CN115980087A

CN115980087A - Shell defect detection method and device, equipment and storage medium

Info

Publication number: CN115980087A
Application number: CN202211706221.1A
Authority: CN
Inventors: 罗强
Original assignee: Shanghai Wingtech Electronic Technology Co Ltd
Current assignee: Shanghai Wingtech Electronic Technology Co Ltd
Priority date: 2022-12-29
Filing date: 2022-12-29
Publication date: 2023-04-18

Abstract

The invention discloses a shell defect detection method, a device, equipment and a storage medium; the method is applied to a shell defect detection device, the shell defect detection device comprises a control module, a camera module and a mechanical arm, and the method comprises the following steps: the mechanical arm responds to the received clamping instruction, clamps the product to be detected at a preset clamping angle, so that a target shell part corresponding to the preset clamping angle in the product to be detected is presented under the camera module, wherein different clamping angles correspond to different shell presenting parts; the camera module responds to the received shooting instruction, shoots the target shell part and obtains a candidate image corresponding to the target shell part; and the control module determines the defect position of the target shell part according to the candidate image. The detection accuracy of the shell defect can be improved.

Description

Shell defect detection method and device, equipment and storage medium

Technical Field

The embodiment of the application relates to electronic technology, and relates to but is not limited to a shell defect detection method, a shell defect detection device, equipment and a storage medium.

Background

The defect detection of the rear shell of the electronic equipment is mainly divided into defects such as three injuries (scratch, bruise and crush), particles, broken filaments, heterochrosis, pockmarks, oil accumulation and the like, and the detection area is generally divided into a back surface and a side surface.

In the prior art, when the defect of the rear shell of the electronic equipment is detected, the defect is mostly searched based on the naked eyes, and a large amount of manpower and time are consumed. Therefore, the detection efficiency is low, and the labor cost investment is large; and the manual detection mode has the problems of false detection, missed detection and the like caused by subjective judgment, eye fatigue and the like.

With the disappearing of the population dividend of China and the rising of the labor cost, the process of industrial automation is accelerated. As an industry with higher automation degree, other modes are needed in the field to achieve the purposes of reducing factory personnel and improving detection accuracy.

Disclosure of Invention

In view of this, the method, the apparatus, the device, and the storage medium for detecting the shell defect provided in the embodiments of the present application can improve the accuracy of detecting the shell defect. The method, the device, the equipment and the storage medium for detecting the shell defects are realized as follows:

the shell defect detection method provided by the embodiment of the application is applied to a shell defect detection device, the shell defect detection device comprises a control module, a camera module and a mechanical arm, the camera module is positioned above the mechanical arm, and the method comprises the following steps:

the mechanical arm responds to the received clamping instruction, clamps the product to be detected at a preset clamping angle, so that a target shell part corresponding to the preset clamping angle in the product to be detected is presented under the camera module, wherein different clamping angles correspond to different shell presenting parts;

the camera module responds to the received shooting instruction, shoots the target shell part and obtains a candidate image corresponding to the target shell part;

and the control module determines the defect position of the target shell part according to the candidate image.

In some embodiments, the housing presentation portion comprises one or more of a housing back, a housing first side, a housing second side, and a housing fillet, the first side in a perpendicular relationship to the second side.

In some embodiments, the step of, by the camera module, in response to the received shooting instruction, shooting the target shell part to obtain a candidate image corresponding to the target shell part includes:

the camera module responds to the received shooting instruction, and shoots the target shell part based on the light sources at different angles to obtain corresponding candidate images of the target shell part under the light sources at different angles;

the control module determines the defect position of the target shell part according to the candidate image, and comprises the following steps:

the control module respectively determines candidate defect positions of the target shell part in each candidate image according to each candidate image;

and synthesizing each candidate defect position to obtain the defect position of the target shell part.

In some embodiments, the brightness values of the different angle light sources are different.

In some embodiments, after the camera module captures a target housing part in response to the received capture instruction and obtains a candidate image corresponding to the target housing part, the method further includes:

the mechanical arm sequentially responds to the rotation instruction and sequentially rotates the position of the target shell part within the range of the threshold value of the rotation angle so as to enable the target shell part to be displayed under the camera module at a plurality of display angles different from the preset clamping angle; the camera module sequentially responds to the shooting instruction, and shoots the target shell part under each presentation angle to obtain a plurality of candidate images corresponding to the target shell part under different presentation angles.

In some embodiments, the step of the camera module sequentially responding to the shooting instruction to shoot the target shell part at each presentation angle to obtain a plurality of candidate images corresponding to the target shell part at different presentation angles includes:

the camera module responds to each shooting instruction in sequence, and shoots the target shell part based on the light sources at different angles at each presentation angle to obtain a plurality of candidate images corresponding to the target shell part at each presentation angle.

In some embodiments, the control module is pre-stored with a clamping command issuing sequence, and different clamping commands carry different clamping angles.

The embodiment of the application provides a shell defect detecting device, including control module group, camera module and arm, camera module is located the arm top, the device includes:

the mechanical arm is used for responding to the received clamping instruction and clamping the product to be detected based on the clamping angle so that a target shell part corresponding to a preset clamping angle in the product to be detected is presented under the camera module, wherein different clamping angles correspond to different shell presenting parts;

the camera module is used for responding to the received shooting instruction and shooting the target shell part to obtain a candidate image corresponding to the target shell part;

the control module is used for determining the defect position of the target shell part according to the candidate image.

In some embodiments, the housing presenting portion comprises one or more of a housing back face, a housing first side, a housing second side, and a housing rounded corner, the first side in perpendicular relation to the second side.

In some embodiments, the camera module is further configured to, in response to the received shooting instruction, shoot the target housing part based on the light sources at different angles to obtain candidate images of the target housing part corresponding to the light sources at different angles; the control module is also used for respectively determining candidate defect positions of the target shell parts in each candidate image according to each candidate image; and synthesizing each candidate defect position to obtain the defect position of the target shell part.

In some embodiments, the robotic arm is further configured to sequentially rotate, in response to the rotation command, the position of the target housing portion within a threshold range of the rotation angle, so that the target housing portion is presented under the camera module at a plurality of presentation angles different from the preset clamping angle; the camera module is further used for responding to the shooting instruction in sequence and shooting the target shell part under each presenting angle to obtain a plurality of candidate images corresponding to the target shell part under different presenting angles.

In some embodiments, the camera module is further configured to sequentially respond to each shooting instruction, and shoot the target shell part at each rendering angle based on the light sources at different angles, so as to obtain a plurality of candidate images corresponding to the target shell part at each rendering angle.

The computer device provided by the embodiment of the application comprises a memory and a processor, wherein the memory stores a computer program which can run on the processor, and the processor executes the program to realize the method of the embodiment of the application.

The computer readable storage medium provided by the embodiment of the present application has a computer program stored thereon, and the computer program is used for implementing the method provided by the embodiment of the present application when being executed by a processor.

According to the shell defect detection method and device, the computer equipment and the computer readable storage medium, the mechanical arm in the shell defect detection device responds to the received clamping instruction and clamps the product to be detected at the preset clamping angle, so that a target shell part corresponding to the preset clamping angle in the product to be detected is presented under the camera module, wherein different clamping angles correspond to different shell presenting parts; the camera module responds to the received shooting instruction, shoots the target shell part and obtains a candidate image corresponding to the target shell part; and the control module determines the defect position of the target shell part according to the candidate image. Therefore, the defect detection of the shell can be automatically realized, and the detection accuracy of the shell defect is improved, so that the technical problem in the background art is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of an application scenario of a shell defect detection method according to an embodiment of the present application;

fig. 2 is a schematic flow chart illustrating an implementation of a shell defect detection method according to an embodiment of the present application;

FIG. 3 is a detailed diagram of some defect types provided in an embodiment of the present application;

FIG. 4 is a schematic diagram illustrating categories and ratios of defects of a product according to an embodiment of the present disclosure;

FIG. 5 is a schematic view of a housing presentation provided by an embodiment of the present application;

FIG. 6 is a schematic view of various clamping angles provided by an embodiment of the present application;

fig. 7 is a schematic flow chart illustrating an implementation of a method for detecting a defect of a housing according to an embodiment of the present application;

FIG. 8 is a schematic view of the type of polishing at various angles provided by embodiments of the present application;

FIG. 9 is a schematic diagram of a defect location of a housing portion according to an embodiment of the present application;

fig. 10 is a schematic flowchart illustrating an implementation of a shell defect detection method according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a device for detecting defects in a housing according to an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are intended to illustrate the present application, but are not intended to limit the scope of the present application.

Unless defined otherwise, all 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. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict.

It should be noted that the terms "first \ second \ third" are used herein to distinguish similar or different objects and do not denote a particular ordering with respect to the objects, and it should be understood that "first \ second \ third" may be interchanged in a particular order or sequence as permitted so that embodiments of the present application described herein may be practiced in other than the order shown or described herein.

In the prior art, when the defect of the rear shell of the electronic equipment is detected, the defect is mostly found based on the naked eyes, and a large amount of manpower and time are consumed. Therefore, the detection efficiency is low, and the labor cost investment is large; and the manual detection mode has the problems of false detection, missed detection and the like caused by subjective judgment, eye fatigue and the like.

In view of this, the embodiments of the present application provide a method for detecting a shell defect, which can achieve automatic shell defect detection and improve the detection accuracy of the shell defect.

As shown in fig. 1, fig. 1 is a schematic view of an application scenario of a shell defect detection method disclosed in an embodiment of the present application, and in the application scenario, the shell defect detection device includes a control module (not shown in the figure), a camera module 1, a mechanical arm 2, and a product 3 to be detected.

The control module can be integrated in the defect detection device and automatically controls the camera module 1 and the mechanical arm 2 to work cooperatively; or be integrated separately in another device different from the defect detection device, and the camera module 1 and the robot arm 2 are controlled to work cooperatively through another device, for example, the device different from the defect detection device may be an electronic device used by a worker, and the worker may monitor the work of the camera module 1 and the robot arm 2 through the electronic device.

The product to be detected can be any electronic product such as a mobile phone, a watch, a bracelet, a tablet personal computer or a palm computer, and based on the shell defect detection method provided by the application, the detection of defects in the shells of the various electronic products can be realized.

The camera module 1 can be any device which can shoot a product to be detected to obtain image information of the product to be detected, such as a laser radar, a depth camera, an infrared camera and the like, and the embodiment of the application does not limit the device. The camera module 1 is arranged above the mechanical arm 2, and the product to be detected can be displayed below the camera module 1 at a certain clamping angle through the mechanical arm 2, so that the camera module can shoot the product to be detected to obtain a corresponding image.

Fig. 2 is a schematic view of an implementation process of the shell defect detection method provided in the embodiment of the present application, which can improve the detection accuracy of the shell defect. As shown in fig. 2, the method is applied to the housing defect detecting apparatus shown in fig. 1, the housing defect detecting apparatus includes a control module, a camera module and a robot arm, the camera module is located above the robot arm, and the method may include the following steps 201 to 203:

step 201, the mechanical arm responds to the received clamping instruction, clamps the product to be detected at a preset clamping angle, so that a target shell part corresponding to the preset clamping angle in the product to be detected is presented under the camera module, wherein different clamping angles correspond to different shell presenting parts.

In the embodiment of the present application, the specific type of the defect to be detected is not limited, for example, the type of the defect may be any type such as particles, broken filaments, poor screen printing, oil accumulation, scratches, frosting, three scratches, pinholes, pits, notches, tooth edges, and/or water gaps. A detailed schematic of some defect types is given in fig. 3.

Further, according to the statistical analysis of the defect detection results of the products to be detected within a period of time (e.g., within one month), the product defect categories and defect ratios shown in fig. 4 can be obtained.

Based on the statistical analysis of the data in fig. 4, the poor ratio of the backshell product is 5.88% of the total input amount. The defects which need to be detected are particles, broken filaments, poor screen printing, oil accumulation, scratches, grinding, three damages, pinholes and pockmarks, and the proportion of the defects which need to be detected accounts for 85.49 percent; the detectable defects are gaps, tooth edges and water gap marks, and the proportion of the defects is 2.25%; no defect detection is required.

Of course, the type of the defect to be detected in the actual production may be set according to the specific requirements of the actual production, which is not limited in the embodiments of the present application.

As shown in fig. 5, in the present embodiment, the housing presenting part may include one or more of a housing back side, a housing first side, a housing second side, and a housing rounded corner, the first side being in a perpendicular relationship with the second side.

In an alternative embodiment the first side is a long side of the housing and the second side is a short side of the housing.

In this application embodiment, control module group is through issuing the centre gripping instruction that carries the predetermined centre gripping angle to the arm, and the arm is after receiving this centre gripping instruction, treats the product according to the centre gripping angle centre gripping that the centre gripping instruction instructed promptly to the target shell position that corresponds with predetermined centre gripping angle in treating the product is present under the camera module, and then realizes treating the defect detection of the different positions of the shell of detecting the product.

Wherein the preset clamping angle is between 0 and 180 degrees, and different clamping angles correspond to different shell presenting parts. That is, when the mechanical arm clamps the product to be detected at a predetermined clamping angle, the target housing portion corresponding to the product to be detected and the predetermined clamping angle can be presented under the camera module.

For example, as described with reference to fig. 1, 5 and 6, in one case, the robot arm responds to a clamping instruction, which instructs the robot arm to clamp the product to be detected at 0 degrees (i.e., a horizontal angle, and a direction parallel to the camera module is taken as a reference direction, such as an angle 1 shown in fig. 6), so that the back surface of the housing of the product to be detected can be presented under the camera module (the back surface of the housing shown in fig. 5 presents a posture); in another case, the robot arm responds to a clamping instruction, which instructs the robot arm to clamp the product to be detected at 65 ± 5 degrees (angle 2 shown in fig. 6), so that the first side edge of the product to be detected can be presented under the camera module (the first side edge presenting posture shown in fig. 5); in yet another case, the robotic arm responds to a clamping command instructing the robotic arm to clamp the product to be detected at 95 ± 5 degrees (angle 3 shown in fig. 6) so that the second side of the product to be detected can be presented under the camera module (the second side is presented in a posture as shown in fig. 5); in yet another case, the robot arm responds to a clamping command instructing the robot arm to clamp the product to be detected at 135 ± 5 degrees (angle 4 shown in fig. 6) so that the housing fillet of the product to be detected can be presented under the camera module (the housing fillet presenting posture shown in fig. 5).

Step 202, the camera module group responds to the received shooting instruction, and shoots the target shell part to obtain a candidate image corresponding to the target shell part.

In a feasible embodiment, when the back of the shell, which holds the product to be detected, of the mechanical arm is shown under the camera module, the control equipment can send a shooting instruction to the camera module, and the camera module responds to the shooting instruction to shoot the back of the shell, so that a candidate image corresponding to the back of the shell is obtained; when the first side edge of the product to be detected, which is clamped by the mechanical arm, is presented under the camera module, the control equipment can send a shooting instruction to the camera module, and the camera module responds to the shooting instruction to shoot the first side edge, so that a candidate image corresponding to the first side edge is obtained; when the second side edge of the product to be detected, which is clamped by the mechanical arm, is presented under the camera module, the control equipment can send a shooting instruction to the camera module, and the camera module responds to the shooting instruction to shoot the second side edge to obtain a candidate image corresponding to the second side edge; when the mechanical arm clamps the shell fillet of the product to be detected and the shell fillet is displayed under the camera module, the control equipment can send a shooting instruction to the camera module, and the camera module responds to the shooting instruction, shoots the shell fillet and obtains a candidate image corresponding to the shell fillet.

And step 203, the control module determines the defect position of the target shell part according to the candidate image.

In some embodiments, after acquiring the candidate image corresponding to the target housing portion of the product to be detected, step 203 may be implemented by performing the following steps 703 to 704.

In the embodiment of the application, the mechanical arm in the shell defect detection device responds to the received clamping instruction and clamps the product to be detected at the preset clamping angle, so that the target shell part corresponding to the preset clamping angle in the product to be detected is displayed under the camera module, and different shell display parts corresponding to different clamping angles are displayed; the camera module responds to the received shooting instruction, shoots the target shell part and obtains a candidate image corresponding to the target shell part; and the control module determines the defect position of the target shell part according to the candidate image. Therefore, the defect detection of the shell can be automatically realized, and the detection accuracy of the shell defect is improved.

Fig. 7 is a schematic implementation flowchart of another method for detecting a defect of a housing according to an embodiment of the present application. As shown in fig. 7, the method is applied to the housing defect detecting apparatus shown in fig. 1, the housing defect detecting apparatus includes a control module, a camera module and a robot arm, the camera module is located above the robot arm, and the method may include the following steps 701 to 704:

step 701, the mechanical arm responds to the received clamping instruction, clamps the product to be detected at a preset clamping angle, and enables a target shell part corresponding to the preset clamping angle in the product to be detected to be displayed under the camera module, wherein different clamping angles correspond to different shell display parts.

It should be noted that, the control module also prestores a clamping instruction issuing sequence, and different clamping instructions carry different clamping angles. Like this, control module group can send the centre gripping instruction that carries corresponding centre gripping angle to the arm in proper order to make the arm respond to each centre gripping instruction, change in proper order and wait to detect the shell position that the product appears under camera module.

If in a feasible embodiment, the clamping instruction issuing sequence is a clamping instruction corresponding to the back surface of the housing, a clamping instruction corresponding to the first side edge, a clamping instruction corresponding to the second side edge, and a clamping instruction corresponding to the housing fillet, and the mechanical arm can respond to the clamping instruction issuing sequence and sequentially present the back surface of the housing, the first side edge, the second side edge, and the housing fillet of the product to be detected under the camera module.

Further, the product to be detected based on the rule has a plurality of first sides, second sides and shell fillet, then in some embodiments, still can inject the centre gripping instruction of each first side, each second side and each shell fillet and issue the order, and in this application embodiment, do not do the restriction to specific order of issuing, can specifically set up according to use custom or production demand.

In some embodiments, in order to improve the detection accuracy of the defects in each shell part of the product to be detected, the camera module may be further controlled to shoot the target shell part for multiple times at the preset clamping angle to obtain multiple candidate images of the target shell part, so that the control module determines the defect position of the target shell part based on the multiple candidate images corresponding to the target shell part.

Based on this, in a possible embodiment, a candidate image corresponding to the target housing portion can be obtained from a multi-angle shooting. For example, the target shell part is the shell back, and when the shell back appears under the camera module, the camera module can be controlled to shoot the shell back for multiple times, so that multiple candidate images corresponding to the shell back are obtained.

In order to prevent the multiple candidate images from being repeated, namely, each candidate image contains useful information, the control device may sequentially send a rotation instruction to the mechanical arm, so that the mechanical arm sequentially responds to the rotation instruction and sequentially rotates the position of the target shell within a threshold range of a rotation angle, thereby enabling the target shell to be presented under the camera module at multiple presentation angles different from a preset clamping angle.

For example, after the mechanical arm clamps a product to be detected by 0 degree (i.e., a horizontal angle, angle 1 shown in fig. 6), and the back surface of the shell of the product to be detected is presented under the camera module, the control device may send a shooting instruction to the camera module, and the camera module responds to the shooting instruction to shoot the currently presented back surface of the shell, so as to obtain a corresponding candidate image 1; then, the control device sends a rotation instruction to the mechanical arm, so that the control device performs first rotation within a rotation angle threshold range (i.e., changes the clamping angle within the rotation angle threshold range) on the basis of the current clamping angle (e.g., 0 degree), at this time, the back of the housing is presented under the camera module at an angle different from 0 degree, and then the control device can send a shooting instruction to the camera module, and the camera module shoots the back of the housing currently presented in response to the shooting instruction, so as to obtain a corresponding candidate image 2.

In the embodiment of the present application, the threshold range of the rotation angle is not limited, and may be, for example, [ -5 ° - +5 ° ].

Certainly, in the embodiment of the present application, the number of times that the control module sends the rotation instruction to the robot arm is not limited. If the target shell part is the shell back surface, the control module can send 12 rotation instructions to the mechanical arm due to large area and more possible defects, so that the mechanical arm can clamp the shell back surface of the product to be detected at 12 different point positions respectively and the shell back surface is shown under the camera module, and the camera module can shoot the shell back surfaces shown at 12 different point positions respectively to obtain a plurality of groups of candidate images; when the target shell part is a first side and a second side, because the defects in the sides are large in proportion and difficult to detect, the control module can send 18 rotation instructions to the mechanical arm, so that the mechanical arm clamps different sides of the product to be detected on 18 different point positions respectively and the different sides are shown under the camera module, and the camera module respectively shoots different sides shown on 18 different point positions to obtain a plurality of groups of candidate images corresponding to each side; when the target shell position is the shell fillet, because the area of shell fillet is less, then the control module group can send 4 times rotation instruction to the arm to make the arm respectively the centre gripping wait to detect each shell fillet of product present under the camera module on 4 different positions, thereby make the camera module take respectively the shell fillet that presents under 4 different positions, obtain the multiunit candidate image that each shell fillet corresponds.

In step 702, the camera module group responds to the received shooting instruction, and shoots the target shell part based on the light sources at different angles to obtain candidate images of the target shell part corresponding to the light sources at different angles.

It can understand ground, because the kind and the material of waiting to detect the product are various, and the defect type in waiting to detect the product of different kinds and material also respectively has the difference to and, some defects still probably have the requirement to detecting the angle, also the camera module needs to shoot based on the illumination of specific angle, just can obtain corresponding defect information.

Therefore, in order to achieve integrity detection of various products to be detected and various defect types, in some embodiments, when the target shell portion is presented under the camera module at different presentation angles, the camera module may sequentially respond to each shooting instruction, and shoot the target shell portion based on different angle light sources at each presentation angle, so as to obtain a plurality of candidate images corresponding to the target shell portion at each presentation angle.

Here, the specific type of the light source with different angles is not limited, and may be, for example, a lighting type at various angles as shown in fig. 8.

Based on this, a plurality of candidate images obtained by shooting a target shell part (such as the back of the shell) at different rendering angles (rotated to different points by a mechanical arm) based on different angle light sources are obtained. If the rendering angle corresponding to the back surface of the housing is 12 and the light sources at different angles are 3, the number of candidate images corresponding to the back surface of the housing is 12 × 3= 36.

Further, in some embodiments, the brightness values of the light sources at different angles are different, so that the target housing part is captured at different brightness values, and the obtained candidate images contain different information.

In the embodiment of the application, the camera module is irradiated by the light sources at different angles, so that the adaptability and the compatibility of various defects are better, particularly the defects with special requirements on angles are overcome, and meanwhile, new defects can be dynamically modeled through optics, so that the flexibility is better.

And 703, respectively determining the candidate defect position of the target shell part in each candidate image by the control module according to each candidate image.

And 704, synthesizing each candidate defect position to obtain the defect position of the target shell part.

In the embodiment of the application, after each candidate image is obtained, the candidate image can be input into a deep learning model to identify the defect position, so that the candidate defect position of the target shell part in each candidate image is obtained; furthermore, each candidate defect position can be integrated to obtain the defect position of the target shell part, so that the missing detection of the defect position of the target shell part is avoided. For the specific way of identifying the defect type by the deep learning model, the identification way in the related art can be adopted, and details are not repeated here.

As shown in fig. 9, a schematic diagram of defect positions of some housing parts is given, and it can be known that the defect positions of the housing parts can be detected well by the housing defect detection method provided in the embodiment of the present application.

In the embodiment of the application, a mechanical arm in the shell defect detection device responds to a received clamping instruction and clamps a product to be detected at a preset clamping angle, so that a target shell part corresponding to the preset clamping angle in the product to be detected is displayed under a camera module, and different clamping angles correspond to different shell display parts; the camera module responds to the received shooting instruction, and shoots the target shell part based on the light sources at different angles to obtain corresponding candidate images of the target shell part under the light sources at different angles; and the control module respectively determines the candidate defect position of the target shell part in each candidate image according to each candidate image, and further synthesizes each candidate defect position to obtain the defect position of the target shell part. Therefore, the defect detection of the shell can be automatically realized, and the detection accuracy of the shell defect is improved.

An exemplary application of the embodiments of the present application in a practical application scenario will be described below.

Fig. 10 is a general flowchart of a shell defect detection method according to an embodiment of the present application. As shown in fig. 10, the method includes the following steps 1001 to 1007:

1001, taking materials by a mechanical arm;

step 1002, shooting the back of the shell based on an optical imaging system, and shooting 12 point locations, wherein each point location shoots 3 different imaging pictures;

step 1003, shooting the side surface A based on an optical imaging system, shooting 18 point locations, and shooting 2 different imaging pictures at each point location;

step 1004, shooting the side surface B based on an optical imaging system, and shooting 18 point locations, wherein each point location shoots 2 different imaging pictures;

step 1005, shooting a shell fillet based on an optical imaging system, shooting 4 point locations, and shooting 1 different imaging pictures at each point location;

step 1006, comprehensively shooting the judgment result, and sending the judgment result OK or shooting again to the mechanical arm;

step 1007, emptying by a mechanical arm.

It should be understood that, although the steps in the flowcharts are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in each of the flowcharts described above may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the sub-steps or the stages of other steps.

Based on the foregoing embodiments, the present application provides a device for detecting a defect of a housing, where the device includes modules and units included in the modules, and can be implemented by a processor; of course, the implementation can also be realized through a specific logic circuit; in implementation, the processor may be a Central Processing Unit (CPU), a Microprocessor (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.

Fig. 11 is a schematic structural diagram of an enclosure defect detecting apparatus provided in an embodiment of the present application, and as shown in fig. 11, the apparatus 1100 includes a control module 1101, a camera module 1102, and a robot arm 1103, where:

the camera module is used for responding to the received shooting instruction, shooting the target shell part and obtaining a candidate image corresponding to the target shell part;

In some embodiments, the camera module is further configured to, in response to the received shooting instruction, shoot the target housing part based on the light sources at different angles to obtain candidate images of the target housing part corresponding to the light sources at different angles; the control module is also used for respectively determining candidate defect positions of the target shell part in each candidate image according to each candidate image; and synthesizing each candidate defect position to obtain the defect position of the target shell part.

In some embodiments, the robotic arm is further configured to sequentially rotate, in response to the rotation command, the position of the target housing portion within a threshold range of the rotation angle, so that the target housing portion is presented under the camera module at a plurality of presentation angles different from the preset clamping angle; the camera module is further used for responding to the shooting instruction in sequence, shooting the target shell part under each presenting angle, and obtaining a plurality of candidate images corresponding to the target shell part under different presenting angles.

The above description of the apparatus embodiments, similar to the above description of the method embodiments, has similar beneficial effects as the method embodiments. For technical details not disclosed in the embodiments of the apparatus of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

It should be noted that, in the embodiment of the present application, the division of the module by the shell defect detecting apparatus shown in fig. 11 is schematic, and is only one logic function division, and there may be another division manner in actual implementation. In addition, functional units in the embodiments of the present application may be integrated into one processing unit, may exist alone physically, or may be integrated into one unit by two or more units. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. Or may be implemented in a combination of software and hardware.

It should be noted that, in the embodiment of the present application, if the method described above is implemented in the form of a software functional module and sold or used as a standalone product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, or an optical disk. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.

An embodiment of the present application provides a computer device, where the computer device may be a server, and an internal structure diagram of the computer device may be as shown in fig. 12. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of shell defect detection.

Embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps in the methods provided in the above embodiments.

Embodiments of the present application provide a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the method provided by the above-described method embodiments.

Those skilled in the art will appreciate that the architecture shown in fig. 12 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, the housing defect detecting apparatus provided in the present application may be implemented in the form of a computer program, and the computer program may be run on a computer device as shown in fig. 12. The memory of the computer device may store various program modules that make up the sampling apparatus, such as the various modules shown in fig. 11. The respective program modules constitute computer programs that cause the processor to execute the steps in the shell defect detection methods of the respective embodiments of the present application described in the present specification.

It is to be noted here that: the above description of the storage medium and device embodiments is similar to the description of the method embodiments above, with similar advantageous effects as the method embodiments. For technical details not disclosed in the embodiments of the storage medium, the storage medium and the device of the present application, reference is made to the description of the embodiments of the method of the present application for understanding.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" or "some embodiments" means that a particular feature, structure or characteristic described in connection with the embodiments is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. The foregoing description of the various embodiments is intended to highlight various differences between the embodiments, and the same or similar parts may be referred to each other, and for brevity, will not be described again herein.

The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example, object a and/or object B, may mean: the object A exists alone, the object A and the object B exist simultaneously, and the object B exists alone.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice, such as: multiple modules or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or modules may be electrical, mechanical or other.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules; can be located in one place or distributed on a plurality of network units; some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all functional modules in the embodiments of the present application may be integrated into one processing unit, or each module may be separately regarded as one unit, or two or more modules may be integrated into one unit; the integrated module can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.

Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application or portions thereof that contribute to the related art may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.

The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to arrive at new method embodiments.

The features disclosed in the several product embodiments presented in this application can be combined arbitrarily, without conflict, to arrive at new product embodiments.

The features disclosed in the several method or apparatus embodiments provided herein may be combined in any combination to arrive at a new method or apparatus embodiment without conflict.

The above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall cover the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A shell defect detection method is applied to a shell defect detection device, the shell defect detection device comprises a control module, a camera module and a mechanical arm, the camera module is located above the mechanical arm, and the method comprises the following steps:

the mechanical arm responds to a received clamping instruction, clamps a product to be detected at a preset clamping angle, so that a target shell part corresponding to the preset clamping angle in the product to be detected is presented under the camera module, wherein different clamping angles correspond to different shell presenting parts;

the camera module responds to a received shooting instruction, and shoots the target shell part to obtain a candidate image corresponding to the target shell part;

2. The method of claim 1, wherein the shell presentation location comprises one or more of a shell back, a shell first side, a shell second side, and a shell fillet, the first side in a perpendicular relationship to the second side.

3. The method of claim 1, wherein the camera module capturing the target housing portion in response to the received capture instruction to obtain a candidate image corresponding to the target housing portion comprises:

the camera module responds to the received shooting instruction, and shoots the target shell part based on different angle light sources to obtain candidate images of the target shell part under different angle light sources;

4. The method of claim 3, wherein the brightness values of the different angle light sources are different.

5. The method of claim 1, wherein the camera module, in response to the received shooting instruction, shoots the target housing portion, and after obtaining the candidate image corresponding to the target housing portion, the method further comprises:

the mechanical arm sequentially responds to a rotation instruction and sequentially rotates the position of the target shell part within a rotation angle threshold range, so that the target shell part is presented under the camera module at a plurality of presentation angles different from the preset clamping angle;

and the camera module sequentially responds to a shooting instruction, and shoots the target shell part under each presentation angle to obtain a plurality of candidate images corresponding to the target shell part under different presentation angles.

6. The method of claim 5, wherein the step of the camera module sequentially responding to the shooting instruction to shoot the target shell part at each of the rendering angles to obtain a plurality of candidate images corresponding to the target shell part at different rendering angles comprises:

and the camera module responds to each shooting instruction in sequence, and shoots the target shell part based on different angle light sources under each presenting angle to obtain a plurality of candidate images corresponding to the target shell part under each presenting angle.

7. The method according to any one of claims 1 to 6, wherein the control module is pre-stored with a sequence of issuing clamping commands, and different clamping commands carry different clamping angles.

8. The utility model provides a shell defect detection device, its characterized in that, shell defect detection device includes control module group, camera module group and arm, the camera module group is located the arm top, the device includes:

the mechanical arm is used for responding to a received clamping instruction and clamping a product to be detected based on a preset clamping angle so that a target shell part corresponding to the preset clamping angle in the product to be detected is presented under the camera module, wherein different clamping angles correspond to different shell presenting parts;

9. A computer device comprising a memory and a processor, the memory storing a computer program operable on the processor, wherein the processor when executing the program performs the steps of the method of any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.