Flying shooting shooting trigger method and device for workpiece quality inspection

Abstract

The present invention relates to the technical field of industrial quality inspection. In order to solve the technical problem of how to improve the quality of images obtained by flying photography to improve the effect of workpiece quality inspection, a method and device for triggering flying photography for workpiece quality inspection are provided. The method includes: S1, start the flying shooting system, control the movement of the six-axis robotic arm in the flying shooting system, so as to drive the camera at the end of the six-axis robotic arm to perform the flying shooting work; S2, obtain the end of the six-axis robotic arm at a preset frequency S3, calculate the first pose difference value between the actual pose obtained at the current moment and each target pose, where the first pose difference value is based on the weighted actual pose obtained at the current moment The X component difference value, the Y component difference value, the Z component difference value, the R component difference value, the P component difference value, and the y component difference value are calculated from the target pose; S4, judging whether there is a first pose difference value smaller than the preset Set a threshold; S5, if it exists, trigger the camera to take an image.

Description

technical field [0001] The present invention relates to the technical field of industrial quality inspection, in particular to a triggering method for flying shooting for workpiece quality inspection, a flying shooting triggering device for workpiece quality inspection, a computer device and a non-temporary computer readable storage media. Background technique [0002] During the quality inspection of the workpiece, it is necessary to take multi-angle images of the workpiece to detect the surface defects of the workpiece. [0003] In order to improve the efficiency of taking pictures from multiple angles, a flying camera solution is proposed in related technologies. The industrial camera is fixed at the end of the mechanical arm, and the mechanical arm is adjusted by controlling the end of the mechanical arm to move along the predetermined flying shooting path and adjusting the rotation angle. The pose of the end, that is, to adjust the position and posture of the industria...

AI Technical Summary

Problems solved by technology

[0004] When the above-mentioned flying shooting scheme takes multi-angle images of each workpiece, it is equivalent to positioning it in multiple target poses while the end of the robotic arm is in motion. However, it is limited by the transmission frequency and delay of real-time pose data. It is difficult to achieve a completely accurate match between the real-time pose and the target pose. If the actual difference between the pose of the end of the robot arm and the target pose is large when the industrial camera is shooting, the difference between the captured image and the target image will also be large. It will be very large, which will affect the quality inspection effect of the workpiece

Images