KR102407342B1 - Apparatus for Inspection of product combined with Autonomous Vehicle - Google Patents

Abstract

An autonomous driving product inspection device capable of automatically inspecting manufactured products, and a device using the same are provided. The autonomous driving product inspection apparatus according to some embodiments of the present disclosure is coupled with a running unit that moves to the product according to a work event instructing inspection of a product produced by a production facility, and the running unit, and responds to the work event Accordingly, a robot arm that grips the product and loads the product, a measurement unit that inspects the product loaded by the robot arm, and determines a path of an operation in which the robot arm grips the product, and loads the product and a control unit for controlling the operation of the operating unit and the robot arm to inspect the product, wherein the robot arm includes a loading target detection unit for identifying the product and detecting a state in which the product is placed and a space around the product can do.

Description

Autonomous driving product inspection device {Apparatus for Inspection of product combined with Autonomous Vehicle}

The present disclosure relates to an autonomous driving product inspection device capable of automatically inspecting a manufactured product. In more detail, the collaborative inspection robot automatically inspects the product produced by the production facility, moves to the location where the product is located, determines the operation that can grip the product, and corrects the product to the operation that can grip the product easily. It relates to an autonomous driving product inspection device that can

Products produced by conventional production facilities required periodic inspection for self-inspection and repeatability check. However, when an operator manually performs an inspection of a conventional product, the inspection is frequently omitted due to the inconvenience of inspection, and even if the inspection is performed, each operator judged the inspection result differently by subjective criteria and judgment. .

In order to solve this problem, an automatic inspection device has been developed in the prior art, but a separate space is required to install such an automatic inspection device in a production facility, and a portable automatic inspection device has been developed to prevent waste of separate space, but complex factory facilities It was not possible to move and work efficiently with workers inside, causing delays in factory work.

In addition, although the conventional automatic inspection apparatus has a combined robot arm, the operation optimized for each product could not be performed because the gripping operation was uniformly performed when the product for which the production (or processing) operation was completed was picked up. In addition, in the case of automatic inspection devices, normal products are sometimes inspected, but there are also cases where defective products are picked up for inspection. In this case, the automatic inspection device did not accurately recognize the shape of the product, so there was a difficulty in gripping the product with the correct force and direction.

In addition, in each production facility, the products shipped from each production facility were arranged at different heights when the finished product was shipped. Conventional automatic inspection devices sometimes fail to accurately determine the height of products arranged at different heights, so that the shipped product is pressed with a large force from the upper side to damage the normal product, or the product is held at the lower side of the center of gravity In some cases, the product was dropped without force by gripping it from the upper side.

Accordingly, there is a need to develop a technology for a product inspection device to solve the above problems.

Registered Patent Publication No. 10-0724618 (published on February 1, 2002)

The technical problem to be solved through some embodiments of the present disclosure is an autonomous driving product inspection device that can easily and accurately perform product inspection by moving to a manufactured product and automatically performing product inspection when a product is produced is to provide

The autonomous driving product inspection device of the present disclosure provides an autonomous driving product inspection device capable of accurately determining and correcting the path and coordinates for the motion of a robot arm by detecting the product arrangement state and the surrounding space of the product. .

Another technical problem to be solved through some embodiments of the present disclosure is to analyze the path of the operation that can easily grip the product by analyzing the arrangement state of the product and the space around the product in more detail and from multiple angles. It is to provide an autonomous driving product inspection device.

The technical problems of the present disclosure are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve the above technical problem, the autonomous driving product inspection apparatus according to some embodiments of the present disclosure includes a driving unit that moves to the product according to a work event instructing inspection of a product produced by a production facility, and the driving unit A robot arm coupled to and loading the product by gripping the product according to the work event, a measuring unit for inspecting the product loaded by the robot arm, and a path of operation in which the robot arm grips the product and a control unit for controlling the operation of the operation unit and the robot arm to determine the product and to load and inspect the product, wherein the robot arm identifies the product, the product is placed, and the space around the product It may include a loading target detection unit to detect the.

In an embodiment, the loading target detection unit detects the position and height of the product using a camera unit for photographing the product to identify the product, and a camera unit for obtaining an image of the arrangement state of the product, and a laser A displacement sensor unit, wherein the control unit is configured to control the robot arm to control the product based on an image of the arrangement state of the product identified by the camera unit, and the position and height of the product detected by the displacement sensor unit. It is possible to correct the path of the action of holding the .

In one embodiment, the control unit may control the operation of the robot arm to grip the product using information acquired in real time by the target detection unit while the robot arm performs the operation of gripping the product. Paths can be recalibrated in real time.

In one embodiment, the loading target detection unit, a radius adjusting unit for adjusting the angle of the camera unit and the displacement sensor unit to the inside and outside of the grip unit of the robot arm to detect the space around the product, and the product is detected from multiple angles In order to do this, it further comprises a rotating unit rotating the camera unit and the displacement sensor unit based on the grip unit of the robot arm, wherein the control unit operates the radius adjusting unit and the rotating unit to correct the path of motion of the robot arm. can

In one embodiment, the control unit may control the operation of the robot arm to grip the product using information acquired in real time by the target detection unit while the robot arm performs the operation of gripping the product. Paths can be recalibrated in real time.

In one embodiment, the loading target detection unit, by operating the radius adjusting unit and the rotating unit together to perform the operation of adjusting the detection radius of the camera unit and the displacement sensor unit and rotating the camera unit and the displacement sensor unit can

In order to solve the above technical problem, the autonomous driving product inspection apparatus according to another embodiment of the present disclosure further includes a loading unit in which a space for transporting a product that has been inspected by the measurement unit is formed. can do.

In another embodiment, the operating unit, an obstacle sensing unit for recognizing an obstacle found while moving to the product according to the work event, is coupled to the outside of the operating unit, the impact on the obstacle when the obstacle collides It may include a damper that reduces the

1 is a perspective view illustrating an autonomous driving product inspection apparatus according to some embodiments of the present disclosure;
2 is a block diagram illustrating a configuration of an autonomous driving product inspection apparatus according to some embodiments of the present disclosure.
3 is a view for explaining a configuration for controlling an autonomous driving product inspection device.
4 is an exemplary view showing a state before the robot arm of the autonomous driving product inspection device grips the product.
5 is a block diagram showing the configuration of a robot arm of an autonomous driving product inspection device.
6 is a view for explaining a method of detecting a product by the loading target detection unit of the robot arm.
7 and 8 are views for explaining a process of detecting the surrounding space while adjusting the angle of the loading target detection unit inward and outward.
9 is a view for explaining a process of detecting the surrounding space while the loading target detection unit rotates.
10 to 13 are views illustrating a process in which the loading target detection unit is rotated by the rotating unit when the robot arm is viewed from the upper side.
14 is a view for explaining a process of determining the path of the motion for the robot arm to grip the product, and correcting the determined path.
15 is a system configuration diagram for an autonomous driving product inspection device to inspect a product.

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Advantages and features of the present disclosure, and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the technical spirit of the present disclosure is not limited to the following embodiments, but may be implemented in various different forms, and only the following embodiments complete the technical spirit of the present disclosure, and in the technical field to which the present disclosure belongs It is provided to fully inform those of ordinary skill in the art of the scope of the present disclosure, and the technical spirit of the present disclosure is only defined by the scope of the claims.

In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the present disclosure, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present disclosure, the detailed description thereof will be omitted.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which this disclosure belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular. The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present disclosure. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase.

In addition, in describing the components of the present disclosure, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but another component is formed between each component. It should be understood that elements may also be “connected,” “coupled,” or “connected.”

As used herein, “comprises” and/or “comprising” refers to a referenced component, step, operation and/or element of one or more other components, steps, operations and/or elements. The presence or addition is not excluded.

Hereinafter, some embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

1 is a perspective view illustrating an autonomous driving product inspection apparatus 100 according to some embodiments of the present disclosure.

Referring to FIG. 1 , an autonomous driving product inspection apparatus 100 according to the present disclosure may be a device that moves to a product produced by a production facility and inspects the product. The autonomous driving product inspection device 100 drives through the moving means of the driving unit 10, moves to a location where the product is located, holds the product, and then measures/inspects the product using the inspection device and returns the inspection result to the factory. It can be transmitted to the managed main server.

In one embodiment, the autonomous driving product inspection device 100 includes a driving unit 10 composed of an autonomous driving vehicle (AGV), a robot arm 20 that grips and lifts the product, and a measurement unit that inspects the product. (30) may be configured. In one embodiment, the robot arm 20 is installed on the upper side of the operation unit 10 , and the robot arm 20 holds the product and places the product on the measurement unit 30 , and then the product is placed on the measurement unit 30 . can be inspected.

Here, the production equipment may be a factory device capable of producing a product or a device for precision processing, grinding, and cutting, but is not limited thereto, and may mean various factory equipment capable of producing a product. In addition, the products herein include, but are not limited to, automobile parts, ship parts, electronic products, control devices, semiconductors, and the like. Inspection of a product may refer to a self-inspection, an intermediate inspection, etc. performed in advance before undergoing a product performance inspection, and the type of inspection is not limited. As a result of the inspection by the measurement unit 30, vision inspection, production quantity, material quantity, reheating, loading quantity, scrap, etc. can be analyzed, and the production status and mold life status can be analyzed compared to the plan. The test result may be displayed through a display means.

The autonomous driving product inspection apparatus 100 of the present disclosure has an effect of easily and accurately performing product inspection by moving to a manufactured product and automatically performing product inspection.

2 is a block diagram illustrating the configuration of an autonomous driving product inspection apparatus 100 according to some embodiments of the present disclosure.

Referring to FIG. 2 , the autonomous driving product inspection apparatus 100 according to the present disclosure includes an operation unit 10 , a robot arm 20 , a measurement unit 30 , a control unit 40 , a loading unit 50 , and a communication unit ( 60) may be included. The operation unit 10 may move to a product according to a work event instructing an inspection of the product produced by the production facility.

These work events are information for controlling the autonomous driving product inspection apparatus 100 , and may include detailed information on a control method of each configuration such as an inspection target, operation time, and route of the autonomous driving product inspection apparatus 100 . The job event is the shortest route from the autonomous driving product inspection device 100 to the production facility, the arrival time, and the remaining working time of the autonomous driving product inspection device 100 to instruct the product to be inspected at an appropriate time. It may be control information. When the autonomous driving product inspection device 100 receives such a work event, the operation unit 10 moves to a production facility according to the work event, and the robot arm 20 grips the product according to the work event, and then the measurement unit 30 ), and the product can be inspected.

The robot arm 20 is a device that is coupled to the operation unit 10 to load the product by gripping the product according to a work event, and the robot arm 20 may include an arm unit, a holding unit, and a loading target detection unit. The loading target detection unit may identify a product, detect a product disposed state and a space around the product. A detailed description of the robot arm 20 will be described in FIG. 5 .

The loading unit 50 is a space for storing products, and may be a space unloaded by the robot arm 20 to be stored before and after inspection by the measurement unit 30 , or a space for transporting products.

The measuring unit 30 is a device capable of measuring the size, weight, volume, and shape of the product to check whether it is normal or defective, and may be composed of a two-dimensional measuring device, a three-dimensional measuring device, etc., but is not limited thereto, It may be a variety of inspection devices capable of inspecting the appearance, durability, elasticity, etc. of the product.

The controller 40 may control the operation of the operation unit 10 and the robot arm 20 so that the robot arm 20 determines a path of the operation of gripping the product, and loads and inspects the product.

The communication unit 60 is a configuration in which the autonomous driving product inspection device 100 can receive a job event from the main server that manages the factory and transmit the inspection result of the product through a wired or wireless network, and is a configuration using a conventional network technology. A description is omitted so as not to obscure the subject matter of the present disclosure.

3 is a diagram for explaining a configuration for controlling the autonomous driving product inspection apparatus 100 .

Referring to FIG. 3 , in the autonomous driving product inspection apparatus 100 , the control unit 40 for controlling the moving means may be configured of an MCS (41, Master Control Set) and a PLC (43, Programmable Logic Controller). The autonomous driving product inspection apparatus 100 may move to a path set for a work event by using the MCS 41 , and may control the operation of the robot arm 20 and the measurement unit 30 through the PLC 43 . . The means for controlling the autonomous driving product inspection apparatus 100 is not limited to this embodiment.

On the other hand, in another embodiment, the autonomous driving product inspection device 100 is coupled to an obstacle detecting unit (not shown) that recognizes an obstacle found while moving to a product according to a work event, and is coupled to the outside of the driving unit to prevent the obstacle from being hit. may further include a damper (not shown) to reduce the impact on the obstacle

4 is an exemplary view illustrating a state before the robot arm 20 of the autonomous driving product inspection apparatus 100 grips the product p.

Referring to FIG. 4 , the autonomous driving product inspection apparatus 100 may move to a position adjacent to the product p when the product p is produced by the production facility. The autonomous driving product inspection device 100 can recognize the position where the product (p) is placed through the loading target detection unit, and the autonomous driving product inspection device ( The direction of 100) may be changed, and the gripping part of the robot arm 20 may be positioned on the upper side of the product p.

Here, the product (p) may be composed of parts in a form in which small disks are stacked layer by layer as shown in FIG. 4, and may be arranged on a table such as a shelf, which is for explaining an example.

5 is a block diagram showing the configuration of the robot arm 20 of the autonomous driving product inspection apparatus 100, and FIG. 6 is a method for the loading target detection unit 23 of the robot arm 20 to detect the product (p) 7 and 8 are views for explaining a process of detecting the surrounding space while the loading target detection unit 23 adjusts the angle inward and outward.

5 and 6 , the autonomous driving product inspection apparatus 100 is coupled to the jointed arm part 21 and the arm part 21 to grip the product p or to unload the gripped product p. It may include a holding part 22 and a loading target detection part 23 that is there. The loading target detection unit 23 may include a displacement sensor unit 231 and a camera unit 233 . The loading target detection unit 23 is coupled to the arm unit 21 or the holding unit 22 of the robot arm 20 to analyze the shape or the surrounding space of the product p to grasp the product p. path can be detected.

The displacement sensor unit 231 may detect the position and height of the product p by irradiating a laser to the product p. The displacement sensor unit 231 may be formed of various sensing means capable of measuring the distance and height, such as a sound wave sensor, in addition to the laser.

The camera unit 233 may photograph the product p to identify the product p, and obtain an image of the arrangement state of the product p. The camera unit 233 may acquire the shape of the product p by photographing the product p when the robot arm 20 is positioned in the vicinity of the product p, as shown in FIG. 4 . The camera unit 233 may include a camera, an image processor, and a vision camera including software.

In one embodiment, the control unit 40 is the image for the arrangement state of the product (p) identified by the camera unit 233, and the position and height of the product (p) detected by the displacement sensor unit 231 information can be analyzed. The control unit 40 may correct the path of the operation of the robot arm 20 gripping the product (p) based on this information. For example, in the autonomous driving product inspection apparatus 100 , the loading target detection unit 23 of the robot arm 20 may photograph the product p and identify it in the state shown in FIG. 4 . At this time, since the control unit 40 grasps the position of the product p, the robot arm 20 may determine the path of the operation capable of gripping the product p.

The control unit 40 may determine the path of the motion of the robot arm through information included in the work event, such as the weight and shape of the product p, and the image captured by the camera unit 233 . The control unit 40 controls the size and mass of the product (p), the path, speed, pressure, gripping angle, and whether the robot arm 20 grips the product (p) from the side or from the upper side. It is possible to determine the path of motion by analyzing the holding method of the

In this case, the control unit 40 may analyze whether the product p is normally placed, turned over, or disposed at a position deviated from the original position through the image of the arrangement state of the product p. Accordingly, the controller 40 may correct the already determined path of the operation.

The autonomous driving product inspection apparatus 100 of the present disclosure can more accurately analyze the arrangement state of the product p through the loading target detection unit 23 so that the robot arm 20 can easily grip the product p. You can analyze the path of motion.

In another embodiment of the present disclosure, the loading target detecting unit 23 may further include a radius adjusting unit 235 and a rotating unit 237 .

Referring to FIG. 7 , the radius adjusting unit 235 adjusts the angles of the camera unit 233 and the displacement sensor unit 231 of the holding unit 22 of the robot arm 20 to detect the surrounding space of the product p. It can be adjusted outwardly. The radius adjusting unit 235 operates to obtain information about a predetermined radius of the product p and the position where the product p is disposed through the information obtained by the camera unit 233 and the displacement sensor unit 231 . can do.

Referring to FIG. 8 , the radius adjusting unit 235 adjusts the angles of the camera unit 233 and the displacement sensor unit 231 of the holding unit 22 of the robot arm 20 to detect the surrounding space of the product p. It can be adjusted inwardly.

9 is a view for explaining a process of detecting the surrounding space while the loading target detection unit 23 rotates.

Referring to FIG. 9 , the rotating unit 237 uses the camera unit 233 and the displacement sensor unit 231 with respect to the holding unit 22 of the robot arm 20 to detect the product p from multiple angles. can be rotated The rotating unit 237 may rotate so that the camera unit 233 and the displacement sensor unit 231 of the robot arm 20 are positioned opposite to each other with respect to the holding unit 22 . Since the information acquired by the radius adjusting unit 235 is physically limited, the loading target detection unit 23 may detect a wider range by the rotation of the rotating unit 237 .

10 to 13 are views illustrating a process in which the loading target detection unit 23 is rotated by the rotating unit 237 when the robot arm 20 is viewed from the upper side. In the case of FIGS. 10 to 13 , it is assumed that the product p is formed in a rectangular shape when viewed from the upper side.

Referring to FIG. 10 , the loading target detection unit 23 may identify or detect the product p using the camera and the displacement sensor unit 231 on the upper side of the product p even if the rotating unit 237 does not rotate. have. 11 and 12, the loading target detection unit 23 gradually rotates in the clockwise direction, and the position of the surrounding space of the product (p) from the upper side of the product (p) and the form in which the product (p) is arranged can be clearly identified.

Referring to FIG. 13 , the loading target detection unit 23 may detect the product p from multiple angles as it detects the product p in a state rotated by about 215 degrees from the initial position.

By the operation of the radius adjusting unit 235 and the rotating unit 237 described in FIGS. 7 to 13 , the control unit 40 controls the path of the robot arm 20 to make the robot arm 20 more easily the product (p) can be calibrated to hold That is, when the loading target detection unit 23 looks at the product p from the upper side as shown in FIGS. 10 to 13 , the product p is in the form of a rectangular tower formed in two layers, and is narrow vertically and wide in the left and right sides. can be detected as The control unit 40 may hold the rectangular tower shape formed on the second layer of the product p in the vertical direction when the holding unit 22 is not wide open based on the detection result.

In addition, since the control unit 40 can check the approximate weight of the product p through the work event, when the robot arm 20 holds the rectangular part formed in two layers of the product p, the product (p) If it is determined that the product (p) will be dropped because it cannot withstand the weight of the product (p), a rectangular part formed by one layer of the product (p) may be gripped.

The loading target detection unit 23 may accurately detect the overall shape in which the product p is disposed by using the operation of the radius adjusting unit 235 and the rotating unit 237 . In addition, the autonomous driving product inspection apparatus 100 of the present disclosure operates to easily grip the product (p) by analyzing the arrangement state of the product (p) and the surrounding space of the product (p) in more detail and from multiple angles It has the advantage of being able to analyze the path of

In another embodiment, the control unit 40 controls the robot arm 20 to move the robot arm 20 using information acquired in real time by the target detection unit while the robot arm 20 performs the operation of gripping the product p. It is also possible to recalibrate the path of the operation of gripping the product p in real time.

In this case, the autonomous driving product inspection apparatus 100 of the present disclosure recalibrates the path of the motion of the robot arm 20 gripping the product p in real time, so that the robot arm 20 holds the product p The path of the robot arm 20 can be continuously corrected to an optimal path even at the moment of grasping in consideration of a shape that was not detected before.

14 is a view for explaining the process of determining the path of the operation for the robot arm 20 to grip the product (p), and correcting the determined path.

14, in steps S10 to S80, the hardware operation is performed by the operation unit 10, the robot arm 20, and the measurement unit 30, and the operation of determining or correcting the path of the operation is performed by the control unit 40 ) can be done by

In step S10 , the autonomous driving product inspection apparatus 100 may be moved to the product p produced by the production facility by the operation unit 10 operating according to the work event. In step S20 , the product p may be identified by the loading target detection unit 23 of the robot arm 20 . Thereafter, with respect to the product (p) identified in step S30, the path of the operation in which the robot arm 20 grips the product (p) may be determined.

At this time, before the operation of the robot arm 20 is performed, the state in which the product p is disposed and the space around the product p may be detected by the loading target detection unit 23 in step S40, and in step S50 The path of the motion of the robot arm 20 may be corrected based on the state in which the product p is disposed and the space around the product p.

In step S60, the robot arm 20 is gripped according to the path of the motion corrected in step S50, and while this operation is performed, the product (p) approached by the loading target detection unit 23 in step S70. This can be detected in real time. For example, in step S70 , the product p approaching by the camera unit 233 and the displacement sensor unit 231 may be more specifically identified and detected. In addition, while being detected by the camera unit 233 and the displacement sensor unit 231, the radius adjusting unit 235 and the rotating unit 237 also operate together, so that even a blind spot that has not been detected before can be detected.

Through the result detected in step S70, the path of the motion of the robot arm 20 may be corrected in real time in step S80. That is, the path of motion is continuously corrected in the process of approaching the product p to hold the product p, and the path of motion of the robot arm 20 determined in step S30 is corrected in step S80. It may be significantly different from the path of motion.

15 is a system configuration diagram for the autonomous driving product inspection apparatus 100 to inspect the product (p).

Referring to FIG. 15 , in the autonomous driving product (p) inspection system of the present disclosure, the main server 200 that manages the factory to inspect the product (p) produced by the production facility 300 of the factory is the autonomous driving product A work event is transmitted to the inspection device 100, the autonomous driving product inspection device 100 inspects the product p according to the job event, and the autonomous driving product inspection device 100 sends the inspection result to the main server (200) can be transmitted.

In addition, the autonomous driving product inspection system according to another embodiment of the present disclosure may simultaneously or sequentially inspect products through collaboration with the second autonomous driving product inspection device 100 , and the second autonomous driving product inspection device 100 ) and each other to diagnose whether there is a malfunction.

So far, various embodiments of the present invention and effects according to the embodiments have been described with reference to FIGS. 1 to 15 . Effects according to the technical spirit of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

Although embodiments of the present invention have been described above with reference to the accompanying drawings, those of ordinary skill in the art to which the present invention pertains can realize that the present invention can be embodied in other specific forms without changing its technical spirit or essential features. can understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

Claims (8)

a driving unit moving to the product according to a work event instructing an inspection of the product produced by the production facility;
a robot arm coupled to the operation unit and loading the product by gripping the product according to the work event;
a measurement unit coupled to the operation unit and inspecting whether the product is normal when the product loaded by the robot arm is seated; and
and a control unit for controlling the operation of the operating unit and the robot arm so that the robot arm determines a path of the operation of gripping the product, and the robot arm places the product on the measuring unit and inspects it,
The robot arm includes a loading target detection unit equipped with a displacement sensor and a camera that identifies the product, detects a state in which the product is placed and a space around the product,
The loading target detection unit includes a rotating unit mounted between the arm and the gripping unit of the robot arm,
The rotating unit rotates the camera and the displacement sensor using the holding unit as a rotating shaft,
Autonomous driving product inspection device. According to claim 1,
The camera identifies the product by photographing the product, and acquires an image of the arrangement state of the product,
The displacement sensor detects the position and height of the product using a laser,
The control unit, based on the image of the arrangement state of the product identified by the camera, and the position and height of the product sensed by the displacement sensor, corrects the path of the motion of the robot arm gripping the product doing,
Autonomous driving product inspection device. 3. The method of claim 2,
The control unit is
While the robot arm performs the operation of gripping the product, using the information acquired in real time by the loading target detection unit to recalibrate the path of the operation of the robot arm gripping the product in real time,
Autonomous driving product inspection device. According to claim 1,
The loading target detection unit,
Further comprising a radius adjusting unit for adjusting the angle of the camera and the displacement sensor to the inside and outside of the grip portion of the robot arm to detect the space around the product,
The control unit corrects the path of the motion of the robot arm by operating the radius adjusting unit and the rotating unit,
Autonomous driving product inspection device. 5. The method of claim 4,
The control unit is
While the robot arm performs the operation of gripping the product, using the information acquired in real time by the loading target detection unit to recalibrate the path of the operation of the robot arm gripping the product in real time,
Autonomous driving product inspection device. 5. The method of claim 4,
The loading target detection unit,
Operating the radius adjusting unit and the rotating unit together to adjust the detection radius of the camera and the displacement sensor and rotating the camera and the displacement sensor together,
Self-driving product inspection device According to claim 1,
The autonomous driving product inspection device,
Further comprising a loading unit having a space for transporting the product that has been inspected by the measurement unit,
Autonomous driving product inspection device. According to claim 1,
The driving unit,
an obstacle detecting unit for recognizing an obstacle found while moving to the product according to the work event;
Including a damper coupled to the outside of the running unit to reduce the impact on the obstacle when the obstacle collides,
Autonomous driving product inspection device.

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