TWI715496B - Object appearance detection system with posture detection and control method thereof - Google Patents

Abstract

An object appearance detection system with posture detection and a control method thereof are provided. An assembly line, at least one remote image device, a first sensor, a second sensor, a robotic arm, a posture detection image device and image devices are connected to a control and computing device respectively. The assembly line is controlled by the control and computing device with the first sensor and the second sensor. A tested object is moved from the assembly line to a posture detection position and a surface detection position respectively by the robot arm is controlled through the control and computing device. Posture detection image is received from the posture detection image device to detect posture of the tested object when the tested object at the posture detection position. The tested object is adjusted through the robotic arm controlled by the control and computing device according to the posture detection result when the tested object at the surface detection position. Images are received by the control and computing device from the at least one remote image device and the image devices to surface defect of the tested object detected when the tested object at the surface detection position. Therefore, the efficiency of providing posture detection to adjust the tested object for object appearance detection may be achieved.

Description

Object appearance detection system with posture detection and control method thereof

A detection system and a control method thereof, in particular, refer to an object appearance detection system and a control method thereof with posture detection capable of performing posture detection of the object to be detected and surface defect detection of the object to be detected.

In the automatic manufacturing process of the conveyor production line, automatic product inspection is the key technology to maintain product quality. After obtaining the surface image of the product through image capture, the computing device is used to detect defects on the surface of the product in the surface image, such as: surface scratches, surface unevenness, etc., by detecting the product Provide manufacturing process to reduce product inspection time and inspection cost.

However, the existing technology for automatic product inspection is to install an imaging device on the conveyor line to obtain the surface image of the product. During the automatic product inspection process, the product is continuously moving, and the obtained surface image often produces a blurred image. Spots are generated on the image and the surface image, which causes misjudgment of the surface detection. The image device installed on the conveying line to obtain the surface image of the product is usually only a part of the surface of the product, which cannot cover the entire surface of the product, and detection defects are likely to occur.

In order to avoid the above problems, you can further use robotic arms to obtain products from the conveying production line, and move the products to the surface inspection position through the robotic arms. At this time, the products are static, which can avoid blurring surface images and surface images. The problem is caused by spots on the conveyor, but when the robotic arm obtains the product from the conveyor line and moves to the surface inspection position, the robotic arm obtains the product from the conveyor line without considering the placement of the product itself on the conveyor line Position, the surface image obtained when the robot arm moves the product to the surface detection position will be affected by the placement position of the product on the conveyor line, and the complete surface image cannot be obtained or the surface image obtained is due to the relative The rotation of the surface detection position causes surface detection errors.

In summary, it can be seen that there have been problems in the prior art for a long time that the existing automatic product detection process does not perform posture detection and adjustment, resulting in failure to obtain a complete surface image or detection error. Therefore, it is necessary to propose an improved technology. Means to solve this problem.

In view of the fact that the prior art has the problem of failure to obtain a complete surface image or detection errors due to failure to obtain a complete surface image or detection errors due to the failure to perform posture detection and adjustment in the process of automatically detecting products, the present invention discloses an object appearance detection system with posture detection, wherein : The object appearance inspection system with posture detection disclosed in the present invention includes: a conveying production line, a first fixing frame, a remote imaging device, a detection platform, a first sensor, a second sensor, a robotic arm, Posture detection imaging device, posture detection board, second fixing frame, multiple imaging devices, and control and calculation devices.

The conveying production line includes an input end and an output end, and the object to be inspected enters from the input end and leaves from the output end.

The first fixing frame is arranged at the output end; the remote image device is arranged on the first fixing frame, and is used to capture the back image of the object to be inspected at the surface inspection position.

The detection platform has a first setting surface and a second setting surface, the first setting surface is connected to and perpendicular to the second setting surface, and the second setting surface is facing the conveying production line.

The first sensor is arranged on the edge of the first installation surface close to the conveying line near the input end, and the first sensor is used for sensing the object to be inspected on the conveying line.

The second sensor and the first sensor are arranged at intervals on the edge of the first arrangement surface near the input end near the conveying production line, and the second sensor is used for sensing the object to be inspected on the conveying production line.

The mechanical arm is arranged on the first installation surface adjacent to the output end and close to the conveying production line. The mechanical arm is used to obtain the object to be detected from the conveying production line to move the object to be detected to the posture detection position and the surface detection position.

The posture detection image device is arranged on the second installation surface adjacent to the output end near the edge of the conveying production line to capture posture detection images when the object to be detected moves to the posture detection position through the robotic arm.

The posture detection board is arranged vertically above the posture detection imaging device, and the posture detection board is used for providing posture detection of the object to be detected.

The second fixing frame is arranged on the first installation surface; a plurality of imaging devices are respectively arranged on the second fixing frame to capture the front image, the left image, the right image, and the top image of the object to be inspected at the surface inspection position. Surface image and bottom image.

The control and computing device establishes connections with the conveying production line, the remote imaging device, the first sensor, the second sensor, the robotic arm, the posture detection imaging device, and the imaging device, respectively. The control and computing device is used from the first The information received by the sensor, the second sensor, and the posture detection imaging device is processed Perform calculation to control the operation of the conveying production line and the robotic arm, and perform surface defect detection of the object to be inspected with the images received from the remote imaging device and the imaging device.

The control method of the object appearance detection system with posture detection disclosed in the present invention includes the following steps: First, the control and calculation device detects the object to be detected according to the time difference between the first sensor and the second sensor. Calculate the moving speed of the conveying production line; then, the control and calculation device adjusts and controls the moving speed of the conveying production line according to the moving speed of the conveying production line; then, the control and calculation device moves to the posture detection imaging device according to the second sensor Calculate the movement time of the object to be inspected to the pick-and-place position with the distance of, and the movement speed of the conveying production line; then, after the movement time has elapsed, the control and computing device suspends the movement of the object to be inspected in the conveying production line; then, the control and computing device controls The robotic arm obtains the object to be detected from the conveying production line and moves vertically upward to the posture detection position; then, the control and computing device obtains the posture detection image from the posture detection imaging device; then, the control and calculation device calculates the object to be detected based on the posture detection image Then, the control and calculation device controls the robot arm to move the object to be detected from the posture detection position to the surface detection position according to the offset and rotation of the object to be detected, and the center position of the object to be detected is moved To the center position of the surface detection position, and the object to be detected rotates according to the amount of rotation of the object to be detected; then, the control and computing device obtains the back image from the remote imaging device; then, the control and computing device is from the imaging device Obtain the front image, left image, right image, top image, and bottom image respectively: Then, the control and computing device based on the back image, front image, left image, right image, top image, and bottom image to detect the object Perform surface defect detection; then, the control and computing device controls the robotic arm to move the object to be inspected from the surface inspection position and place it on the conveyor line; finally, the control and computing device resumes the movement of the object to be inspected on the conveyor line.

The system and its control method disclosed in the present invention are as above. The difference between the control and computing device and the prior art is that the control and computing device is connected to the transmission production line, the remote imaging device, the first sensor, the second sensor, the robotic arm, The posture detection imaging device and the imaging device establish a connection, the control and calculation device controls the conveying production line through the first sensor and the second sensor, and the control and calculation device controls the action of the robot arm so that the object to be detected is self-conveyed Move to the posture detection position and the surface detection position respectively on the line. When the object to be detected is at the posture detection position, the control and computing device receives the posture detection image from the posture detection imaging device to perform the posture detection of the object to be detected. The position-time control and calculation device controls the robot arm to adjust the object to be inspected according to the posture detection result to receive images from the remote imaging device and the imaging device to perform surface defect detection of the object to be inspected.

Through the above technical means, the present invention can achieve the technical effect of providing posture detection and adjustment of the object to be detected for object appearance detection.

110: Conveyor production line

111: Input

112: output

120: The first fixing frame

130: Remote imaging device

210: detection platform

211: The first setting surface

212: second setting surface

220: The first sensor

230: second sensor

240: mechanical arm

241: Magnetic clamp

250: Posture detection imaging device

260: second fixing frame

261: The first fixed part

262: second fixed part

270: Video Device

310: Posture detection board

311: Location Mark

410: Control and Computing Device

510: Object to be detected

511: first corner point

512: second corner point

513: third corner point

514: fourth corner point

610: Posture detection position

620: Surface detection position

630: Pick and place position

710: light source device

810: horizontal line

820: vertical line

830: first angle

840: second angle

850: offset

Step 101: The control and calculation device calculates the moving speed of the conveying production line according to the time difference between the first sensor and the second sensor to sense the object to be detected

Step 102: The control and calculation device adjusts and controls the movement speed of the conveying production line according to the movement speed of the conveying production line

Step 103: The control and calculation device calculates the movement time of the object to be detected to the pick-and-place position according to the distance from the second sensor to the posture detection imaging device and the movement speed of the conveying production line

Step 104: After the movement time has elapsed, the control and calculation device suspends the movement of the object to be inspected on the conveying production line

Step 105: The control and computing device controls the robotic arm to obtain the object to be detected from the conveying production line and move it vertically upward to the posture detection position

Step 106: The control and computing device obtains the posture detection image from the posture detection image device

Step 107: The control and calculation device calculates the offset and rotation of the object to be detected according to the posture detection image

Step 108: The control and calculation device controls the robot arm to move the object to be detected from the posture detection position to the surface detection position according to the offset and rotation amount of the object to be detected, and move the center position of the object to be detected to the center position of the surface detection position , And the object to be detected rotates and turns the object to be detected according to the amount of rotation of the object to be detected

Step 109: The control and computing device obtains the back image from the remote image device

Step 113: The control and computing device obtains the front image, the left image, the right image, the top image, and the bottom image from the imaging device, respectively

Step 114: The control and computing device performs surface defect detection on the object to be inspected based on the back image, the front image, the left image, the right image, the top image, and the bottom image

Step 115: The control and computing device controls the robotic arm to move the object to be inspected from the surface inspection position and place it on the conveyor line

Step 116: The control and computing device resumes the movement of the object to be inspected on the conveying production line

Figure 1 is a perspective view of the object appearance detection system with posture detection of the present invention.

FIG. 2 is a perspective view of the object to be inspected of the object appearance inspection system with posture detection of the present invention.

Fig. 3 is a plan view of the first fixing frame of the object appearance inspection system with posture detection of the present invention.

FIG. 4A is a perspective view of the robot arm of the object appearance detection system with posture detection of the present invention.

Figure 4B is a plan view of the magnetic clamp of the object appearance inspection system with posture detection of the present invention.

Figure 5A is a plan view of the pick-and-place position of the object appearance inspection system with posture detection of the present invention.

Figure 5B is a plan view of the posture detection position of the object appearance detection system with posture detection of the present invention.

Figure 6 is a plan view of the posture detection board of the object appearance detection system with posture detection of the present invention.

FIG. 7A is a schematic diagram of the rotation amount of the object appearance detection system with posture detection of the present invention.

FIG. 7B is a schematic diagram of the offset of the object appearance detection system with posture detection of the present invention.

FIG. 8A is a schematic diagram of the position of the object to be detected that is moved to the surface detection position without adjusting the position of the posture detection of the object appearance inspection system with posture detection of the present invention.

FIG. 8B is a schematic diagram showing the position of the object to be inspected which is moved to the surface inspection position in the posture inspection and adjustment of the object appearance inspection system with posture detection of the present invention.

FIG. 9A and FIG. 9B are flowcharts of the method for manipulating the object appearance detection system with posture detection according to the present invention.

The following describes the implementation of the present invention in detail with the drawings and embodiments, so as to fully understand and implement the implementation process of how the present invention uses technical means to solve technical problems and achieve technical effects.

The following first describes the object appearance detection system with posture detection disclosed in the present invention, and please refer to "Figure 1", which is a three-dimensional view of the object appearance detection system with posture detection of the present invention.

The object appearance detection system with posture detection disclosed in the present invention includes: a conveying production line 110, a first fixing frame 120, a remote imaging device 130, a detection platform 210, a first sensor 220, The second sensor 230, the robotic arm 240, the posture detection imaging device 250, the posture detection board 310, the second fixing frame 260, a plurality of imaging devices 270, and the control and calculation device 410.

The conveying production line 110 includes an input end 111 and an output end 112. The object to be inspected 510 enters from the input end 111 of the conveying production line 110 and leaves from the output end 112 of the conveying production line 110. For the object to be inspected 510, please refer to "Figure 2" As shown, "Figure 2" is a three-dimensional view of the object to be inspected of the object appearance inspection system with posture detection of the present invention. The object to be inspected 510 in the figure is only for illustration, and the present invention is not limited by this, and the object to be inspected The object 510 is a metal object having a six-sided cube or a rectangular body.

The first fixing frame 120 is vertically arranged at the output end 112 of the conveying production line 110. The first fixing frame 120 is used for setting the remote imaging device 130. The remote imaging device 130 can be used to capture the object 510 to be inspected. For the back image of the surface inspection position 620, please refer to "Figure 3". "Figure 3" is a plan view of the first fixing frame of the object appearance inspection system with posture detection of the present invention. A light source device 710 can be further provided next to a remote imaging device 130, and the light source device 710 is used to provide a light source for the remote imaging device 130 to capture the back image of the object 510 to be inspected at the surface inspection position 620.

The detection platform 210 has a first installation surface 211 and a second installation surface 212. The first installation surface 211 of the detection platform 210 is in contact with the second installation surface 212 of the detection platform 210 and is perpendicular to the second installation surface 212. In the conveying production line 110, there is a setting gap between the detection platform 210 and the conveying production line 110, and the setting gap is to provide a setting space for the subsequent posture detection imaging device 250.

The first sensor 220 is arranged on the first installation surface 211 of the detection platform 210 adjacent to the input end 111 of the conveying production line 110 near the edge of the conveying production line 110. The first sensor 220 is used for sensing through infrared rays. The object to be inspected 510 on the conveying production line 110 is only illustrative here, and the scope of application of the present invention is not limited by this.

The second sensor 230 and the first sensor 220 are arranged at intervals on the first installation surface 211 of the detection platform 210 adjacent to the input end 111 of the conveying production line 110 on the edge of the conveying production line 110. The first sensor 220 will detect the object 510 to be detected prior to the second sensor 230. The second sensor 230 also senses the object to be detected 510 on the conveying production line 110 through infrared rays. This is just an example for illustration. This does not limit the scope of application of the present invention.

The robotic arm 240 is arranged on the first installation surface 211 of the inspection platform 210 adjacent to the output end 112 of the conveying production line 110 and is close to the conveying production line 110. The robotic arm 240 is provided to obtain the object to be inspected 510 from the conveying production line 110. , To move the object 510 to be detected to the posture detection position 610 and the surface detection position 620, the robot arm 240 is a robot arm 240 with 6 degrees of freedom, and the robot arm 240 uses a magnetic clamp 241 to transport itself by magnetic attraction Obtain the object to be inspected 510 on the production line 110, please refer to "Figure 4A" and "Figure 4B". "Figure 4A" is a three-dimensional view of the robot arm of the object appearance inspection system with posture detection of the present invention; Figure 4B" is a plan view of the magnetic clamp of the object appearance inspection system with posture detection of the present invention.

The posture detection imaging device 250 is installed on the second installation surface 212 of the detection platform 210 near the output end 112 of the conveying production line 110 near the edge of the conveying production line 110, and the robot 240 obtains the object to be inspected from the conveying production line 110 When the object 510 to be detected is moved to the posture detection position 610, the posture detection imaging device 250 can capture the posture detection image. For the posture detection position 610, please refer to "Figure 5B", and "Figure 5B" is shown as The posture detection position plan view of the object appearance detection system with posture detection of the present invention.

Please refer to "Figure 6". "Figure 6" is a plan view of the posture detection board of the object appearance detection system with posture detection of the present invention; the posture detection board 310 is installed vertically above the posture detection imaging device 250 Where, the posture detection board 310 provides the object to be detected through the positioning mark 311 510 posture detection, posture detection is to detect the object to be detected 510 is obtained by the robotic arm 240 and move the object to be detected 510 to the posture detection position 610, the positioning mark 311 on the posture detection board 310 can be analyzed and calculated to be detected The offset and rotation of the object 510 relative to the positioning mark 311 can be solved through the offset and rotation of the object 510 to be detected. The magnetic clamp 241 of the robotic arm 240 cannot obtain the position offset of the object 510 to be detected. As well as the problem of the displacement and rotation of the object 510 to be detected, the positioning mark 311 on the posture detection board 310 in "FIG. 6" is only a schematic illustration, and the present invention is not limited thereto.

The process of analyzing and calculating the offset and rotation between the object 510 and the positioning mark 311 to be detected from the positioning mark 311 on the posture detection board 310 is as follows, please refer to "Figure 7A", and "Figure 7A" is shown as A schematic diagram of the rotation amount of the object appearance detection system with posture detection of the present invention. First select the first corner point 511 of the object to be detected 510 (the second corner point 512, the third corner point 513 or the fourth corner point 514 can also be selected) Since the vertical line 820 drawn at the first corner point 511 of the object to be detected 510 will pass through the interior of the object to be detected 510, the vertical line 820 is not drawn at the first corner point 511 of the object to be detected 510, but instead The first corner point 511 of the object 510 draws a horizontal line 810. The horizontal line 810 to the edge of the object to be inspected 510 are respectively a first angle 830 and a second angle 840. Choose the smaller first angle 830, and the edge of the object to be inspected 510 will be The first angle 830 needs to be rotated clockwise to correct the object 510 to be detected, and the first angle 830 is the amount of rotation of the object 510 to be detected.

After correcting the object 510 to be detected, please refer to "Figure 7B". "Figure 7B" is a schematic diagram of the offset of the object appearance detection system with posture detection of the present invention, based on the selected object to be detected The first corner point 511 of 510 moves horizontally and vertically to the first positioning mark 3111 closest to the posture detection board 310. The horizontal distance and the vertical distance that the object to be detected 510 moves are the deviation of the object to be detected 510 relative to the positioning mark 311. Shift 850.

The second fixing frame 260 is disposed on the first installation surface 211 of the detection platform 210, the second fixing frame 260 includes a first fixing portion 261 and a second fixing portion 262, and a plurality of imaging devices 270 are respectively disposed on the second fixing frame 260 Above, in the embodiment, four imaging devices 270 are installed on the first fixing part 261 of the second fixing frame 260, and two imaging devices 270 are arranged on the second fixing part 262 of the second fixing frame 260. This is only an example and does not limit the scope of application of the present invention. The imaging device 270 can capture the front image, the left image, the right image, and the top image of the object 510 to be inspected at the surface inspection position 620, respectively. And the bottom surface image. It is worth noting that a light source device 710 can be further provided next to each imaging device 270. The light source device 710 is used to provide each imaging device 270 capturing the object to be inspected 510 on the front surface of the surface inspection position 620. The light source is provided for the image, left side image, right side image, top image and bottom image.

The control and computing device 410 establishes connections with the conveying production line 110, the remote imaging device 130, the first sensor 220, the second sensor 230, the robotic arm 240, the posture detection imaging device 250, and the imaging device 270, respectively, and controls The computing device 410 calculates the information received from the first sensor 220, the second sensor 230, and the posture detection imaging device 250 to control the operation of the conveying production line 110 and the robotic arm 240, and sends it from the remote imaging device 130 and the image received by the imaging device 270 perform surface defect detection of the object 510 to be inspected. The calculation, control and surface defect detection performed by the control and calculation device 410 are as follows: the control and calculation device 410 is based on the first sensor 220 and the second sensor The detector 230 senses the time difference of the object 510 to be detected to calculate the moving speed of the conveying production line 110; the control and calculation device 410 can adjust and control the moving speed of the conveying production line 110 according to the moving speed of the conveying production line 110.

The control and calculation device 410 calculates the movement time of the object to be detected 510 to the pick-and-place position 630 according to the distance from the second sensor 230 to the posture detection imaging device 250 and the movement speed of the conveying production line 110, and the control and calculation device 410 passes The movement time pauses the conveying production line 110 for the movement of the object 510 to be inspected. Please refer to "Figure 5A". "Figure 5A" is a plan view of the pick-and-place position of the object appearance inspection system with posture detection of the present invention.

The control and calculation device 410 controls the robotic arm 240 to obtain the object to be inspected 510 from the conveying production line 110 and move it vertically upward to move the object to be inspected 510 from the pick-and-place position 630 to the posture detection position 610, which changes from "Figure 5A" to "Figure 5B", the control and calculation device 410 can obtain the posture detection image from the posture detection imaging device 250, and the control and calculation device 410 can calculate the offset and rotation of the object to be detected 510 based on the posture detection image. For the offset and rotation of the detection object 510, please refer to the above description, and will not be repeated here.

If posture detection is not performed to calculate the offset and rotation of the object to be detected 510, the object to be detected 510 moves to the surface detection position 620, as shown in "Figure 8A", and "Figure 8A" shows the present invention. The object appearance detection system with posture detection is a schematic diagram of the position of the object to be detected moving to the surface detection position without posture detection adjustment. The control and calculation device 410 controls the robot arm 240 according to the offset and rotation of the object to be detected 510 to move the object to be detected. The detection object 510 moves from the posture detection position 610 to the surface detection position 620. As shown in "Figure 8B", "Figure 8B" shows the posture detection adjustment of the object appearance detection system with posture detection in the present invention. A schematic diagram of the position of the object to be detected at the detection position, and the center position of the object to be detected 510 is moved to the center position of the surface detection position 620, and the object to be detected 510 is corrected according to the rotation amount of the object 510 to be detected.

After the object to be detected 510 moves to the surface detection position 620, the control and computing device 410 can obtain the back image of the object to be detected 510 from the remote imaging device 130 and from the imaging device 270 obtains the front image, the left image, the right image, the top image, and the bottom image of the object to be detected 510 respectively.

The control and calculation device 410 detects the surface defects of the object 510 to be inspected according to the back image, the front image, the left image, the right image, the top image, and the bottom image of the object 510 to be inspected.

After the control and computing device 410 obtains the back image, the front image, the left side image, the right side image, the top image, and the bottom image of the object 510 to be detected, the control and computing device 410 can control the robotic arm 240 to remove the object to be detected. 510 moves from the surface inspection position 620 to be placed on the conveying production line 110, and the control and computing device 410 will resume the conveying production line 110 to move the object 510 to be inspected.

It is worth noting that the control and calculation device 410 also establishes a connection with the aforementioned light source device 710 respectively. The light source device 710 can control the color of light and the light source intensity through the control and calculation device 410, and the light source device 710 is controlled. The luminous color is one of red, green and blue.

Please refer to "Figure 9A" and "Figure 9B". "Figure 9A" and "Figure 9B" illustrate the flow chart of the method for manipulating the object appearance detection system with posture detection according to the present invention.

First, the control and calculation device calculates the moving speed of the conveying production line according to the time difference between the first sensor and the second sensor to sense the object to be inspected (step 101); then, the control and calculation device is based on the conveying line The moving speed of the conveyor line is adjusted and controlled (step 102); then, the control and calculation device calculates the movement of the object to be detected based on the distance from the second sensor to the posture detection imaging device and the moving speed of the conveyor line Move time to pick and place position (step 103); Next, after the movement time, the control and computing device suspends the movement of the object to be detected on the conveyor line (step 104); then, the control and computing device controls the robotic arm to obtain the object to be detected from the conveyor line and move it vertically upward to the posture Detect the position (step 105); then, the control and calculation device obtains the posture detection image from the posture detection image device (step 106); then, the control and calculation device calculates the offset and rotation of the object to be detected based on the posture detection image ( Step 107); Next, the control and calculation device controls the robotic arm to move the object to be detected from the posture detection position to the surface detection position according to the offset and rotation of the object to be detected, and move the center position of the object to be detected to the surface detection position The object to be detected rotates to the center of the object to be detected according to the amount of rotation of the object to be detected (step 108); then, the control and computing device obtains the back image from the remote imaging device (step 109); then, the control and calculation The device obtains the front image, the left image, the right image, the top image, and the bottom image from the imaging device (step 113): Then, the control and computing device is based on the back image, front image, left image, right image, and top image. The surface image and the bottom image are tested for surface defects of the object to be inspected (step 114); then, the control and computing device controls the robotic arm to move the object to be inspected from the surface inspection position and place it on the conveying line (step 115); finally, control and The computing device resumes the movement of the object to be inspected on the conveying production line (step 116).

To sum up, it can be seen that the difference between the present invention and the prior art is that the control and computing device is connected to the conveyor production line, remote imaging device, first sensor, second sensor, robotic arm, and posture detection imaging device. And the imaging device establishes a connection, the control and calculation device controls the conveying production line through the first sensor and the second sensor, and the control and calculation device controls the action of the robotic arm to move the objects to be inspected from the conveying production line to The posture detection position and the surface detection position, when the object to be detected is at the posture detection position, the control and computing device receives the posture detection image from the posture detection imaging device to perform the posture detection of the object to be detected, and controls and calculates when the object to be detected is at the surface detection position meter The computing device controls the robot arm to adjust the object to be detected according to the posture detection result, and receives the image from the remote imaging device and the imaging device to perform surface defect detection of the object to be detected.

This technical means can solve the problem of the previous technology that the product fails to obtain a complete surface image or the detection error is caused by the failure of the posture detection and adjustment during the automatic product detection process, thereby achieving the provision of posture detection adjustment waiting The technical effect of inspecting the object's appearance.

Although the embodiments disclosed in the present invention are as above, the content described is not used to directly limit the scope of patent protection of the present invention. Anyone with ordinary knowledge in the technical field to which the present invention belongs can make slight changes in the form and details of the implementation without departing from the spirit and scope of the present invention. The patent protection scope of the present invention shall still be subject to those defined by the attached patent application scope.

110: Conveyor production line

111: Input

112: output

120: The first fixing frame

130: Remote imaging device

210: detection platform

211: The first setting surface

212: second setting surface

220: The first sensor

230: second sensor

240: mechanical arm

250: Posture detection imaging device

260: second fixing frame

261: The first fixed part

262: second fixed part

270: Video Device

310: Posture detection board

410: Control and Computing Device

510: Object to be detected

620: Surface detection position

710: light source device

Claims (8)

An object appearance inspection system with posture detection is used for a conveying production line including an input end and an output end. An object to be inspected enters from the input end and leaves from the output end, which includes: A first fixing frame, the first fixing frame is arranged at the output end; At least one remote imaging device, the remote imaging device is arranged on the first fixing frame and used to capture a back image of the object to be detected at a surface detection position; A detection platform, the detection platform has a first setting surface and a second setting surface, the first setting surface and the second setting surface are connected and perpendicular, the second setting surface facing the conveying product line; A first sensor, the first sensor is arranged on the edge of the first arrangement surface near the input end near the conveying line, and the first sensor is used to sense the The object to be inspected on the conveying production line; A second sensor, the second sensor and the first sensor are arranged at intervals on the edge of the conveying production line on the first arrangement surface adjacent to the input end, the The second sensor is used to sense the object to be inspected on the conveying production line; A robotic arm, the robotic arm is arranged on the first installation surface adjacent to the output end and close to the conveying production line, the robotic arm is used to obtain the object to be inspected from the conveying production line , To move the object to be detected to a posture detection position and to correct and move the object to be detected to the surface detection position according to the posture detection result; A posture detection imaging device, the posture detection imaging device is arranged on the second installation surface adjacent to the output end on the edge of the conveying production line for capturing the object to be detected through the machine A posture detection image when the arm moves to the posture detection position; A posture detection board, the posture detection board is arranged vertically above the posture detection imaging device, the posture detection board is used to provide posture detection of the object to be detected; A second fixing frame, the second fixing frame being arranged on the first installation surface; A plurality of imaging devices, the imaging devices are respectively arranged on the second fixing frame, and used to respectively capture a front image, a left side image, and a right side image of the object to be inspected at the surface inspection position , A top image and a bottom image; and A control and calculation device, the control and calculation device is respectively connected with the conveying production line, the remote imaging device, the first sensor, the second sensor, the robot arm, the A connection is established between a posture detection imaging device and the imaging device, and the control and calculation device is used for calculating information received from the first sensor, the second sensor, and the posture detection imaging device The operation of the conveying production line and the robot arm is controlled, and the image received from the remote imaging device and the imaging device is used for surface defect detection of the object to be inspected. The object appearance detection system with posture detection according to claim 1, wherein the robot arm is a robot arm with 6 degrees of freedom. The object appearance detection system with posture detection according to claim 1, wherein the object to be detected is a metal object having a six-sided cube or a rectangular body. The appearance inspection system for an object with posture detection according to claim 3, wherein the robotic arm uses a magnetic clamp to obtain the object to be inspected from the conveying production line through a magnetic attraction. The object appearance detection system with posture detection according to claim 1, wherein the object appearance detection system further includes a plurality of light source devices, and the light source devices are respectively disposed on each remote imaging device of the first fixing frame Beside each imaging device of the second fixing frame. The object appearance detection system with posture detection according to claim 5, wherein the light source device establishes a connection with the control and calculation device, and the light source device controls the color of light emission and the light source intensity through the control and calculation device . The object appearance detection system with posture detection according to claim 6, wherein the light source device controls the light emission color through the control and calculation device to be one of red, green, and blue. A method for manipulating the appearance detection system of an object with gesture detection as in claim 1, which includes the following steps: The control and calculation device calculates the moving speed of the conveying production line according to the time difference between the first sensor and the second sensor to sense the object to be detected; The control and calculation device adjusts and controls the movement speed of the transportation production line according to the movement speed of the transportation production line; The control and calculation device calculates a movement time for the object to be detected to move to a pick-and-place position according to the distance from the second sensor to the posture detection imaging device and the movement speed of the conveying line; After the movement time has elapsed, the control and calculation device suspends the movement of the object to be detected by the conveying production line; The control and calculation device controls the robotic arm to obtain the object to be detected from the conveying production line and move it vertically upward to the posture detection position; The control and calculation device obtains the posture detection image from the posture detection image device; The control and calculation device calculates the offset and rotation of the object to be detected according to the posture detection image; The control and calculation device controls the robotic arm to move the object to be detected from the posture detection position to the surface detection position according to the offset and rotation of the object to be detected, and the object to be detected The center position of the object to be detected is moved to the center position of the surface detection position, and the object to be detected rotates and corrects the object to be detected according to the amount of rotation of the object to be detected; The control and calculation device obtains the back image from the remote image device; The control and calculation device obtains the front image, the left image, the right image, the top image, and the bottom image from the image device: The control and calculation device performs surface defect detection on the object to be inspected according to the back image, the front image, the left image, the right image, the top image, and the bottom image ； The control and calculation device controls the robotic arm to move the object to be inspected from the surface inspection position and place it on the conveying production line; and The control and calculation device resumes the movement of the object to be detected by the conveying production line.

Images