appearance surfaces and different positions on the same surface of the workpiece to be detected, and feeding back the detection results to the central controller, so that the blanking structure 30 can be screened and classified according to the detection results.

The appearance inspection system 100 shown in fig. 1 includes an inspection device 20-1 and an inspection device 20-2. Therefore, the conveying mechanism 50 can be correspondingly configured to drive the workpiece to be detected to sequentially pass from the loading station P1 to the appearance detection station P2-1, the appearance detection station P2-2 to the unloading station P3, and can correspondingly operate the workpiece to be detected at the loading station P1, the appearance detection station P2-1, the appearance detection station P2-2 and the unloading station P3.

In order to describe the structure and principle of the appearance inspection system of the present application, a camera module is described below as an example of a workpiece to be inspected. However, it should be understood that the appearance detection system of the present application is not limited to detecting the camera module, but may detect the appearance of various workpieces, parts, components, and the like.

To current module of making a video recording, need follow two directions from top to bottom and carry out key detection to the outward appearance of making a video recording the module. Specifically, it is necessary to visually inspect not only the appearance of the module lens, the lens holder, or the holder in the optical axis direction of the lens, but also the appearance of the circuit board of the module in the other optical axis direction. In addition, before the product is shipped, the shape of a connector which is positioned on the circuit board and connected with the camera module through a flexible board needs to be detected so as to ensure that the module has good appearance and electrical connection performance.

The upper surface of the lens of the camera module comprises the upper surface of the uppermost lens and the upper surface of the lens barrel. Generally, the lens barrel is a black plastic member, and the lens is made of a transparent material (e.g., transparent glass, transparent resin, etc.) and has different curvatures on the surfaces thereof. The wiring board or the connector has different configurations according to the specific situation. Therefore, when the module is detected at different positions in the same direction, the different positions of the camera module have different detection areas (i.e., different X-axis coordinates and Y-axis coordinates) and different depths (i.e., different Z-axis coordinates) in the depth direction. In addition, the reflectivity of the light source is different due to different materials of components of the camera module. Therefore, under the same light source, visual contrast detection of appearance images at different positions shot by the same fixed camera is difficult. One of the key points of the technical scheme of this application is for can realizing on same station to the module of making a video recording the different depth position of the face in the same direction of face detect of taking a picture, the face in the different directions of taking a picture on the station of difference detects, the detection of taking a picture on each station is gone on simultaneously independently, from this, can realize carrying out all-round detection simultaneously to the different key detection faces of the module of making a video recording and key detection position, has simplified the structure of outward appearance detecting system and has improved detection efficiency.

Fig. 2 shows a schematic view of an appearance detection system according to an exemplary embodiment of the present application. The appearance inspection system 100 shown in fig. 2 may include a feeding mechanism 10, a lower vision inspection mechanism 20-1, an upper vision inspection mechanism 20-2, a discharging mechanism 30, a transfer mechanism 50, and a control center (not shown). In this embodiment, the transport mechanism 50 can be designed, for example, as a rotary turntable. However, it should be understood that the conveying mechanism 50 may be designed in other forms, such as a conveying mechanism that can move the workpiece along the operation positions of the feeding mechanism 10, the lower visual inspection mechanism 20-1, the upper visual inspection mechanism 20-2, and the discharging mechanism 30, for example, a conveyor belt that moves along a plurality of operation positions, and the like. The conveying mechanism 50 is sequentially provided with a feeding station P1, a lower visual appearance detection station P2-1, an upper visual detection station P2-2 and a discharging station P3. A feeding mechanism 10 is arranged on one side of the feeding station P1. The loading mechanism 10 is used to move the workpiece (e.g., camera module) in the tray to the loading station P1. Correspondingly, the lower visual inspection station P2-1 and the upper visual inspection station P2-2 are provided with corresponding lower visual inspection mechanisms 20-1 and upper visual inspection mechanisms 20-2. The blanking station P3 is provided with a blanking mechanism 30 at one side for moving the detected workpiece (e.g., camera module) on the conveying mechanism (e.g., rotary mechanism) 50 into the corresponding tray.

The appearance detection process of the present application is described in detail below with reference to the schematic flowchart shown in fig. 3 and taking the exemplary appearance detection system shown in fig. 2 as an example.

After the system is started up, in step S310, the first camera module is placed on the feeding station P1 of the swing mechanism 50 by the feeding mechanism 10.

The swing mechanism 50 is driven to rotate in step S320 to transfer the first camera module from the feeding station P1 of the swing mechanism 50 to the lower vision inspection station P2-1 of the swing mechanism 30.

Then, the process proceeds to step S330, where the lower vision inspection mechanism 20-1 is used to perform lower vision inspection on the first camera module at the lower vision inspection station P2-1. Meanwhile, the second camera module is placed on the feeding station P1 of the swing mechanism 50 by the feeding mechanism 10.

After the inspection operation of the lower vision inspection station P2-1 is completed, the swing mechanism 50 is driven to rotate in step S340 to transfer the inspected first camera module from the lower vision inspection station P2-1 to the upper vision inspection station P2-2 of the swing mechanism 50, while the second camera module is transferred from the feeding station P1 to the lower vision inspection station P2-1 of the swing mechanism 50.

Then, the process goes to step S350, and at this time, the upper visual inspection mechanism 20-2 is used to perform upper visual inspection on the first camera module at the upper visual inspection station P2-2. Meanwhile, at the lower vision inspection station P2-1, the second camera module is subjected to lower vision inspection by the lower vision inspection mechanism 20-1, and the third camera module is placed on the feeding station P1 of the swing mechanism 50 through the feeding mechanism 10.

After the inspection operation of the upper vision inspection station P2-2 and the lower vision inspection station P2-1 is completed, the swing mechanism 50 is driven to rotate in step S360 to transfer the inspected first camera module from the upper vision inspection station P2-2 to the blanking station P3, simultaneously transfer the inspected second camera module from the lower vision inspection station P2-1 to the upper vision inspection station P2-2, and transfer the third camera module from the feeding station P1 to the lower vision inspection station P2-1 of the swing mechanism 50.

The process then proceeds to step S370, where the detected first camera module is unloaded from the feeding station P3 of the swing mechanism 50 at the feeding station P3. Meanwhile, the second camera module is detected at the upper visual inspection station P2-2, the third camera module is detected at the lower visual inspection station P2-1, and the fourth camera module is placed at the feeding station P1 of the swing mechanism 50.

In step S380, the process continues to step S370, so that each time a detected workpiece is unloaded from the blanking station P3, a workpiece to be detected is loaded at the loading station P1. After the last workpiece to be detected is removed from the blanking station by the blanking mechanism, the detection process is ended. Therefore, the operation of each station of the appearance detection system is performed in parallel, so that the detection time is saved, the detection efficiency is improved, and the structural compactness of the detection system is obviously improved.

Fig. 4 shows a schematic perspective view of a feeding mechanism of an appearance inspection system according to an exemplary embodiment of the present application; and fig. 5 shows a schematic side view of a feeding mechanism of an appearance detection system according to an exemplary embodiment of the present application.

In the industrial production process, the module carries out batch circulation through the charging tray in the production processes of difference. However, in the appearance inspection process, the appearance of the single module needs to be inspected. In order to ensure that the material tray is not equal to the detection quantity, each module on the material tray needs to be picked up and moved by using a feeding mechanism. The loading mechanism 10 shown in fig. 4 and 5 may include a conveyor 102, a position acquisition device 104, and a module extraction device 106. The conveying device 102 includes, for example, a slide rail device 103 that can move relative to the base to move the plurality of trays in the magazine 105 on the slide rail 103 in sequence. It should be understood that the conveyor 102 may also include a conveyor means that moves relative to the base, and this is by way of example only and should not be considered as limiting the form of the conveyor 102 as long as it is capable of effecting the transfer of the tray to the side of the loading station. The position acquiring device 104 is used for acquiring the relevant position information of each module in the tray on the slide rail 103 and transmitting the acquired position information to the controller. The module extracting device 106 receives the position information of the tray on the slide rail 103 from the controller, and sequentially extracts individual modules from the tray based on the acquired position information and moves the extracted modules to the feeding station P1 of the transport mechanism 50. In a specific embodiment, for example, the module picking apparatus may include a driving mechanism and a gripping member disposed on the driving mechanism, and the gripping member may move along with the movement of the driving mechanism, so as to move the module located on the slide rail 103 to the loading station P1 of the transfer mechanism 50. In other examples, the module picking apparatus may also include, for example, a robotic arm at the end of which a gripper member (e.g., a gripper or suction cup) is provided to move the module from the slide 103 to the loading station P1 of the transfer mechanism 50. For example, when the central controller sends a command to instruct the module extracting device 106 to extract a module, the controller of the module extracting device 106 controls the driving mechanism to bring the gripping member into motion or controls the robot arm to move based on the position information acquired by the position acquiring device 104, so that a single module is extracted and moved to the feeding station P1 of the transfer mechanism 50 by the gripping member disposed at the end of the gripping member or the robot arm disposed on the driving mechanism.

For example, the loading process can be specifically described as follows. The trays in the magazine 105 are gripped or pushed onto the slide 103 or conveyor belt of the conveyor 102. The slide rail 103 or the conveyor belt drives the tray to move to a position below the position acquisition device 104. The position acquisition device may be, for example, but not limited to, a camera. For example, the position acquisition device may be a position sensor device. The position acquisition device 104 located above acquires the corresponding position information of each module on the tray and transmits the acquired position information to the controller. For example, a corresponding picture of each module on the tray can be taken by a camera, and after the taken picture is processed by software, a position matrix map with position information of each module is obtained. The position matrix map with the position information of the modules is transmitted to the controller. The module extraction device 106 receives the position matrix map of the position information of the modules from the controller, and based on this, controls the driving mechanism and the gripping member thereof or the robot arm to extract the module to be detected from the tray, and moves the extracted module to the feeding station P1 of the transport mechanism 50. The controller controls the module extracting device 106 to sequentially and continuously extract and move the modules in a predetermined extraction order for inspection.

Fig. 6 shows an exemplary representation of a transport mechanism of an appearance detection system according to an exemplary embodiment of the present application. As shown in fig. 6, the transfer mechanism 50 is provided in the form of a turntable. It should be understood that fig. 6 is merely an example of a transport mechanism that may be used in the appearance inspection system of the present application, and does not limit the specific structure of the transport mechanism. For example, in another exemplary embodiment, the transport mechanism may also be a conveyor that may cycle between multiple stations. According to the specific detection requirements of the exemplary embodiment of the present application, the turntable shown in fig. 6 is configured as a four-station turntable, that is, a feeding station, a lower visual detection station, an upper visual detection station, and a discharging station in this order. However, it should be understood that the carousel is not limited to four stations, but may have more or fewer stations as needed for inspection. Each station is provided with a module clamp for positioning the module on the turntable and fixing the module in the movement process of the turntable.

Fig. 7 shows a schematic view of a lower visual inspection mechanism of an appearance inspection system according to an exemplary embodiment of the present application.

As shown in fig. 7, the lower vision inspection mechanism 20-1 may include a frame 202 mounted on the base 80, a module pick-up device 204, and a vision camera 206. A module pick-up device 204 may be disposed at a first end of the rack 202, for example, via a cantilever 203, to pick up a module to be tested. The vision camera 206 is fixed to the base 80 below the module pick-up 204. The vision capture device 206 may include a drive device 208, a camera (not shown), and a combined light source 210 that includes a variety of light sources. The driving device 208 includes a first driving mechanism 212 (e.g., an X-axis driving mechanism) that drives in a first direction (e.g., an X-axis direction) and a second driving mechanism 214 (e.g., a Y-axis driving mechanism) that drives in a second direction (e.g., a Y-axis direction) perpendicular to the first direction.

The camera for visual appearance detection is used for shooting the appearance characteristics of the lower surface (the direction of the circuit board) of the camera module. In the lower visual appearance inspection, a camera is fixed on the driving device at a side facing the module pickup device (i.e., at an upper portion of the driving device) to photograph the lower surface of the module to be inspected from below to above in the optical axis direction. When the first driving mechanism and the second driving mechanism move in the X-axis direction and the Y-axis direction, the camera can be driven to move in the X-axis direction and the Y-axis direction, and therefore different positions of the lower surface of the module to be tested can be shot.

The modular picking apparatus 204 may also include a Z-axis drive mechanism. The Z-axis driving mechanism can drive the clamping mechanism to move downward to approach the lower vision inspection station P2-1 of the conveying mechanism 50 (such as a turntable) so as to clamp the module to be inspected at the lower vision inspection station P2-1. The Z-axis driving mechanism can also drive the clamping mechanism to move upwards so as to separate the module to be detected from the lower visual detection station P2-1 of the transmission mechanism. In addition, the Z-axis driving mechanism can also drive the module to be detected to move in the Z-axis direction, so as to adjust the distance between the module to be detected and the vision shooting device 206, thereby performing the lower vision test on the module to be detected. After the inspection is completed, the Z-axis driving mechanism moves the inspected module downward to place the inspected module back at the lower visual inspection station P2-1 of the transfer mechanism 50 (e.g., a turntable) in preparation for transferring the inspected module to the next station.

For example, during the inspection process, the Z-axis driving mechanism of the module picking device 204 may drive the clamping mechanism to move downward to a position where the module to be inspected contacts the lower visual inspection station P2-1 of the conveying mechanism 50, and after the clamping mechanism clamps the module to be inspected, the Z-axis driving mechanism drives the clamping mechanism to move upward, so that the module to be inspected is separated from the lower visual inspection station P2-1 of the conveying mechanism 50. The Z-axis drive mechanism of the module pick-up device 204 can also drive the camera module to move to a suitable position above the light source 210 of the lower vision camera 20-1 along the Z-axis direction. When detecting, Z axle actuating mechanism can drive the module of making a video recording along Z axle direction up-and-down motion to the adjustment is waited to detect the distance between module and the vision shooting device 206, thereby shoots the characteristic that has the different degree of depth. Subsequently, the Z-axis drive mechanism moves downward to place the inspected die set back at the lower vision inspection station P2-1 in preparation for transferring the inspected die set to the next station (e.g., the upper vision inspection station P2-2 in the present embodiment).

In addition, in the bottom vision inspection, the module picking apparatus 204 may further include another driving mechanism and at least two gripping mechanisms (not shown) to move the module to be inspected above the vision photographing apparatus 206 or to exchange the module to be inspected. For example, the module picking device 204 is driven by a rotation driving method to make the module to be detected above the lower vision inspection device 20-1, and other clamping mechanisms can be used to clamp other modules to be detected, so as to allow the module lower vision shooting and the module picking process to be performed simultaneously.

Fig. 8 shows a schematic view of an upper visual inspection mechanism of an appearance inspection system according to an exemplary embodiment of the present application.

The upper visual inspection mechanism 20-2 includes a light source 220, a camera, and a drive device 228 as shown in fig. 8. Go up visual inspection mechanism 20-2 and be used for directly carrying out the vision to the upper surface of the module of making a video recording of last visual inspection station department on the carousel and shoot.

In the embodiment shown in fig. 8, the light source 220 is a combined light source, which may be disposed below the camera. The light source 220 may be switched according to different materials at different positions. The camera is fixed on the driving device 228 for shooting the upper surface (lens direction) of the camera module from top to bottom. In this embodiment, the driving device 228 may include, for example, an X-axis driving mechanism 222 for driving the camera and the light source 210 to move in the X-axis direction, a Y-axis driving mechanism 224 for moving in the Y-axis direction, and a Z-axis driving mechanism 226 for moving in the Z-axis direction, so that lens surfaces of different depths and positions in the same direction can be photographed to obtain clear images of the respective positions.

In the embodiments shown in fig. 7 and 8, the combined

light sources

210 and 220 may be disposed, for example, between the camera and the driving device 204 and between the camera and the driving device 228, respectively. Specifically, in the embodiment shown in fig. 7 and 8, the combined light source 210 is disposed between the camera and the driving device 208, more specifically, between the camera and the second driving mechanism 214, on the side facing the module pickup device 204. In the embodiment shown in fig. 8, the combined light source 220 is disposed between the camera and the driving device 228, more specifically, between the camera and the X-axis driving mechanism 222, on the side facing the turntable. However, it should be understood that the above is merely an exemplary arrangement of the combined light sources, and is not limiting. The combined

light sources

210 and 220 can be switched according to the material of the camera module to be tested. The different depth positions of the key detection surface of the module can be shot, and all the characteristics of the key detection surface are clearly visible in the image. Thereby improving the detection accuracy.

The lower visual inspection mechanism 20-1 shown in fig. 7 and the upper visual inspection mechanism 20-2 shown in fig. 8 may further include an inspection controller. When the camera is aligned with different positions of the module to be detected, the detection controller can control the multiple light sources to be automatically switched to the light sources corresponding to the materials according to the preset materials of the module to be detected at different positions. For example, the materials of different positions of the module can be predefined in the system, and when a picture taken by the camera is identified as a certain position of the module, the light source requirement required by the preset material of the position is sent to the controller, so that the controller controls the combined light source to be switched to the light source corresponding to the material of the position. Alternatively, the controller of the detection system may also detect the material of different positions of the surface in real time through the camera and a default light source of the plurality of light sources, and automatically switch the light sources according to the detection result. It should be understood that switching the light sources according to the material of the different locations may be achieved in various ways and is not limited to those described herein.

In addition, the lower vision inspection mechanism 20-1 and the upper vision inspection mechanism 20-2 may further include position detection sensors for detecting different positions of the module to be inspected, so that the inspection controller may automatically switch the plurality of light sources of the combined

light sources

210 and 220 according to the detected positions.

Fig. 9 shows a schematic view of a blanking mechanism of an appearance inspection system according to an exemplary embodiment of the present application. The blanking mechanism 30 shown in fig. 9 is substantially similar in structural arrangement to the feed mechanism 10. The blanking mechanism 30 may include a first conveyor 301, a second conveyor 302, a position acquiring device 304, and a module picking device 306. The first conveying device 301 is used for conveying the camera modules detected as qualified products to a good product box, and the second conveying device 302 is used for conveying the camera modules detected as unqualified products to a defective product box.

The position acquiring device 304 is used for acquiring the positions of the trays on the first conveying device 301 and the second conveying device 302. The module extracting device 306 sequentially extracts the inspected modules at the discharging station P3 of the transferring mechanism 50, and screens and distinguishes the extracted modules according to the inspection result to move the modules to the first conveyor 301 or the second conveyor 302 according to the screening result. The first conveying device 301 and the second conveying device 302 include, for example, a slide rail device that can move relative to the base to move the trays on the slide rail in turn, and place the trays into the magazine. It should be understood that the

conveyors

301, 302 may also include conveyor means that move relative to the base, and these are merely examples and should not be considered as limiting the form of the conveyors as long as they are able to effect movement of the trays and placement of the trays into the magazine.

It should be noted that, since the trays for placing different products vary in size in the actual production process, it is necessary to provide the slide rails for conveying the trays in a width-adjustable form. In an exemplary embodiment of the present application, the width of the slide rail for transporting the tray may be adjusted by a screw. However, the width of the slide rail can be adjusted in other ways, for example, the width of the slide rail for conveying the tray can be adjusted through a structure of matching the sliding groove and the pin.

In addition, since the size and structure of the product itself are different, the parameters of the mechanisms for detection are also different for different structures and products having different size depths. Therefore, adjustable connections are employed in inspection systems to accommodate inspection of products having different size and depth configurations.

The appearance detection system adopts the additional driving mechanism with the clamping mechanism or the mechanical arm to clamp the product to replace the product on the turntable to be shot directly, so that the interference of the appearance detection of the workpiece caused by the abrasion and scratch of the turntable is avoided. According to the embodiment of this application, through adopting transmission device, can shoot the not equidirectional outward appearance characteristic of work piece on the station of difference to material loading, detection and unloading operation are gone on in parallel, have improved the efficiency that detects greatly and the accuracy that detects. The appearance detection system and the detection method can respectively shoot different detection positions in the same direction, so that the accuracy of product appearance quality detection is improved. In addition, different detection positions in the same direction can be shot at different depths (namely at different Z-axis coordinates) in the same station, so that the station arrangement on the appearance detection system is reasonable and compact, and the structure of the appearance detection system is simplified.

Exemplary embodiments of the present application are described above with reference to the accompanying drawings. It should be understood by those skilled in the art that the above-described embodiments are merely examples for illustrative purposes and are not intended to limit the scope of the present application. The scope of the application should be determined with reference to the appended claims and their equivalents. Any modifications, equivalents and the like which come within the teachings of this application and the scope of the claims should be considered to be within the scope of this application.

Claims

1. An appearance inspection system, comprising:

a base;

set gradually feed mechanism, detection mechanism and unloading mechanism that are used for outward appearance to detect on the base to and

a transport mechanism movably disposed on the base with respect to the base and including a plurality of stations for placing workpieces to be inspected,

the conveying mechanism can drive the workpiece to be detected to move from one station of the stations to the next station of the stations, and when the conveying mechanism drives the workpiece to be detected to move, the workpieces to be detected placed on the stations are respectively positioned at the operating positions of the feeding mechanism, the detecting mechanism and the discharging mechanism; and

the detection mechanism can detect the features of the workpiece to be detected at different positions and different depths on the same detection station.

2. The appearance inspection system according to claim 1,

the detection mechanism comprises a plurality of detection devices, and the transmission mechanism is configured to drive the workpieces to be detected to move from one of the stations to the next station, so that the workpieces to be detected placed on the stations are positioned at the operation positions of the feeding mechanism, the detection devices and the discharging mechanism in a one-to-one corresponding mode.

3. The appearance inspection system according to claim 2,

the conveying mechanism comprises a feeding station, a first detection station, a second detection station and a discharging station, and when the conveying mechanism drives the workpiece to be detected to move, the workpiece to be detected placed on the feeding station, the first detection station, the second detection station and the discharging station is respectively positioned at the operation positions of the feeding mechanism, a first detection device of the detection devices, a second detection device of the detection devices and the discharging mechanism.

4. The appearance inspection system according to claim 3,

the appearance detection system further comprises a central controller configured to receive feedback information of the feeding mechanism, the detection mechanism, the discharging mechanism and the transmission mechanism and control the feeding mechanism, the detection mechanism and the discharging mechanism to operate based on the feedback information.

5. The appearance inspection system according to claim 4,

and the central controller controls the feeding mechanism, the detection mechanism and the discharging mechanism to perform parallel operation based on the feedback information.

6. The appearance inspection system according to claim 5,

the detection mechanism includes:

a frame;

a workpiece picking device arranged at a first end of the frame to pick the workpiece to be detected from a corresponding station of the plurality of stations of the conveying mechanism; and

a vision photographing device provided on the base at a second end portion side of the frame opposite to the first end portion, the vision photographing device including:

a driving device having a first driving mechanism driven in an X-axis direction and a second driving mechanism driven in a Y-axis direction;

a camera fixed to the driving device at a side facing the workpiece pickup device to be moved in the X-axis direction and the Y-axis direction by the driving of the first driving mechanism and the second driving mechanism, so that different positions of the workpiece to be inspected can be photographed; and

and the combined light source comprises a plurality of light sources, and the plurality of light sources can be controlled to be switched to light sources corresponding to the materials according to the materials of the workpieces to be detected at different positions.

7. The appearance inspection system of claim 6,

the detection mechanism further comprises a detection controller, and when the camera is aligned with different positions of the workpiece to be detected, the detection controller controls the multiple light sources to be automatically switched to light sources corresponding to the materials according to the preset materials of the workpiece to be detected at the different positions.

8. The appearance inspection system of claim 6,

the detection mechanism further comprises a detection controller, wherein the detection controller is configured to control one light source of the multiple light sources and the camera to detect the materials of different positions of the workpiece to be detected in real time, and control the multiple light sources to be automatically switched to the light sources corresponding to the materials according to the detection result.

9. The appearance inspection system according to claim 7 or 8,

the multiple light sources are arranged on the camera, the emergent light direction of the multiple light sources is set to face one side of the workpiece pickup device, and the multiple light sources are automatically switched into corresponding light sources for shooting the positions according to materials of the different positions of the workpiece to be detected.

10. The appearance inspection system according to claim 9,

the detection mechanism further comprises a position detection sensor for detecting different positions of the workpiece to be detected, so that the detection controller can automatically switch the plurality of light sources according to the detected positions.

11. The appearance inspection system of claim 10,

the workpiece picking device is arranged at the upper part of the vision shooting device and comprises a Z-axis driving mechanism, and the Z-axis driving mechanism drives the workpiece to be detected to move along the Z-axis direction so as to adjust the distance between the workpiece to be detected and the vision shooting device, so that the workpiece to be detected is subjected to lower vision test.

12. The appearance inspection system of claim 10,

the workpiece picking device is arranged at the lower part of the vision shooting device, and the driving device comprises a third shaft driving mechanism which is used for driving the camera and the combined light source to move along the Z-axis direction so as to adjust the distance between the workpiece to be detected and the vision shooting device, thereby carrying out the upper vision test on the workpiece to be detected.

13. The appearance inspection system according to claim 5,

the feed mechanism includes:

a conveyor arranged to be movable relative to the base;

the position acquisition device is fixed above the conveying device; and

a workpiece picking device fixed above the conveyor on a side of the conveyor adjacent to the detection mechanism,

the position acquisition device acquires position information of a workpiece to be detected on the conveying device and transmits the position information to the workpiece extraction device, so that the workpiece extraction device extracts the workpiece to be detected from the conveying device according to the position information and places the extracted workpiece to be detected on the feeding station of the conveying mechanism.

14. The appearance inspection system according to claim 5,

the unloading mechanism includes:

a first conveyor arranged to be movable relative to the base;

a second conveyor arranged to be movable relative to the base on one side of the first conveyor;

the position acquisition device is fixed above the first conveying device and the second conveying device; and

a workpiece picking device fixed above the first and second conveyors on a side of the first and second conveyors adjacent to the detection mechanism,

the position acquisition device acquires position information on the first conveying device and the second conveying device and transmits the acquired position information to the workpiece extraction device, and the workpiece extraction device places the detected workpiece at a corresponding position on the first conveying device or the second conveying device from the blanking station of the conveying mechanism according to the position information and the detection result of the detection mechanism.

15. A method of appearance inspection, the method comprising:

loading a workpiece to be detected on a feeding station of a conveying mechanism;

the conveying mechanism is driven to rotate so as to sequentially convey the workpieces to be detected to a plurality of detection stations of the conveying mechanism from the feeding station of the conveying mechanism;

respectively detecting the workpiece to be detected at each detection station, wherein the workpiece to be detected at each detection station can detect the characteristics of the workpiece to be detected at different positions and different depths;

driving the transmission mechanism to rotate so as to convey the detected workpiece from the last detection station of the plurality of detection stations of the transmission mechanism to the blanking station of the transmission mechanism; and unloading the detected workpiece from a blanking station of the conveying mechanism.

16. The method of claim 15,

and the loading operation on the loading station, the inspection operation on each detection station in the plurality of detection stations and the unloading operation on the unloading station are performed in parallel.

17. The method of claim 16,

the plurality of inspection stations includes a first inspection station and a second inspection station, an

The method further comprises the following steps:

the conveying mechanism is driven to rotate so as to sequentially convey the workpiece to be detected to the first detection station and the second detection station from the feeding station of the conveying mechanism;

performing first detection operation on the workpiece to be detected on the first detection station and performing second detection operation on the workpiece to be detected on the second detection station; and

and driving the transmission mechanism to rotate so as to convey the detected workpiece from the second detection station to a blanking station of the transmission mechanism.

18. The method of claim 16,

the loading operation includes:

conveying the workpiece to be detected to a position adjacent to a feeding station of the conveying mechanism by using a conveying device;

acquiring the position information of the workpiece to be detected on the conveying device;

transmitting the position information to a module extraction device;

and unloading the workpiece to be detected from the conveying device and loading the workpiece to be detected on the feeding station of the conveying mechanism through the module extracting device based on the position information.

19. The method of claim 16,

the detecting operation includes:

clamping the workpiece to be detected by using a module picking device;

driving a vision shooting device along the X-axis direction and the Y-axis direction to enable the vision shooting device to align with different positions of the workpiece to be detected along the Z-axis direction;

and shooting different positions of the workpiece to be detected by using a combined light source through the vision shooting device, wherein the combined light source comprises a plurality of light sources, and the plurality of light sources can be switched according to materials of the different positions of the workpiece to be detected.

20. The method of claim 19,

the detecting operation further includes identifying different positions of the workpiece to be detected to automatically switch the combined light source to a corresponding light source suitable for photographing the positions based on the different positions of the workpiece to be detected.

21. The method of claim 20,

the first detection operation comprises driving the workpiece to be detected to move along the Z-axis direction so as to adjust the distance between the workpiece to be detected and the vision shooting device.

22. The method of claim 20,

the second detection operation comprises driving the vision shooting device and the combined light source to move along the Z-axis direction so as to adjust the distance between the workpiece to be detected and the vision shooting device.

23. The method of claim 16,

the unloading operation comprises the following steps:

receiving detection information of the detection operation;

acquiring position information on a first conveying device and a second conveying device;

transmitting the detection information and the position information to a module extraction device;

unloading the detected workpiece from the blanking station of the conveying mechanism by using the module extracting device and loading the workpiece at a corresponding position of the first conveying device or the second conveying device based on the detection information and the position information.