CN114705693A - AI visual inspection device and system for shell structure defect detection - Google Patents

AI visual inspection device and system for shell structure defect detection Download PDF

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Publication number
CN114705693A
CN114705693A CN202210246773.2A CN202210246773A CN114705693A CN 114705693 A CN114705693 A CN 114705693A CN 202210246773 A CN202210246773 A CN 202210246773A CN 114705693 A CN114705693 A CN 114705693A
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light source
transmission
visual
detection
visual inspection
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CN114705693B (en
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肖刚
袁卫顺
何勃
葛履
李作维
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Chongqing Yu Hai Precision Manufacturing Co ltd
Citic Cloud Network Co ltd
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Chongqing Yu Hai Precision Manufacturing Co ltd
Citic Cloud Network Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/8901—Optical details; Scanning details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N21/13—Moving of cuvettes or solid samples to or from the investigating station
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/89—Investigating the presence of flaws or contamination in moving material, e.g. running paper or textiles
    • G01N21/8901—Optical details; Scanning details
    • G01N21/8903—Optical details; Scanning details using a multiple detector array
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0106—General arrangement of respective parts
    • G01N2021/0112—Apparatus in one mechanical, optical or electronic block
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/30—Computing systems specially adapted for manufacturing

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
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  • General Health & Medical Sciences (AREA)
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  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

The invention relates to the technical field of visual inspection, and provides AI visual inspection equipment and an AI visual inspection system for detecting shell structure defects. Wherein, AI visual detection equipment includes: the conveying structure is provided with a conveying position for moving a product, and the conveying position comprises a first conveying section and a second conveying section which are different in conveying direction; the at least two first side visual detection devices are respectively arranged on two sides of the first transmission section; the at least two second side visual detection devices are respectively arranged at two sides of the second transmission section; the structural surface visual detection device is arranged below the transmission position; appearance face visual detection device, appearance face visual detection device locates the top of transmission position. The AI visual detection equipment realizes the omnibearing rapid visual detection of the product.

Description

AI visual inspection device and system for shell structure defect detection
Technical Field
The invention relates to the technical field of visual inspection, in particular to AI visual inspection equipment and an AI visual inspection system for detecting defects of a shell structure.
Background
Visual inspection means that a machine replaces human eyes to measure and judge, in practical application, surface defect detection of a produced product can be achieved through visual inspection, and the technology is mature with the development of many years.
In the intelligent manufacturing process, a camera shoots images of objective objects under the assistance of a lens and a light source, then the images are collected through a collection card and stored in a computer or a server hard disk, image processing software cuts the images through a regular algorithm and calculates to obtain a certain result, and the result is used for detecting, measuring, controlling and the like of products or equipment.
However, when multiple surfaces of a product with a housing structure (for example, a notebook housing or a mobile phone housing) need to be detected at the same time, it is often difficult for existing visual detection equipment to simultaneously consider both the detection efficiency and the accuracy of the detection result. For example, some detection methods in the prior art are to fix a certain surface of a product on a bearing table, and to detect each panel of the product by moving a detection device (such as a camera), and during the moving operation of the detection device, not only a large floor space is required, but also the detection of each surface of the product is not comprehensive, and of course, some detection methods are to perform visual detection of each surface of the product by rotating the product in a vertical plane or a horizontal plane direction, for example, the invention patent with the patent publication number CN111896552A discloses a novel notebook computer shell defect detection device, and the invention patent with the patent publication number CN113670923A discloses an omnidirectional high-precision detection device and method for detecting the shell defect of a notebook computer, and the above devices or methods realize omnidirectional detection of the shell structure, but have at least the following disadvantages:
1) the automation cost is high, the rotating structure for rotating the product in the existing detection equipment is complex (such as comprising a plurality of rotating shafts for rotating), the production cost and the operation cost of the detection equipment are correspondingly increased, and the problems of poor stability (for example, the rotating structure is easy to wear and is difficult to maintain the working stability) and poor precision (for example, the rotating angle is easy to deviate) exist in the actual operation process of the detection equipment, and if higher requirements on the stability and the precision of the detection equipment are required, the automation cost of the equipment is further increased;
2) the production line has slow rhythm, the shooting and detection time for single product is longer because the rotation operation needs to be carried out on the single product, and more operations need to be performed by a single workstation (e.g., taking multiple photographs with a single camera), it is difficult to meet line beat requirements, in addition, the invention patent with patent publication number CN113670923A is mainly directed to the detection of the shell defect of the notebook computer, and in the current practical application scenario, the production line rhythm requirement for the complete notebook computer detection is relatively low, for example, the single detection of the complete notebook computer takes ten seconds or twenty seconds, correspondingly, the single station operation time of the detection equipment is long, but in order to meet the production requirement, the production line beat requirement for detecting the notebook shell structure (non-complete machine structure) is high, so that the existing detection equipment cannot meet the production line beat requirement for the notebook shell structure in actual work;
3) the compatibility is poor, the shell structure produced by a raw material manufacturer usually has more defect types, and for some special types of defects or defects located at specific positions, corresponding defects cannot be clearly identified only by acquiring side images or appearance surface images of the shell structure. For example, merely acquiring the side image or the appearance image of the casing may not identify the defect at the corner of the casing (i.e. the intersection of two adjacent sides of the casing), and therefore, the corner of the casing needs to be photographed separately, thereby involving adjusting the rotation angle of the rotating mechanism/module, which further increases the structural complexity of the rotating mechanism/module and affects the stability of the device operation; that is to say, the detection device has a single function and poor compatibility, and can only detect the shell structure of the current model, and if shell structures with different materials, types, colors and characteristics are required to be detected, the light source, the lens, the camera, the acquisition card, the image processing software, the controller, the communication unit and the like are required to be replaced or modified, so that the operation is complex;
4) because the rotating structure of the detection equipment is complex, and the volume of the corresponding rotating structure is large, the whole occupied space of the detection equipment is large.
Disclosure of Invention
The invention provides an AI visual inspection device and an AI visual inspection system, which are used for solving the problems in the prior art and realizing rapid and omnibearing visual inspection of products.
According to the AI visual detection equipment provided by the invention, the product is moved along the transmission position through the transmission structure, the first side visual detection, the second side visual detection, the structural surface visual detection and the appearance surface visual detection can be realized in the moving process, the omnibearing detection of the product is realized, and the detection efficiency is high and the detection period is short because the movement and the detection are synchronously performed and the design of a plurality of station pipelines is adopted. Compared with the existing detection equipment, the AI visual detection equipment provided by the invention realizes the omnibearing rapid visual detection of the product, thereby improving the quality detection and production efficiency of the product, reducing the labor intensity of workers and improving the delivery quality of the product.
A first aspect of the present invention provides an AI visual inspection apparatus for shell structure defect detection, comprising:
the conveying structure is provided with a conveying position for the shell structure to move, the conveying position comprises a first conveying section and a second conveying section, and the conveying directions of the first conveying section and the second conveying section are different;
the at least two first side visual detection devices are respectively arranged on two sides of the first transmission section;
the at least two second side visual detection devices are respectively arranged on two sides of the second transmission section;
the structural surface visual detection device is arranged below the transmission position;
at least one appearance surface visual detection device, the appearance surface visual detection device is located the top of transmission position.
In some embodiments, the transmission directions of the first transmission segment and the second transmission segment are perpendicular or approximately perpendicular to each other.
In some embodiments, follow the material loading level to the direction of transmission of material level down, transport structure includes that the material loading that docks according to the preface moves and carries manipulator, detection tool slip table and unloading and move and carry the manipulator, the material loading moves and carries the manipulator and snatchs when shell structure removes along the direction of transmission of first transmission section removes, the unloading moves and carries the manipulator and snatchs when shell structure follows the direction of transmission of second transmission section removes.
In some embodiments, the loading transfer manipulator comprises a loading guide rail, a loading lifting structure and a loading sucker, the loading lifting structure is movably arranged on the loading guide rail, the loading lifting structure is provided with a lifting part capable of lifting, and the lifting part is connected to the loading sucker; and/or the presence of a gas in the gas,
the unloading moves and carries manipulator includes unloading guide rail, unloading elevation structure and unloading sucking disc, the movably location of unloading elevation structure on the unloading guide rail, unloading elevation structure has the lift portion of liftable, the lift portion connect in the unloading sucking disc.
In some embodiments, the detection jig sliding table comprises a sliding table guide rail and a sliding table, the sliding table is movably arranged on the sliding table guide rail, a detachable jig is arranged on the sliding table, and the jig is provided with a placing cavity with an upward opening;
or, in some embodiments, the detection jig sliding table includes: a conveyor belt for conveying the housing structure.
In some embodiments, the at least two first side visual inspection devices are oppositely arranged, the first side visual inspection devices comprise at least one first side camera module and at least one first side light source module, and the first side camera module and the first side light source module are arranged towards the first transmission section;
and when the first side visual inspection device comprises: when the two first side surface light source modules are arranged, the two first side surface light source modules are respectively positioned on the upper side and the lower side of the first transmission section, or the two first side surface light source modules are arranged along one side of the first transmission section in an extending mode.
In some embodiments, the at least two second side vision inspection devices are arranged oppositely, the second side vision inspection devices include at least one second side camera module and at least one second side light source module, and the second side camera module and the second side light source module are arranged towards the second transmission section;
and when the second side visual inspection device comprises: when the two second side surface light source modules are arranged, the two second side surface light source modules are respectively positioned at the upper side and the lower side of the second transmission section, or the two second side surface light source modules are arranged along one side of the second transmission section in an extending mode.
In some embodiments, the structural surface vision inspection device is disposed below the first transmission section, the structural surface vision inspection device includes at least one structural surface camera module and at least one structural surface light source module, and the structural surface camera module and the structural surface light source module are both arranged toward the first transmission section;
and when the structural surface visual detection device comprises at least two structural surface light source modules, the at least two structural surface light source modules are arranged in an extending manner along the transmission direction which is vertical or approximately vertical to the first transmission section, or the at least two structural surface light source modules are arranged in an extending manner along the transmission direction of the first transmission section.
In some embodiments, the structural surface vision inspection device further comprises a structural surface laser sensor disposed toward the first transmission segment.
In some embodiments, the detection jig sliding table has an intermediate transmission position, the appearance surface visual detection device is arranged above the intermediate transmission position, the appearance surface visual detection device comprises at least one appearance surface camera module and at least one appearance surface light source module, and the appearance surface camera module and the appearance surface light source module are both arranged towards the intermediate transmission position;
and when the appearance surface camera module comprises at least two appearance surface light source modules, the at least two appearance surface light source modules are arranged in an extending mode along the transmission direction perpendicular or approximately perpendicular to the middle transmission position, or the at least two appearance surface light source modules are arranged in an extending mode along the transmission direction of the middle transmission position.
In some embodiments, when the appearance visual inspection device comprises: when at least two appearance area light source modules are arranged, the at least two appearance area light source modules are arranged towards the middle transmission position along different horizontal inclination angles respectively.
In some embodiments, the AI visual inspection device further comprises a code scanning gun, the code scanning gun is close to the loading position, the code scanning gun is located below the transmission position, and the code scanning gun faces the transmission position.
In some embodiments, the shell structure is a notebook shell.
The invention provides an AI visual inspection system for detecting shell structure defects, which comprises an industrial personal computer, a quality inspection server and the AI visual inspection equipment in any embodiment, wherein the industrial personal computer is respectively connected with the AI visual inspection equipment and the quality inspection server;
the industrial personal computer is used for controlling the AI visual detection equipment and receiving corresponding detection information from the AI visual detection equipment, and the quality inspection server is used for obtaining a corresponding identification result based on the detection information.
In some embodiments, the industrial personal computer comprises:
the control interface is used for customizing the working parameters of the AI visual detection equipment by a user;
the first communication module is used for receiving corresponding detection information from the AI visual detection equipment and sending the detection information to the quality inspection server;
the second communication module is used for receiving the identification result from the quality inspection server;
and the control module is used for controlling the AI visual detection equipment based on the working parameters and the identification result.
In the AI visual inspection device provided by the invention, the first transmission section and the second transmission section which are perpendicular or approximately perpendicular to each other provide two perpendicular or approximately perpendicular transmission directions for the movement of the shell structure, so that the change of the movement direction of the shell structure on the transmission structure can be realized more simply, and images of different sides of the shell structure can be acquired quickly, thereby at least having the following technical effects:
1) the device has a simple structure, and when each surface of the shell structure is subjected to visual detection, the shell structure does not need to be rotated, so that the arrangement of a corresponding rotating mechanism/module is avoided (when the shell structure is subjected to visual detection, only linear motion is required along the first transmission section or the second transmission section), therefore, the detection device has a relatively simple structure, and can realize good stability and higher detection precision (for example, detection errors caused by an improper rotation angle) in an automatic operation process;
2) the production line has a fast beat, the detection equipment in the invention adopts a flow line design and can simultaneously transmit and detect the shell structure, so that the shell structure can rapidly pass through the transmission position and complete defect detection (the visual detection of a single shell structure can be completed within 8s or even within 5s or 6 s).
3) Realized all-round detection to shell structure, the transmission direction of shell structure on the transmission position has been changed through first transmission section and the second transmission section that sets up along the equidirectional not for shell structure's the removal in-process on the transmission position, every face of shell structure can both present for corresponding visual detection device with nothing sheltering from, and the camera module among the visual detection device can carry out the nimble regulation of position and angle, thereby realizes the all-round detection to shell structure.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings needed in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on the drawings without creative efforts.
Fig. 1 is a schematic structural view of an AI visual inspection apparatus provided in the present invention;
fig. 2 is a schematic structural view of a structural plane vision inspection device of the AI vision inspection apparatus provided by the present invention;
fig. 3 is a schematic structural diagram of a first side visual inspection device of the AI visual inspection apparatus provided by the present invention;
fig. 4 is a schematic structural diagram of an external appearance surface visual inspection device of the AI visual inspection apparatus provided by the present invention;
fig. 5 is a schematic structural view of an outer frame of the AI visual inspection apparatus in an exemplary embodiment of the invention;
fig. 6 is a schematic structural view of a first view angle of the AI visual inspection apparatus in an exemplary embodiment of the invention;
fig. 7 is a schematic structural view of a second view angle of the AI visual inspection apparatus in an exemplary embodiment of the invention;
fig. 8 is a schematic structural view of a third perspective of the AI visual inspection device in an exemplary embodiment of the invention;
fig. 9 is a schematic structural diagram of a fourth view angle of the AI visual inspection apparatus in an exemplary embodiment of the invention.
Reference numerals:
11: loading the material; 12: a feeding transfer manipulator; 121: a feeding guide rail; 122: a feeding lifting structure; 123: a feeding sucker; 13: detecting the jig sliding table; 131: a sliding table guide rail; 132: a sliding table; 14: a blanking transfer manipulator; 15: feeding; 151: a defective product area; 20: a first side visual inspection device; 21: a first side camera module; 22: a first side light source module; 30: a second side visual inspection device; 40: a structural surface vision inspection device; 41: a structural plane camera module; 42: a structural surface light source module; 43: a structural surface laser sensor; 50: an appearance surface visual detection device; 51: an appearance face camera module; 52: an appearance area light source module; 521: a first light source; 522: a second light source; 523: a third light source; 60: a code scanning gun; 70: and (4) an outer frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention is mainly used for quality detection and evaluation of shell structures of various products, such as shells of various products (e.g. electronic products or other products with shells), or mounting covers, and the like, and the shell structure is generally a quadrilateral shell structure (correspondingly comprising two main structure surfaces, namely a top appearance surface and a bottom structure surface, and four side surfaces between the two main structure surfaces), such as a shell of a notebook computer, a shell of a tablet computer or a mobile phone, and of course, can also be applied to internal or external shell structures of other types of products. The invention can be used for accurately and efficiently detecting the defect types of six surfaces of the shell structure, and simultaneously can detect only one or a plurality of surfaces according to the production requirement (visual detection devices can be correspondingly reduced), thereby being also applied to the detection of plane structure products. Herein, the term "shell structure", also called "shell structure product" or "product".
Herein, suffixes such as "module", "part", or "unit" used to denote elements are used only for facilitating the description of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Herein, the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As used herein, unless otherwise expressly specified or limited, the terms "mounted," "provided," "disposed," "connected," "coupled" and the like are to be construed broadly, such as "coupled" and can be either fixedly connected or detachably connected or integrally connected; can be mechanically or electrically connected; wireless connection or wireless communication connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Herein, unless otherwise specifically specified and limited, the term "transfer station" refers to a spatial path or a movement path for supplying the housing structure to move in the equipment or system, or refers to a movement track of the housing structure when moving through the transfer structure, and accordingly, the term "first transfer section" is a movement path for supplying the housing structure during the gripping and transferring process of the loading and transferring robot, and the term "second transfer section" is a movement path for supplying the housing structure during the gripping and transferring process of the unloading and transferring robot. It is to be understood that "transmission bit", "first transmission segment", "second transmission segment" are imaginary structures, which are referred to for convenience of description only.
Herein, "first side" and "second side" refer to two sets of oppositely arranged sides of the housing structure, respectively, and may also be referred to as "first side" and "second side".
Herein, "perpendicular or approximately perpendicular" means that the angle between the two structures/directions is 90 ° or approximately 90 °, for example, "the first transport section and the second transport section are perpendicular or approximately perpendicular to each other" means that the angle between the transport direction of the first transport section and the transport direction of the second transport section is 90 ° or approximately 90 ° (for example, may be 89 °, 91 °, etc.), so that the housing structure product realizes a change of the moving direction during the first transport section to the second transport section.
The AI visual inspection is to scan each shell structure through a camera, produce an image sample, transmit inspection information to a system, firstly carry out image enhancement, image splitting and other preprocessing on the image by the system, select a proper model according to the shell structure type and an inspection task to analyze and identify the image, finally calculate and judge the defects with physical quantization standards such as area, length and the like, finally obtain a judging result of good products or defective products (namely defective products), and then feed back the judging result, thereby obtaining a quality inspection result. In this embodiment, the housing is used for detecting a notebook computer, and the housing structure includes four side surfaces, a top surface and a bottom surface. In industrial production, the production requirement on the shell structure of electronic devices such as notebook shells is generally high, on one hand, the notebook shells need to be connected with other main body parts of the notebook, and the internal structure of the notebook is protected, so that the stable connection relationship between the notebook shells and other main body parts of the notebook needs to be ensured, or the notebook shells need to have good durability, that is, the requirement on the production standard of the fine structure of the notebook shells (such as a buckle structure matched with the main body part of the notebook, a corner structure of the notebook shells, and the like) is high, and on the other hand, in order to pursue the aesthetic property of products and optimize the user experience, the surface structure of the notebook shells is generally required to be smooth and have no barbs. Therefore, in order to obtain a standard notebook shell product, the notebook shell needs to be detected in an all-dimensional and high-precision manner.
Of course, in other embodiments, the detection device may also be used to detect other products, such as a mobile phone, a tablet, and other structures, which are not described in detail.
Example one
Referring to fig. 1 to 9 in combination, the AI visual inspection apparatus includes:
transmission structure, transmission structure's one end is material loading level 11, transmission structure's the other end is unloading position 15, transmission structure has the transmission position that supplies shell structure to remove, the transmission position includes: the transmission direction of the first transmission section is different from that of the second transmission section;
the two first side visual detection devices 20 are respectively arranged at two sides of the first transmission section of the transmission position;
the two second side visual detection devices 30 are respectively arranged at two sides of the second transmission section of the transmission position;
the structural surface visual detection device 40 is arranged below the transmission position, and the structural surface visual detection device 40 is arranged below the transmission position;
and the appearance surface visual detection device 50 is arranged above the transmission position, and the appearance surface visual detection device 50 is arranged above the transmission position.
In the above description of the structure, the track of the conveying position, i.e. the casing structure, when moving through the conveying structure is indicated by the dotted structure, and for convenience of description only, the loading position 11 of the conveying structure is the position of taking the material, the conveying structure can take the casing structure out of the loading position 11, and then the casing structure is transported along the conveying position and moved out of the unloading position 15 to other positions. In this embodiment, during the unloading, place the shell structure of different testing results along different directions to distinguish the shell structure of different testing results.
For example, in some embodiments, the transverse placement is good, the longitudinal placement is to be determined, and the blanking location 15 can be a good area and a defective area (defective area) 151, after the inspection, the housing structure with qualified quality or to be determined is moved out to the good area, and the housing structure with unqualified quality is moved out to the defective area 151.
Further, in some examples, the re-judging person will re-judge the article to be judged, specifically, the re-judging person queries the position of the defect of the shell structure, i.e. the related information, by scanning the code.
Preferably, in some embodiments, the loading position 11 is connected to a production line (or an assembly line), and when the shell structure production process is finished, the shell structure can directly enter the detection device through the loading position 11, and the defect identification and detection of the shell structure are completed, or of course, the shell structure on the loading position can be obtained through other methods such as manual loading.
Of course, in other embodiments, the loading level may be arranged as part of the shell structure product line or production line, for example, the loading level is an end region of the shell structure production line, i.e. the detection device may be directly interfaced with the shell structure production line.
The detection equipment is directly or indirectly connected with the real-time production line of the shell structure, so that the shell structure can rapidly enter a quality inspection stage after production is finished (namely, the detection equipment in the embodiment is convenient to integrate with a main production line of the shell structure production), the shell structure production and detection are integrated, and the industrial production efficiency is greatly improved.
In addition, the two first side visual inspection devices 20 may be used to inspect opposite first sides of the housing structure (e.g., two opposite short sides or two opposite long sides), the two second side visual inspection devices 30 may be used to inspect opposite second sides of the housing structure (e.g., two opposite long sides or two opposite short sides), and the exterior visual inspection device 50 may be used to inspect the top of the housing structure, so as to inspect whether there are defects (scratch, bruise, or rolling damage) on the four sides and the top of the housing structure, sand paper marks, burrs, fuzz, poor printing, stress marks, whitening, blackening, scorching, cutting, discoloration, curling, particles, accumulated paint, uneven painting, paint dropping, oxidation, dirt, residual glue, broken films, one-sided key presses (C-pieces), raised foot pads, skewed lenses, and BOSS prints. The structural surface visual inspection device 40 can be used for inspecting the bottom surface of the shell structure, so that whether the defects of copper nail missing, inverted burying, transverse burying, re-burying, fracture, floating height, sinking, hook fracture deformation, part missing, poor attachment and the like occur on the bottom surface of the shell structure can be detected.
In the embodiment, the shell structure product is moved along the transmission position through the transmission structure, specifically, the direction conversion of the shell structure product in the transmission process is realized through the first transmission section and the second transmission section with two different transmission directions, so that the first side edge and the second side edge of the shell structure product are displayed to the corresponding first side surface visual detection device and the corresponding second side surface visual detection device in the moving process of the shell structure product on the first transmission section and the second transmission section respectively without shielding, that is, the visual detection of the first side edge and the second side edge of the shell structure product is realized, and finally, the omnibearing detection of the shell structure product is realized by combining the appearance surface visual detection device and the structural surface visual detection device, and as the shell structure movement and the visual detection are carried out simultaneously, the flow line design of a plurality of visual detection devices is adopted, so the detection efficiency of the detection device in the embodiment is high, the detection period is short. Compared with the existing detection equipment, the AI visual detection equipment provided by the invention realizes the omnibearing rapid visual detection of the shell structure product, thereby improving the quality detection and production efficiency of the shell structure product, reducing the requirement for human participation, reducing the labor intensity of the human, ensuring the efficiency and accuracy of the detection, and correspondingly improving the delivery quality of the shell structure product.
And when the detected shell product is a notebook shell, the transmission directions of the first transmission section and the second transmission section are preferably perpendicular or approximately perpendicular to each other.
Referring to fig. 1 and fig. 6, in an exemplary embodiment of the present invention, along a transmission direction from the loading location 11 to the unloading location 15, the transmission structure includes a loading transfer manipulator 12, a detection fixture sliding table 13, and an unloading transfer manipulator 14, which are connected in sequence, the loading transfer manipulator moves along a direction of the first transmission section when gripping the shell structure, and the unloading transfer manipulator moves along a direction of the second transmission section when gripping the shell structure (for example, the transmission direction of the first transmission section is arranged along an X-axis direction in the figure, and the transmission direction of the second transmission section is arranged along a Y-axis direction in the figure).
What says here is butt joint in proper order, namely, material loading moves and carries manipulator 12 and takes out shell structure from material loading level 11 to put into shell structure to detection tool slip table 13 at its end, detection tool slip table 13 then drives shell structure and removes, and unloading moves and carries manipulator 14 and takes out shell structure at detection tool slip table 13's end, and removes to unloading position 15 and puts down, and like this, realized shell structure's transmission and removed, this process is removed and is gone on simultaneously with the detection, has improved detection efficiency. The first side visual inspection device 20 may be disposed on two sides of the first transmission section or the second transmission section, and correspondingly, the second side visual inspection device 30 may be disposed on two sides of the first transmission section or the second transmission section.
In connection with the above-mentioned conveying structure, referring to fig. 6, the loading transfer manipulator 12 includes a loading guide rail 121, a loading lifting structure 122 and a loading suction cup 123, the loading lifting structure 122 is movably disposed on the loading guide rail 121, the loading lifting structure 122 has a lifting portion capable of lifting, the lifting portion is connected to the loading suction cup 123, and the loading suction cup 123 has a vacuum suction nozzle opening downward, where the loading guide rail 121 is disposed along a direction of a first conveying section (that is, a direction of the loading lifting structure 122 moving along the loading guide rail 121 is the same as a direction of the first conveying section).
The number of vacuum nozzles may be plural and arranged in an array to stably grip the housing structure. This elevation structure 122 can be the lift cylinder, when getting the material from material loading position 11, material loading elevation structure removes to material loading position 11 top, drop the lifting unit, the vacuum nozzle of material loading sucking disc docks in shell structure's upper surface, open vacuum nozzle, hold shell structure, then the lifting unit rises, and remove along the material loading guide rail, shell structure removes along first transmission section promptly, and shell structure's rising and removal in-process, carry out visual inspection to shell structure's structural plane's second side, after removing to material loading guide rail end, lifting unit descends, close vacuum nozzle, shell structure can remove to the position of other docks, in this embodiment, also detect tool slip table 13.
In some embodiments, the inspection jig slide table 13 includes: a conveyor belt for transporting the shell structure.
Of course, in other embodiments, referring to fig. 6, in order to further improve the universality of the detection device (i.e. to enable the detection device to be flexibly applied to shell structures of different types or different models), the detection fixture sliding table 13 includes a sliding table guide rail 131 and a sliding table 132, the sliding table 132 is movably disposed on the sliding table guide rail, a detachable fixture is disposed on the sliding table 132, and the fixture has a placing cavity with an upward opening, it can be understood that, in order to simplify the structure of the detection device, enhance the mutual cooperation between each device or each structure in the detection device, and improve the transportation efficiency of the shell structure in the detection device, the moving direction of the sliding table 132 on the sliding table guide rail 131 is the same as the transmission direction of the first transmission section, that is, the sliding table guide rail 131 is disposed along the X-axis direction, and the movement of the sliding table is also performed along the X-axis direction.
The placing cavity on the jig can stably place the shell structure, so that the top surface of the shell structure is exposed, in the embodiment, the jig is detachably arranged on the sliding table, and thus different jigs can be quickly replaced as required, so that the die change time during replacement of the shell structure is shortened, and the universality of the detection equipment is improved. Specifically, the jig can be fixed on the sliding table through screws.
After the shell structure is placed in the placing cavity, the sliding table moves along the sliding table guide rail, and when the shell structure moves to the tail end of the sliding table guide rail, the shell structure can be taken out from other butt joint positions, namely the blanking transfer manipulator 14 in the embodiment.
In some embodiments, the visual appearance surface detection device 50 is arranged corresponding to the detection jig sliding table 13, and the detection of the appearance surface of the shell structure is realized during the movement of the shell structure in the detection jig sliding table.
The unloading moves and carries manipulator 14 and the aforesaid material loading moves and carries the structure of manipulator 12 the same, the unloading moves and carries the manipulator and includes unloading guide rail, unloading elevation structure and unloading sucking disc, the movably location of unloading elevation structure on the unloading guide rail, unloading elevation structure has the lift portion of liftable, the lift portion connect in the unloading sucking disc.
Specifically, the blanking suction cup is provided with a vacuum suction nozzle with a downward opening. Further, a rotating motor may be connected to the lifting portion of the discharging lifting structure of the discharging transfer manipulator 14, and the rotating motor is connected to the discharging suction cup, so as to place the shell structure in different directions according to the detection result, for example, in some embodiments, the shell structure with different detection results is placed in a transverse direction or a longitudinal direction, as a distinction between good products and products to be determined.
In this embodiment, in order to distinguish the detection result of each shell structure fast directly perceivedly, it places different detection results in different directions respectively, it can be understood that different directions here are only for distinguishing the shell structure of different detection results, therefore, the rotation module (for example, the rotation motor that is used for rotating the shell structure) in this embodiment need not realize rotating the shell structure accurately, or, the tolerance to the error of the turned angle of the shell structure is relatively higher, correspondingly, because need not to propose higher precision requirement to the rotation module, consequently, select the rotation module of relative simplicity to realize anticipated effect in this embodiment.
Referring to fig. 3, in some embodiments, two first side visual inspection devices 20 are respectively disposed at two sides of the first transmission section, the two first side visual inspection devices 20 are oppositely disposed, and the first side visual inspection device 20 includes at least one first side camera module 21 and at least one first side light source module 22.
Further, in some embodiments, the first side camera module 21 and the first side light source module 22 are both disposed toward the first conveying section, and specifically, two or more first side light source modules 22 of at least two first side visual inspection devices are disposed along a conveying direction perpendicular or approximately perpendicular to the first conveying section (i.e., disposed at two sides of the first conveying section).
Specifically, in some embodiments, two or more first side surface light source modules may be further disposed on one side or both sides of the first transmission section along the direction of the first transmission section, so as to ensure that the first side (i.e., the first side) of the housing structure can always receive sufficient light source during the moving process, and the image formation is clear.
Specifically, in some embodiments, two or more first side surface light source modules may be arranged from top to bottom (i.e., arranged along different heights) on one side or both sides of the first transmission section to provide light sources at different angles for the first side surface, so as to ensure that different types of defects of the first side surface can be clearly imaged.
It can be understood that the arrangement angle (i.e. the light source angle) of the first side light source module can be adjusted, so that light sources with different angles are provided for the first side face, and distinct imaging of different types of defects of the first side face can be ensured.
Preferably, in this embodiment, the number of the first side light source modules 22 in one first side visual inspection device is two, and the two first side light source modules 22 are respectively located at the upper side and the lower side of the first transmission section (that is, arranged along different heights), or the two first side light source modules are arranged to extend along one side of the first transmission section.
In the process that the shell structure moves along the first transmission section, the two side faces of the shell structure are respectively detected by the at least two first side face visual detection devices 20, so that the detection time is short, and the efficiency is high. Specifically, when detecting the first side (for example, the long side), the first side light source module 22 on the upper and lower sides provides sufficient light source for the first side to irradiate, and then the first side camera module 21 can clearly scan the first side image of the housing structure, thereby realizing AI visual inspection. Preferably, in some embodiments, when the detected shell structure is a notebook, a total of three first side camera modules 21 are provided by one first side vision detection device, the three first side camera modules 21 are respectively arranged towards the front side, the first inclined side and the second inclined side of the shell structure (specifically, referring to fig. 3, the three first side camera modules are respectively arranged with a first camera 21a, a second camera 21b and a third camera 21c, and the first camera, the second camera and the third camera are arranged along different inclination angles with the horizontal plane), so that detection of multiple angles without dead angles is realized for the first sides of multiple shell structures, and the quality of final quality inspection is higher. Of course, in other embodiments, the number and the arrangement position of the arranged first side camera modules 21 may also be changed according to different housing structures, which is not described in detail. And, first side camera module 21 is movably located on the platform of check out test set, moves (reciprocates along first transmission section) towards or deviates from first transmission section to detect different shell structure as required.
It can be understood that, in the present embodiment, the arrangement manner of the light source modules and the camera modules in the second side visual inspection device, the appearance visual inspection device, and the structural visual inspection device can be referred to the arrangement manner of the first side visual inspection device.
In some embodiments, the second side visual inspection device 30 is oppositely disposed at two sides of the first transmission section, the second side visual inspection device 30 includes at least one second side camera module and at least one second side light source module, the second side camera module and the second side light source module are both disposed toward the second transmission section, specifically, two or more second side light source modules of the at least two second side visual inspection devices are disposed along a direction perpendicular or approximately perpendicular to the transmission direction of the second transmission section, and when the second side visual inspection device includes at least two second side light source modules, the at least two second side light source modules are disposed at upper and lower sides of the second transmission section (i.e., disposed along different heights), or the at least two second side light source modules are disposed along the transmission direction of the second transmission section (i.e., disposed along the Y-axis direction), similarly, when the second side visual inspection device includes at least two second side camera modules, the arrangement of the second side light source modules can also be referred to. Of course, reference may be made to the arrangement of the first side light source module in the above embodiments, and details are not described herein.
Preferably, in some embodiments, the number of the second side light source modules in one second side visual inspection device is two, and the two second side light sources are respectively located at the upper side and the lower side of the second conveying section, or the two second side light source modules are arranged to extend along one side of the second conveying section.
Similarly, in the process that the shell structure moves along the second transmission section, the two second side visual inspection devices 30 respectively inspect the shell structures on the two sides of the shell structure, so that the inspection time is short, and the inspection efficiency is high. When each short side is detected, the second side surface light source modules on the upper side and the lower side provide sufficient light source irradiation for the second side (such as the short side), and then the second side camera module can clearly scan the second side image of the shell structure, so that AI visual detection is realized. Preferably, in some embodiments, when the detected shell structure is a notebook, the second visual detection device is provided with three second side camera modules, and the three second side camera modules are respectively arranged towards the front side, the first inclined side and the second inclined side of the shell structure (see the arrangement mode of the first side camera modules), so that detection of multiple angles without dead angles is realized for the second of multiple shell structures, and the final quality inspection quality is higher. Of course, in other embodiments, the number and the arrangement position of the second side camera modules arranged may be changed according to different housing structures, which is not described in detail. And the second side camera module can be movably arranged on a platform of the detection equipment and can reciprocate along the transmission direction of the second transmission section so as to detect different shell structures according to requirements.
In this embodiment, the mounting positions and mounting angles of the first and second side camera modules can be flexibly set, so that images of the front side, the oblique side or the corners of the shell structure can be clearly obtained, and therefore, the omnibearing defect detection of the shell structure can be realized.
Referring to fig. 2, in addition, the structural plane vision inspection apparatus 40 is disposed below the first transmission section, the structural plane vision inspection apparatus includes at least one structural plane camera module 41 and at least one structural plane light source module 42, the structural plane camera module 41 and the structural plane light source module 42 are both disposed toward the first transmission section, and when at least two structural plane light source modules are included, the at least two structural plane light source modules 42 are disposed in an extending manner perpendicular or approximately perpendicular to the transmission direction of the first transmission section (i.e., disposed on two sides of the first transmission section), or disposed in an extending manner along the transmission direction of the first transmission section (i.e., disposed along the X-axis direction). Of course, the light source modules with different structural surfaces can also be arranged along different heights.
In some embodiments, two or more structural surface camera modules and two or more structural surface light source modules may be arranged, and the specific arrangement manner may be referred to in the second side visual inspection device of the above embodiments.
In the process that shell structure removed along first transmission section, can detect shell structure's bottom surface through structural plane vision detection worker, detection time is short efficient. When detecting the bottom surface of the shell structure, the structural plane light source module 42 below can provide sufficient light source irradiation for the bottom surface, and then the bottom surface image of the shell structure can be clearly scanned through the structural plane camera module 41, so that AI visual detection is realized. Preferably, in this embodiment, the structural plane camera module 41 is arranged opposite to the first transmission section to clearly obtain the bottom surface image, so as to implement the structural detection.
Further, the structural surface visual inspection device further comprises a structural surface laser sensor 43, and the structural surface laser sensor 43 is arranged towards the first transmission section.
Specifically, the laser sensor is arranged towards the screw hole position on the bottom surface of the shell structure, and can detect whether structures such as a bottom surface screw and the like are installed well or not so as to further improve the detection quality of the structural surface. In this embodiment, two laser sensors are provided, and the two laser sensors respectively scan two sides of the bottom surface of the housing structure, and are located at the rear side of the structural surface camera module 41.
Referring to fig. 4, the sliding table 13 of the inspection tool has a middle transmission position, the visual inspection apparatus 50 is disposed above (or obliquely above) the middle transmission position, the visual inspection apparatus 50 includes at least one visual surface camera module 51 and at least one visual surface light source module 52, the visual surface camera module 51 and the visual surface light source module 52 are both disposed toward the middle transmission position, and when at least two visual surface light source modules 52 are included, the at least two visual surface light source modules 52 are disposed in an extending manner perpendicular or approximately perpendicular to the transmission direction of the middle transmission position, or the at least two visual surface light source modules are disposed in an extending manner along the transmission direction of the middle transmission position, or the at least two visual surface light source modules are disposed in different heights.
In the process that shell structure removed along middle transmission position, can detect shell structure's top surface through outward appearance face visual detection device, detection time is short efficient, and the top surface is the most audio-visual outward appearance face of shell structure. When detecting shell structure's top surface, the apparent surface light source module that is located the tool top can provide sufficient light source for the top surface and shine, and the rethread outward appearance camera module can clearly scan shell structure's top surface image, realizes AI visual detection.
By the aforesaid, detection tool slip table 13 is located outward appearance face visual detection device below, like this, locates the outward appearance face visual detection device 50 of top and can not increase the original vertical space of check out test set to reduce the whole shared volume of check out test set.
In the prior art, the rotating module/mechanism for rotating and moving the housing structure is complex in structure and occupies a large space, and meanwhile, the rotating module is usually disposed above the conveyor belt in order to control the position of the housing structure, so some visual detection devices (such as the visual detection device for the exterior surface) are usually disposed at other positions, such as two sides of the conveyor belt (such as the middle conveying position), thereby further increasing the occupied space of the whole device. In this embodiment, because the simple structure of middle transmission position top, consequently can reserve the installation space who holds visual detection device to make check out test set's structure more compact.
Because the defects on the structure of the shell are various, and the defects of different types are irradiated by the light source at the same angle, in order to improve the accuracy of the detection result and avoid the missing detection or the false detection of the defect, preferably, in this embodiment, a plurality of appearance surface light source modules arranged along different tilt angles are arranged, a plurality of external light source modules arranged along different horizontal tilt angles (forming different included angles with the horizontal direction) can provide a plurality of light source types (namely, light sources with different angles or light intensities), and a plurality of images can be obtained by shooting the appearance surface of the shell structure based on the plurality of light source types, thereby guarantee that most defects can be clear formation of image on at least one image, certainly, can understand that, the quantity and the angle of outward appearance area light source module all can carry out nimble adjustment based on the shell structure who detects. Specifically, the number of the appearance area light source modules is multiple, and the appearance area light source modules are arranged towards the middle transmission position along different horizontal inclination angles respectively.
Can provide the light source of equidirectional not for shell structure through a plurality of outward appearance area light source modules, like this, when scanning through outward appearance camera module 51, can more omnidirectional realization detect, avoid leading to the condition that some positions can not detect because of the shadow effect of unit light source. In this embodiment, three light sources are provided, including a first light source 521, a second light source 522, and a third light source 523, the three light sources are obliquely arranged and annularly arranged at the detection position along the transmission direction, and along the transmission direction, the second light source 522, the third light source 523, and the first light source 521 are sequentially arranged, angles of the first light source 521, the third light source 523, and the second light source 522 are sequentially increased, specifically, an inclination angle of the first light source 521 may be set to 17 ± 2 °, an inclination angle of the second light source 522 is set to 47.5 ± 1 °, an inclination angle of the third light source 523 is set to 32 ± 1 °, the exterior view camera module 51 is obliquely arranged toward the detection position, specifically, an inclination angle may be set to 49 ± 1 °, when performing the exterior visual inspection, the first light source 521 is kept on, the second light source 522 is on, the third light source 523 is off, the first image scanning, the second light source 522 is off, and the third light source 523 is on, the second image scanning, the second light source 522 and the third light source 523 are both turned off, and the third image scanning is performed, so that the image scanning and the visual detection under three different light sources are realized, the light sources do not need to be replaced, the detection efficiency is high, and the detection is more comprehensive. In this embodiment, the angles of the surface light source module and the surface camera module 51 are adjustable, so as to improve the general usability thereof.
In this embodiment, image scanning and visual inspection of the housing structure are respectively achieved under three different light source combinations, that is, after the housing structure passes through the first transmission section or the second transmission section once, images of three different light sources can be obtained by scanning (or three times of visual inspection) for the same position of the housing structure, and the plurality of light sources with different combinations (or types) can ensure that most defects are clearly imaged on an image corresponding to at least one light source combination (or light source type) (or that most defects are detected in at least one visual inspection).
Of course, in other embodiments, in order to adapt the device to different housing structure products, the light source intensity of the light source modules may be adjusted (e.g., manually adjusted by a worker, or automatically adjusted by a corresponding control module), for example, when the color of the housing structure is lighter, the number of the light source modules may be reduced or the light source intensity of the light source modules may be reduced, and when the color of the housing structure is darker, the number of the light source modules may be increased or the light source intensity of the light source modules may be increased.
Referring to fig. 1, in addition, in order to conveniently obtain product information and detection information of the detected shell structure, the visual detection result corresponds to each detected shell structure (for example, product information such as a serial number and a two-dimensional code corresponding to the shell structure), the AI visual detection apparatus further includes a code scanning gun 60, the code scanning gun 60 is close to the loading position 11, the code scanning gun 60 is located below the transmission position, and the code scanning gun 60 is arranged toward the transmission position.
When the material loading, at first scan the two-dimensional code of shell structure bottom surface through sweeping yard rifle 60 to bind testing result and actual shell structure, and, subsequently store the back with the detected information, conveniently look up.
Referring to fig. 1, in the embodiment, the transmission directions of the first transmission section and the middle transmission position are the same, so that the movement of the housing structure is facilitated, and the code scanning gun 60, the structural plane vision detecting device and the first side surface vision detecting device 20 are sequentially disposed on the first transmission section, so as to further improve the detection efficiency. Of course, in other embodiments, the structural surface visual inspection device 40 and the first side surface visual inspection device 20 may also be disposed in the second transmission segment, which is not described in detail. The cameras are high-definition dot matrix or line array cameras so as to be capable of imaging clearly when the shell structure moves.
Preferably, in some embodiments, the appearance surface camera module 51 and the structure surface camera module are linear cameras, the linear cameras of the structure surface can realize clear imaging at a scanning moving speed of 500mm/s, the appearance surface linear cameras can realize clear imaging at a scanning moving speed of 200mm/s, the first and second side surface camera modules are area cameras, the area cameras support clear photographing during the moving process of the shell structure, and the moving speed of the shell structure is 500 mm/s.
The linear array camera is selected to obtain a very large visual field or very high precision, and when the width of a product is relatively fixed in the visual field, the length can be dynamically adjusted by adjusting the number of imaging lines. The length-width ratio of the imaging of the area-array camera is relatively fixed, and more redundancy is often needed for the same view field size. Meanwhile, the linear array camera can better cooperate with a mechanism to realize clear imaging of a product in a motion state.
Referring to fig. 1, 6-8, in this embodiment, the first conveying section and the second conveying section of the apparatus are disposed in different directions (specifically, disposed perpendicular to each other or approximately perpendicular to each other), do not affect each other in terms of spatial structure, and have respective working movement spaces, and the movement of the shell structure in the first conveying section and the second conveying section is achieved by the loading and transferring manipulator and the unloading and transferring manipulator, respectively, so that the shell structure can be suspended in the air for a certain distance, thereby providing a relatively wide installation space for the installation of the corresponding visual detection apparatus (specifically, the visual detection apparatus can be relatively freely installed below the moving path of the shell structure, or on both sides of the moving path). Therefore, the number and the installation mode of the camera modules and the light source modules in the corresponding visual detection device can be flexibly adjusted by workers based on the characteristics of different types of shell structure products (specifically, the installation position and the installation angle can be freely adjusted), for example, when the types of defects on the shell structure product to be detected are more, in order to improve and ensure that the defects of different types can be clearly imaged (namely, the coverage rate of defect detection is improved), a plurality of (such as three, four or even more) light source modules with different angles can be arranged, so that the defects can be clearly imaged under the irradiation of the light source with at least one angle; when the types of defects on the shell structure product to be detected are relatively few, in order to save energy consumption, only one or two light source modules can be arranged/started on the corresponding visual detection device. Likewise, the number and the installation position of the camera modules can be flexibly adjusted. The compatibility of the device can be further improved by flexibly adjusting the visual detection device, namely the adaptability of the device to different types of shell structure products is improved.
Meanwhile, the feeding transfer manipulator and the discharging transfer manipulator are selected to realize moving and transporting of the shell structure in the embodiment, so that the shell structure is in a suspended state under the control of the feeding and discharging transfer manipulator, the side edge of the shell structure is not in direct contact with an external structure at the moment, and shielding objects are not arranged around the side edge, so that the side edge image of the shell structure can be clearly obtained, and the accuracy of defect detection is further improved.
Further, in some embodiments, in order to avoid the detection device from being interfered by the outside (such as an external light source) during the operation, the detection device further includes an outer frame 70, as shown in fig. 5, specifically, at least one observation window is further opened on the outer frame 70, and the observation window can be used for observing the operation state of the detection device or providing the maintenance space of the maintenance device for the maintenance personnel.
Example two
Based on the AI visual detection device in the above embodiment, the present invention further provides an AI visual detection system, which includes an industrial personal computer, a quality inspection server, and the AI visual detection device as described above;
the industrial personal computer is connected with the AI visual detection equipment to control the AI visual detection equipment and receive detection information, and is in wired or wireless connection with the quality inspection server to transmit the detection information and acquire an identification result.
The industrial personal computer is responsible for scheduling each device to realize picture shooting, so that the pictures are uploaded to the quality inspection server, the algorithm model and the rule processing program which are deployed on the quality inspection server are called to identify and judge the defects, and finally, the defects are sent to the industrial personal computer according to the identification result returned by the service so as to control the control signal corresponding to the transmission mechanism and realize the distinguishing of good products, products to be judged or defective products. In this embodiment, the detection result is correspondingly stored in the quality inspection server.
The movement of each structure/module of the transmission structure can be driven by a servo motor connected with the industrial personal computer, and the camera and the light source of each device are connected with the industrial personal computer, so that the scanning detection of the shell structure in the movement process is realized.
In addition, a user can select different shell structures to configure through the display device, information is synchronized to the industrial personal computer and the quality inspection server, different detection models and different management modes are replaced, one-key switching detection is achieved, and the universality of the detection device is improved.
In addition, the quality inspection server can be connected with a front-end visualization module in a wired or wireless mode, the front-end visualization module adopts a B/S framework, and quality inspection personnel can inquire identification results, defect position pictures and production line defect statistical data through information such as shell structure IDs (identification identifiers) on a browser interface when re-judging shell structures to be judged. The model and the collected pictures can be managed through a front-end visualization tool, the shell structure template and the judgment rule are configured, and meanwhile, the newly collected sample pictures can be labeled on a browser for optimizing iteration and updating of the model and improving the detection quality.
Further explaining the work flow of the apparatus/system of the present invention based on the above embodiment, the loading and transferring manipulator 12 grabs the product from the loading position and moves the product along the transmission direction of the first transmission section (specifically, moves the product along the loading guide rail), and in this process, the code scanning gun, the structural plane vision detecting device, and the first side surface vision detecting device of the detecting apparatus respectively obtain the product information (such as two-dimensional code information), the structural plane image, and the first side surface image of the product; when the loading transfer manipulator 12 moves to the tail end of the loading guide rail (close to one end of the sliding table of the detection jig), the product is put on the sliding table of the detection jig, the product moves to the appearance surface visual detection device along with the sliding table, and the appearance surface visual detection device acquires an appearance surface image of the product; then, the blanking transfer manipulator grabs the product and moves along the direction of the second conveying section, and in the process, the second side visual detection device acquires a second side image of the product. The industrial personal computer controls the detection equipment to place products with different identification results in different directions based on the received identification results so as to facilitate subsequent classification.
Thus, the structure has the following beneficial effects: the equipment compatibility is strong, and shell structures of different materials, types, colors and characteristics can be detected; the integration level is high, and 360-degree image acquisition can be carried out on the shell structure; the detection period is short, and 360-degree image acquisition can be performed in a short time and the result can be fed back; the mode changing time is short, one-key switching can be realized, and agile data marking, model training, model updating and issuing management modes can be provided when the detection shell structure is replaced; the yield, the quality and the production efficiency of the shell structure are improved, so that the outgoing quality of the shell structure is improved; the labor intensity of workers is reduced.
Specifically, in some embodiments, the industrial personal computer comprises:
a control interface, configured to customize operating parameters of the AI visual inspection apparatus, for example, in some embodiments, a user may adjust a movement rate of the loading transfer robot, the unloading transfer robot, and the inspection fixture sliding table through the control interface (such as an HMI interface), so as to adjust a tact of a production line, or control an on/off state of each light source module based on a defect type of the housing structure or a color of the housing structure, for example, when the color of the housing structure is lighter, reduce the number of light source modules or reduce a light source intensity of the light source modules, and when the color of the housing structure is darker, increase the number of light source modules or increase a light source intensity of the light source modules;
the first communication module is used for receiving corresponding detection information (such as shell structure images acquired by shooting in each visual detection device) from the AI visual detection equipment and sending the detection information to the quality inspection server;
a second communication module for receiving the identification result from the quality inspection server, for example, in some embodiments, the identification result includes: good products, to be judged and defective products;
and the control module is used for controlling the AI visual detection equipment based on the working parameters and the identification result.
In this embodiment, the moving speed of the loading transfer manipulator, the unloading transfer manipulator and the detection jig sliding table can be adjusted, the positions and angles of different camera modules and light source modules can be automatically adjusted, and particularly, the visual configuration can be performed through an industrial personal computer (such as an HMI interface). Therefore, the detection system in the embodiment can be suitable for detection tasks of shell structures of products with different process types, different colors and different sizes.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. An AI visual inspection device for shell structure defect detection, comprising:
the conveying structure is provided with a conveying position for the shell structure to move, the conveying position comprises a first conveying section and a second conveying section, and the conveying directions of the first conveying section and the second conveying section are different;
the at least two first side visual detection devices are respectively arranged on two sides of the first transmission section;
the at least two second side visual detection devices are respectively arranged on two sides of the second transmission section;
the structural surface visual detection device is arranged below the transmission position;
at least one appearance surface visual detection device, the appearance surface visual detection device is located the top of transmission position.
2. The AI visual detection device of claim 1, wherein the transport directions of the first and second transport segments are perpendicular or approximately perpendicular to each other; and/or the presence of a gas in the gas,
follow the material loading level extremely the direction of transmission of material level down, transmission structure moves the manipulator including the material loading that docks according to the preface, detects tool slip table and unloading and moves the manipulator, the material loading moves and moves the manipulator and snatchs shell structure follows during the removal the direction of transmission of first transmission section removes, the unloading moves and moves the manipulator and snatchs shell structure follows during the time the direction of transmission of second transmission section removes.
3. The AI visual inspection device of claim 2, wherein the loading transfer robot includes a loading guide rail, a loading lifting structure movably disposed on the loading guide rail, and a loading suction cup, the loading lifting structure having a lifting portion that can be lifted and lowered, the lifting portion being connected to the loading suction cup;
and/or the presence of a gas in the gas,
the blanking transfer manipulator comprises a blanking guide rail, a blanking lifting structure and a blanking sucker, the blanking lifting structure is movably arranged on the blanking guide rail, the blanking lifting structure is provided with a lifting part capable of lifting, and the lifting part is connected to the blanking sucker;
and/or the presence of a gas in the gas,
the detection jig sliding table comprises a sliding table guide rail and a sliding table, the sliding table is movably arranged on the sliding table guide rail, a detachable jig is arranged on the sliding table, and the jig is provided with a placing cavity with an upward opening; or, detection tool slip table includes: a conveyor belt for conveying the housing structure.
4. The AI visual inspection apparatus of any of claims 1-3, wherein the at least two first side visual inspection devices are oppositely disposed, the first side visual inspection devices including at least one first side camera module and at least one first side light source module, the first side camera module and the first side light source module being disposed toward the first transmission segment; and when the first side visual inspection device comprises: when the two first side surface light source modules are arranged, the two first side surface light source modules are respectively positioned at the upper side and the lower side of the first transmission section, or the two first side surface light source modules are arranged along one side of the first transmission section in an extending way;
and/or the presence of a gas in the gas,
the at least two second side visual detection devices are oppositely arranged, each second side visual detection device comprises at least one second side camera module and at least one second side light source module, and the second side camera modules and the second side light source modules are arranged towards the second transmission section; and when the second side visual inspection device comprises: when two second side surface light source modules are arranged, the two second side surface light source modules are respectively positioned at the upper side and the lower side of the second transmission section, or the two second side surface light source modules are arranged along one side of the second transmission section in an extending way;
and/or the presence of a gas in the gas,
the structural surface visual detection device is arranged below the first transmission section and comprises at least one structural surface camera module and at least one structural surface light source module, and the structural surface camera module and the structural surface light source module are arranged towards the first transmission section; and when the structural surface visual detection device comprises at least two structural surface light source modules, the at least two structural surface light source modules are arranged in an extending manner along the transmission direction which is vertical or approximately vertical to the first transmission section, or the at least two structural surface light source modules are arranged in an extending manner along the transmission direction of the first transmission section.
5. The AI visual inspection device of claim 4, wherein the structured surface visual inspection apparatus further includes a structured surface laser sensor disposed toward the first transmission segment.
6. The AI visual inspection equipment of any one of claims 2 to 3, wherein the inspection jig sliding table has an intermediate transport position, the appearance surface visual inspection device is arranged above the intermediate transport position, the appearance surface visual inspection device comprises at least one appearance surface camera module and at least one appearance surface light source module, and the appearance surface camera module and the appearance surface light source module are both arranged towards the intermediate transport position;
and when the appearance surface camera module comprises at least two appearance surface light source modules, the at least two appearance surface light source modules are arranged in an extending mode along the transmission direction perpendicular or approximately perpendicular to the middle transmission position, or the at least two appearance surface light source modules are arranged in an extending mode along the transmission direction of the middle transmission position.
7. The AI visual inspection device of claim 6, wherein the exterior visual inspection means includes: and when the at least two appearance surface light source modules are arranged, the at least two appearance surface light source modules are arranged towards the middle transmission position along different horizontal dip angles respectively.
8. The AI visual inspection device of any of claims 1-3, further comprising a code scanning gun proximate to the loading location, the code scanning gun located below the transport location, and the code scanning gun disposed toward the transport location; and/or the presence of a gas in the gas,
the shell structure is a notebook shell.
9. An AI visual inspection system for detecting shell structure defects, which is characterized by comprising an industrial personal computer, a quality inspection server and the AI visual inspection equipment of any one of claims 1 to 8, wherein the industrial personal computer is respectively connected with the AI visual inspection equipment and the quality inspection server;
the industrial personal computer is used for controlling the AI visual detection equipment and receiving corresponding detection information from the AI visual detection equipment, and the quality inspection server is used for obtaining a corresponding identification result based on the detection information.
10. The AI visual inspection system for housing structure defect detection according to claim 9, wherein the industrial personal computer includes:
the control interface is used for customizing the working parameters of the AI visual detection equipment by a user;
the first communication module is used for receiving corresponding detection information from the AI visual detection equipment and sending the detection information to the quality inspection server;
the second communication module is used for receiving the identification result from the quality inspection server;
and the control module is used for controlling the AI visual detection equipment based on the working parameters and the identification result.
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