Automatic detecting method and system for product appearance

Abstract

The invention discloses an automatic detecting method and system for product appearance. The automatic detecting method comprises the following steps that S1, an industrial robot is controlled to drive a reference ball and a distance sensor which are arranged at the tail end of the industrial robot to move according to a preset moving track to enable the reference ball and the distance sensor to detect a target detecting point on a to-be-detected workpiece; S2, a coordinate of target points on the reference ball which is shot in a tracking mode by a three-dimensional tracking device is obtained, and a pose of the reference ball under a coordinate system of the three-dimensional tracking device is calculated; and S3, coordinates of the target detecting points are calculated according to thepose of the reference ball under the coordinate system of the three-dimensional tracking device and distance data detected by the distance sensor. According to the automatic detecting method and system for the product appearance, detection of the appearance of the workpiece is carried out by the industrial robot, workpiece products of various shapes and various sizes can be detected under the condition that detecting equipment does not need to be changed, the detecting precision is high, the automatic detecting method and system can be adapted to complex and changeable working environments, and friction damage in the detecting process of the workpiece is avoided.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to an automatic product shape detection method and system based on pose tracking and distance measurement. Background technique [0002] Moving target pose tracking technology is an important research content in the field of computer vision, and it has received extensive attention from many institutions in many countries. One implementation method of pose tracking is: paste a special material on the surface of the tracking target object with a regular shape Target point, the target point used has a reflection effect on near-infrared light of a specific wavelength, thereby eliminating the interference of the environment on tracking; the target tracker uses a high-precision industrial camera to receive near-infrared light waves of a specific wavelength, and then obtains the target object through algorithm analysis The spatial pose in the reference coordinate system; how...

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Problems solved by technology

[0005] Aiming at at least one defect or improvement requirement of the prior art, the present invention provides a method and system for automatic detection of product shape. Problems that are likely to affect product quality

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