Outer side wall image acquisition method and appearance detection equipment of product with any shape

Abstract

The invention discloses a method for acquiring an image of an outer side wall of a product with any shape, appearance detection equipment and a method for acquiring an image of an outer side wall of a product with any shape, which are suitable for detecting a material with a cambered surface. Comprising the following steps that materials are transferred and / or rotated to enable the real-time posture of the materials to be the same as a preset posture, the preset posture enables the relative positions of the coordinates of all positions of the materials and the coordinates of the focus point of a line scanning camera to be determined, and therefore the shooting starting point position and the shooting end point position are determined, and it is also guaranteed that when the materials are transferred and rotated according to a preset path subsequently, the shooting time is shortened; a corresponding effect can be achieved; the materials are transferred and rotated according to the preset path, meanwhile, the line scanning camera obtains the images of the materials, the distance between the materials and the line scanning camera is kept unchanged through the preset path, it is guaranteed that the materials are not out of focus, and clearer images are obtained. And a clear image of the whole surface can be obtained through the line scanning camera, and only one image is provided, so that subsequent analysis and processing are facilitated.

Description

Technical Field

[0001] The present invention relates to the field of image acquisition, and in particular to a method for acquiring an image of an outer wall of a product of any shape, an appearance detection method, and a device for acquiring an image. Background Art

[0002] The tool has a curved surface to facilitate cutting. The quality of the curved surface affects the quality of the tool. In the prior art, the tool is usually rotated at several angles to obtain multiple pictures for inspection. Due to the nature of the curved surface, it is difficult to obtain the full view of the curved surface with the flat photo. The part of the curved surface far from the camera appears out of focus or blurred, or even the corresponding image cannot be obtained, which will eventually affect the inspection results. In other types of products, when the outer wall is irregular, there is also the problem that the flat photo cannot obtain the full view of the outer wall of the product, which will eventually affect the inspection results. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned defects or problems existing in the background technology and to provide a method for acquiring an image of the outer wall of a product of any shape, an appearance detection method, and a device for acquiring an image.

[0004] To achieve the above objectives, the present invention and its preferred embodiments adopt the following technical solutions, but the embodiments are not limited to the following solutions:

[0005] Solution 1, a method for acquiring an image of an outer wall of a product of any shape, which is suitable for detecting materials with curved surfaces, comprises the following steps:

[0006] Shifting and / or rotating the material so that the real-time posture of the material is the same as a preset posture, wherein the preset posture determines the relative position of the coordinates of various locations of the material and the coordinates of the focus point of the line scan camera;

[0007] The material is transferred and rotated according to a preset path, while the line scan camera acquires an image of the material. The preset path keeps the distance between the material and the line scan camera constant.

[0008] Solution 2, based on Solution 1, determines the preset posture and preset path according to the contour of the material on the lower surface drawing or the upper surface drawing of the material.

[0009] Solution three, based on solution two, obtains the lower or upper surface image of the material to obtain the real-time posture of the material, and determines the motion path between the real-time posture of the material and the preset posture, and transfers and / or rotates the material according to the motion path so that the real-time posture of the material is the same as the preset posture.

[0010] Solution 4, a method for appearance inspection, comprising a method for acquiring an image of an outer wall of a product of any shape as described in any one of Solution 1 to Solution 3, further comprising the following steps:

[0011] Perform appearance inspection of materials on images captured by line scan cameras.

[0012] Solution 5: A device for acquiring an image, using the method for acquiring an image of an outer wall of a product of any shape as described in any one of Solution 1 to Solution 3, comprising:

[0013] frame,

[0014] A motion assembly, comprising an X-axis transfer mechanism, a Y-axis transfer mechanism and a rotating support member connected to each other, wherein the output end of the rotating support member is suitable for supporting the material and rotating along an axis parallel to the vertical direction;

[0015] A first line scan camera is mounted on the frame and is suitable for acquiring an image of the material.

[0016] Solution six, based on Solution five, also includes a second line scan camera and a third line scan camera; the material has a first curved surface, a second curved surface and a third curved surface, the first curved surface is used to transition multiple side surfaces of the material, the second curved surface is used to transition the side surface and the upper surface of the material, and the third curved surface is used to transition the side surface and the lower surface of the material; the first line scan camera is used to obtain a side image of the material, the first line scan camera is perpendicular to the side surface of the material, the second line scan camera is used to obtain an image at the second curved surface, and the third line scan camera is used to obtain an image at the third curved surface; the second line scan camera and the third line scan camera are inclined relative to the first line scan camera.

[0017] Solution seven, based on Solution five, also includes a lower surface camera and an upper surface camera, wherein the lower surface camera is used to obtain the lower surface image of the material, and the upper surface camera is used to obtain the upper surface image of the material.

[0018] Plan 8, based on Plan 5,

[0019] The rotating support is suitable for sliding along the Y-axis direction relative to the frame between the first material receiving position and the second material receiving position;

[0020] A first loading mechanism, which is suitable for grabbing the material to be processed, and is slidably connected to the frame along the X-axis direction to place the material to be processed on the rotating support member located at the first material receiving position;

[0021] A second feeding mechanism, which is arranged at intervals with the first feeding mechanism along the Y-axis direction, is suitable for grabbing the material to be processed, and is slidably connected with the frame along the X-axis direction to place the material to be processed on the rotating support member located at the second material receiving position;

[0022] A first unloading mechanism, which is in the same row as the first loading mechanism, is slidably connected to the frame along the X-axis direction and is suitable for grabbing the processed material on the rotating support member located at the first material receiving position;

[0023] A second unloading mechanism, which is in the same row as the second loading mechanism, is slidably connected to the frame along the X-axis direction and is suitable for grabbing the processed material on the rotating support member located at the second material receiving position;

[0024] The first loading mechanism and the second unloading mechanism cooperate to load and unload materials, and the second loading mechanism and the first unloading mechanism cooperate to load and unload materials, and the two perform alternating cyclic actions.

[0025] Solution nine, based on Solution eight, further includes a demagnetization component, the output end of the rotating support has magnetism to absorb materials, and the first unloading mechanism and the second unloading mechanism are suitable for grabbing materials to the demagnetization component to demagnetize the materials.

[0026] Solution 10, an appearance inspection device, comprising a device for acquiring an image as described in any one of Solution 5 to Solution 9, and also comprising a detection module, wherein the detection module performs appearance inspection of the tool on the acquired image.

[0027] From the above description of the present invention and its preferred embodiments, it can be seen that, compared with the prior art, the technical solution of the present invention and its preferred embodiments have the following beneficial effects due to the adoption of the following technical means:

[0028] 1. In solution 1 and its preferred embodiment, a method for acquiring an image of an outer wall of a product of any shape, which is suitable for detecting materials with curved surfaces, comprises the following steps:

[0029] The material is transferred and / or rotated so that the real-time posture of the material is the same as the preset posture. The preset posture determines the relative position of the coordinates of each part of the material and the coordinates of the focus point of the line scan camera, thereby determining the shooting start position and the shooting end position, and also ensures that the corresponding effect can be achieved when the material is subsequently transferred and rotated according to the preset path;

[0030] The material is moved and rotated according to the preset path, while the line scan camera acquires the image of the material. The preset path keeps the distance between the material and the line scan camera constant, ensuring that it does not lose focus and acquires a clearer image. The line scan camera can acquire a clear image of the entire surface, and there is only one image, which is convenient for subsequent analysis and processing.

[0031] 2. In the second scheme and its preferred embodiment, the preset posture and preset path are determined according to the outline of the material on the lower surface drawing or the upper surface drawing of the material. It is convenient and simple to determine according to the design drawing and easy to handle.

[0032] 3. In scheme three and its preferred embodiments, an image of the lower surface or upper surface of the material is obtained to obtain the real-time posture of the material, and the motion path between the real-time posture of the material and the preset posture is determined. The material is transferred and / or rotated according to the motion path so that the real-time posture of the material is the same as the preset posture. Since the real-time posture of each material may be different during the material transfer process, the motion path will also be different. By acquiring a real-time image to judge the real-time posture, it is convenient to obtain a clear and effective image of each material.

[0033] 4. Scheme 4 and its preferred embodiments, an appearance inspection method includes a method for acquiring the image of the outer wall of a product of any appearance as described above, and also includes performing appearance inspection of the material on the image acquired by a line scan camera to obtain an inspection result, thereby facilitating the subsequent elimination of defective products or defect classification, etc., and has the beneficial effects brought by the method for acquiring the image of the outer wall of a product of any appearance as described above.

[0034] 5. In the fifth scheme and its preferred embodiment, a device for acquiring an image adopts the above-mentioned method for acquiring an image of an outer wall of a product of any shape and has the above-mentioned beneficial effects, the device comprises

[0035] The frame, motion assembly and the first line scan camera. The frame is used to mount other parts.

[0036] The motion assembly includes an X-axis transfer mechanism, a Y-axis transfer mechanism and a rotating support member which are connected to each other. The output end of the rotating support member is suitable for supporting materials and rotating along an axis parallel to the vertical direction to achieve material transfer and rotation.

[0037] The first line scan camera is mounted on the frame and is suitable for acquiring an image of the material.

[0038] 6. In scheme six and its preferred embodiment, the material has a first curved surface, a second curved surface and a third curved surface. The first curved surface is used for transitioning multiple sides of the material, the second curved surface is used for transitioning the side and upper surface of the material, and the third curved surface is used for transitioning the side and lower surface of the material. The first line scan camera is used to obtain the side image of the material. The first line scan camera is perpendicular to the side of the material. During operation, since the material does not move along the z-axis and does not swing, the first line scan camera is always perpendicular to the side of the material during operation, maintaining the imaging consistency of the material in the image, reducing deformation caused by angle changes, and making it easier to identify and measure the side features of the material. The second line scan camera is used to obtain images at the second curved surface, and the third line scan camera is used to obtain images at the third curved surface. The second line scan camera and the third line scan camera are tilted relative to the first line scan camera to complete multi-faceted detection.

[0039] 7. In Scheme 7 and its preferred embodiments, the lower surface camera is used to obtain the lower surface image of the material, and the upper surface camera is used to obtain the upper surface image of the material. On the one hand, it can be used to detect the upper and lower surfaces of the material. On the other hand, in some embodiments, it can be used to determine the real-time posture.

[0040] 8. In the eighth scheme and its preferred embodiment, the rotating support slides between the first material receiving position and the second material receiving position relative to the frame along the Y-axis direction, so that the first loading mechanism, the second loading mechanism, the first unloading mechanism, and the second unloading mechanism can all put or take materials; the first loading mechanism, the second loading mechanism, the first unloading mechanism, and the second unloading mechanism are all connected in a sliding manner along the X-axis direction, wherein the second loading mechanism and the first loading mechanism are arranged at intervals along the Y-axis direction, the first unloading mechanism and the first loading mechanism are in the same row, the second unloading mechanism and the second loading mechanism are in the same row, the first loading mechanism and the second unloading mechanism cooperate to load and unload materials, and the second loading mechanism and the first unloading mechanism cooperate to load and unload materials, and the two alternately cycle, so that when one group is performing the return action, the other group can continue to load and unload materials, thereby speeding up work efficiency. The movement of the rotating support along the Y-direction can enable the mechanisms in different rows to load and unload materials separately. Compared with the loading and unloading of the mechanisms in the same row, this scheme can prevent interference and further speed up the beat.

[0041] 9. In the ninth scheme and its preferred embodiment, the output end of the rotating support has magnetism to absorb the material. The magnetic absorption method is simple and convenient, low in cost, and can ensure that the material is not easy to move during the working process, ensuring the accuracy of the image. Since the material is adsorbed by magnetic absorption in the front, the material will have some magnetism. For some materials, such as knives, there are strict requirements on magnetism. Therefore, the first material discharge mechanism and the second material discharge mechanism are suitable for grabbing the material to the demagnetization component to demagnetize the material, so that the material meets the standard.

[0042] 10. In Scheme 10 and its preferred embodiment, an appearance inspection device includes a device for acquiring an image as described above, and also includes a detection module, which performs appearance inspection of the tool on the acquired image to obtain a detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 It is a three-dimensional diagram of the appearance inspection device in Example 1;

[0045] Figure 2A top view of the appearance inspection device in Example 1;

[0046] Figure 3 It is a three-dimensional diagram of the moving component in the first embodiment;

[0047] Figure 4 It is a three-dimensional diagram of multiple moving components of the appearance inspection equipment in Example 1;

[0048] Figure 5 A schematic diagram of a method for acquiring an image of an outer wall of a product of any shape in Embodiment 1;

[0049] Description of main reference numerals:

[0050] Frame 1; motion component 2; X-axis transfer mechanism 21; Y-axis transfer mechanism 22; rotating support 23; first line scan camera 31; second line scan camera 32; third line scan camera 33; lower surface camera 34; upper surface camera 35; first loading mechanism 41; second loading mechanism 42; first unloading mechanism 43; second unloading mechanism 44; demagnetization component 5. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are preferred embodiments of the present invention and should not be regarded as excluding other embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] In the claims, description and the above-mentioned drawings of the present invention, unless otherwise clearly defined, the use of terms such as "first", "second" or "third" etc. are for distinguishing different objects rather than for describing a specific order.

[0053] In the claims, specification and the above-mentioned drawings of the present invention, unless otherwise explicitly defined, directional words, such as the terms "center", "lateral", "longitudinal", "horizontal", "vertical", "top", "bottom", "inside", "outside", "up", "down", "front", "back", "left", "right", "clockwise", "counterclockwise", etc., indicating directions or positional relationships are based on the directions and positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the specific protection scope of the present invention.

[0054] In the claims, specification and the above drawings of the present invention, unless otherwise clearly defined, if the term "fixed connection" or "fixed connection" is used, it should be understood in a broad sense, that is, any connection method without a displacement relationship and relative rotation relationship between the two, that is to say, including non-detachable fixed connection, detachable fixed connection, integrated connection and fixed connection through other devices or elements.

[0055] In the claims, description and drawings of the present invention, if the terms "include", "have" and their variations are used, they are intended to mean "including but not limited to".

[0056] An appearance inspection device comprises an image acquisition device and a inspection module.

[0057] The image acquisition device includes a frame 1, a motion component 2, a first line scan camera 31, a second line scan camera 32, a third line scan camera 33, a lower surface camera 34, an upper surface camera 35, a first loading mechanism 41, a second loading mechanism 42, a first unloading mechanism 43, a second unloading mechanism 44 and a demagnetization component 5.

[0058] The motion assembly 2 includes an X-axis transfer mechanism 21, a Y-axis transfer mechanism 22 and a rotating support 23 which are connected to each other. The output end of the rotating support 23 is suitable for supporting materials and rotating along an axis parallel to the vertical direction to drive the materials to rotate, and the output end of the rotating support 23 has magnetism to adsorb the tool. In this embodiment, the Y-axis transfer mechanism 22 is installed on the frame 1, the X-axis transfer mechanism 21 is installed on the Y-axis transfer mechanism 22, and the rotating support 23 is installed on the X-axis transfer mechanism 21. Driven by the Y-axis transfer mechanism 22, the rotating support 23 is suitable for sliding between the first material receiving position and the second material receiving position along the Y-axis direction relative to the frame 1. In this embodiment, the material is a tool, and the tool has a first curved surface, a second curved surface and a third curved surface. The first curved surface is used to transition multiple side surfaces, the second curved surface is used to transition the side surface and the upper surface of the tool, and the third curved surface is used to transition the side surface and the lower surface of the tool.

[0059] The first line scan camera 31 is installed on the frame 1 and is suitable for acquiring an image of the material. The first line scan camera 31 is used to acquire a side image of the material. The first line scan camera 31 is arranged horizontally.

[0060] The second line scan camera 32 is used to obtain an image at the second curved surface, and the third line scan camera 33 is used to obtain an image at the third curved surface; the second line scan camera 32 and the third line scan camera 33 are tilted relative to the first line scan camera 31. The angles of the second line scan camera 32 and the third line scan camera 33 can be adjusted relative to the frame 1 to better obtain images of the second curved surface and the third curved surface.

[0061] The lower surface camera 34 is used to obtain the lower surface image of the material, and the upper surface camera 35 is used to obtain the upper surface image of the material.

[0062] The first loading mechanism 41 is suitable for grabbing the material to be processed, and the first loading mechanism 41 is slidably connected with the frame 1 along the X-axis direction to place the tool to be processed on the rotating support member 23 located at the first material receiving position;

[0063] The second loading mechanism 42 is arranged at intervals from the first loading mechanism 41 along the Y-axis direction. The second loading mechanism 42 is suitable for grabbing the tool to be processed. The second loading mechanism 42 is slidably connected to the frame 1 along the X-axis direction to place the tool to be processed on the rotating support 23 located at the second material receiving position;

[0064] The first unloading mechanism 43 is arranged in the same row as the first loading mechanism 41. The first unloading mechanism 43 is slidably connected to the frame 1 along the X-axis direction and is suitable for grabbing the processed tool on the rotating support 23 located at the first material receiving position;

[0065] The second unloading mechanism 44 is arranged in the same row as the second loading mechanism 42. The second unloading mechanism 44 is slidably connected to the frame 1 along the X-axis direction and is suitable for grabbing the processed tool on the rotating support 23 located at the second material receiving position;

[0066] The first loading mechanism 41 and the second unloading mechanism 44 cooperate to load and unload materials, and the second loading mechanism 42 and the first unloading mechanism 43 cooperate to load and unload materials, and the two alternately cycle. Specifically, initially, the rotating support 23 is in the first material receiving position, the first loading mechanism 41 grabs the tool to be processed on the loading cutting disc, and moves in the direction close to the rotating support 23, the second unloading mechanism 44 moves in the direction close to the rotating support 23, the first loading mechanism 41 places the tool on the rotating support 23 and then returns, the transfer member transfers the processed tool to the second material receiving position, and the second unloading mechanism 44 grabs the processed tool and moves away. After the first loading mechanism 41 completes the grabbing, the following actions are also performed: the transfer member moves to the second loading mechanism 42, the second loading mechanism 42 grabs the tool to be processed on the loading cutting disc and moves in the direction close to the rotating support 23, and reaches the second material receiving position after the second unloading mechanism 44 moves away, the first unloading mechanism 43 moves in the direction close to the rotating support 23, and reaches the first material receiving position after the first loading mechanism 41 returns. When the second loading mechanism 42 reaches the second material receiving position, the tool to be processed is placed on the carrier, the carrier moves to the first material receiving position, and the tool is photographed and processed. After the processing is completed, the first unloading mechanism 43 grabs the processed tool and moves away. After the second loading mechanism 42 returns, the second unloading mechanism 44 reaches the second material receiving position, and after the first unloading mechanism 43 returns, the first loading mechanism 41 reaches the first material receiving position, and the transfer action is repeated alternately.

[0067] There are two lower surface cameras 34 , which are respectively located on the paths where the first loading mechanism 41 and the second loading mechanism 42 approach the rotating support member 23 .

[0068] There are two demagnetizing components 5, which are respectively located on the path of the first unloading mechanism 43 and the second unloading mechanism 44 toward the rotating support 23. The first unloading mechanism 43 and the second unloading mechanism 44 are suitable for grabbing the tool to the demagnetizing component 5 to demagnetize the tool.

[0069] The inspection module performs visual inspection of the tool on the acquired image and determines whether the product is OK or NG.

[0070] In this embodiment, the processing of the tool mainly refers to obtaining the appearance image of the tool, and the detection method thereof includes the following steps:

[0071] The preset posture and preset path are determined according to the contour of the tool on the lower surface drawing or the upper surface drawing of the tool (in this embodiment, the upper surface camera 35 is located at the workstation behind the lower surface camera 34, here is the upper surface drawing); the preset posture determines the relative position of the coordinates of various parts of the tool and the coordinates of the focusing point of the first line scan camera 31 (and / or the second line scan camera 32 and / or the third line scan camera 33), thereby determining the starting point position and the end point position of the shooting; the preset path keeps the distance between the surface to be measured of the tool and the first line scan camera 31, the second line scan camera 32 and the third line scan camera 33 unchanged; to facilitate the determination of the preset posture, it is determined according to the coordinates of at least two feature points of the tool and the coordinates of the focusing point, and the feature points can be the center, end point, etc. of the corresponding hole groove.

[0072] The lower surface or upper surface image of the tool is obtained through the lower surface camera 34 or the upper surface camera 35 to obtain the real-time posture of the tool, and the motion path between the real-time posture of the tool and the preset posture is determined according to the real-time posture of the tool. According to the motion path, the tool is moved and / or rotated through the motion component 2 so that the real-time posture of the tool is the same as the preset posture.

[0073] The tool is transferred and rotated according to the preset path, and the first line scan camera 31, the second line scan camera 32 and the third line scan camera 33 simultaneously acquire the image of the tool. The preset path can be determined according to the relative coordinates between the contour of the tool (material) and the shooting starting point. When the whole surface is inspected, the shooting starting point is also the shooting end point. Under the condition that the focus point position remains unchanged, the material is rotated clockwise or counterclockwise from the shooting starting point to the shooting end point, which is the preset path. Since the focus point position must remain unchanged, the X-axis transfer mechanism 21 and the Y-axis transfer mechanism 22 need to cooperate.

[0074] The inspection module performs appearance inspection of the tool on the image acquired by the line scan camera to obtain the inspection result.

[0075] Compared with the prior art, this embodiment has the following beneficial effects:

[0076] In an exemplary embodiment, a method for acquiring an image of an outer wall of a product of any shape, which is suitable for detecting materials with a curved surface, comprises the following steps:

[0077] The material is transferred and / or rotated so that the real-time posture of the material is the same as the preset posture. The preset posture determines the relative position of the coordinates of each part of the material and the coordinates of the focus point of the line scan camera, thereby determining the shooting start position and the shooting end position, and also ensures that the corresponding effect can be achieved when the material is subsequently transferred and rotated according to the preset path;

[0078] The material is moved and rotated according to the preset path, while the line scan camera acquires the image of the material. The preset path keeps the distance between the material and the line scan camera constant, ensuring that it does not lose focus and acquires a clearer image. The line scan camera can acquire a clear image of the entire surface, and there is only one image, which is convenient for subsequent analysis and processing.

[0079] In an exemplary embodiment, the preset posture and preset path are determined according to the outline of the material on the lower surface drawing or the upper surface drawing of the material. It is convenient, simple and easy to handle to determine according to the design drawing.

[0080] In an exemplary embodiment, an image of the lower surface or upper surface of a material is acquired to obtain the real-time posture of the material, and a motion path between the real-time posture of the material and a preset posture is determined. The material is transferred and / or rotated according to the motion path so that the real-time posture of the material is the same as the preset posture. Since the real-time posture of each material may be different during the material transfer process, the motion path will also be different. By acquiring a real-time image to determine the real-time posture, it is convenient to obtain a clear and effective image of each material.

[0081] In an exemplary embodiment, an appearance inspection method includes a method for acquiring an image of the outer wall of a product of any appearance as described above, and also includes performing appearance inspection of the material on the image acquired by a line scan camera to obtain an inspection result, thereby facilitating the subsequent elimination of defective products or defect classification, etc., and has the beneficial effects brought by the method for acquiring an image of the outer wall of a product of any appearance as described above.

[0082] In an exemplary embodiment, a device for acquiring an image adopts the above-mentioned method for acquiring an image of an outer wall of a product of any shape and has the above-mentioned beneficial effects, and the device comprises

[0083] The frame 1, the motion assembly 2 and the first line scan camera 31, the frame 1 is used to install other parts.

[0084] The motion assembly 2 includes an X-axis transfer mechanism 21, a Y-axis transfer mechanism 22 and a rotating support 23 which are connected to each other. The output end of the rotating support 23 is suitable for supporting materials and rotating along an axis parallel to the vertical direction to achieve transfer and rotation of the materials.

[0085] The first line scan camera 31 is mounted on the frame 1 and is suitable for acquiring an image of the material.

[0086] In an exemplary embodiment, the material has a first curved surface, a second curved surface and a third curved surface. The first curved surface is used for transitioning multiple side surfaces of the material, the second curved surface is used for transitioning the side surfaces and the upper surface of the material, and the third curved surface is used for transitioning the side surfaces and the lower surface of the material. The first line scan camera 31 is used to obtain a side image of the material. The first line scan camera 31 is perpendicular to the side surface of the material. During operation, since the material does not move along the z-axis or deflect, the first line scan camera 31 is always perpendicular to the side surface of the material during operation, so as to maintain the imaging consistency of the material in the image, reduce deformation caused by angle changes, and more easily identify and measure the side features of the material. The second line scan camera 32 is used to obtain an image at the second curved surface, and the third line scan camera 33 is used to obtain an image at the third curved surface. The second line scan camera 32 and the third line scan camera 33 are tilted relative to the first line scan camera 31, thereby completing multi-faceted detection.

[0087] In an exemplary embodiment, the lower surface camera 34 is used to obtain the lower surface image of the material, and the upper surface camera 35 is used to obtain the upper surface image of the material. On the one hand, it can be used to detect the upper and lower surfaces of the material. On the other hand, in some embodiments, it can be used to determine the real-time posture.

[0088] In an exemplary embodiment, the rotating support member 23 slides between the first material receiving position and the second material receiving position relative to the frame 1 along the Y-axis direction, so that the first loading mechanism 41, the second loading mechanism 42, the first unloading mechanism 43, and the second unloading mechanism 44 can all put materials or take materials; the first loading mechanism 41, the second loading mechanism 42, the first unloading mechanism 43, and the second unloading mechanism 44 are all slidably connected along the X-axis direction, wherein the second loading mechanism 42 and the first loading mechanism 41 are arranged at intervals along the Y-axis direction, the first unloading mechanism 43 is in the same row as the first loading mechanism 41, and the second unloading mechanism 44 is in the same row as the second loading mechanism 42, the first loading mechanism 41 and the second unloading mechanism 44 cooperate to load and unload materials, and the second loading mechanism 42 and the first unloading mechanism 43 cooperate to load and unload materials, and the two alternately cycle, so that when one group is performing the return action, the other group can continue to load and unload materials, thereby speeding up work efficiency. The movement of the rotating support member 23 along the Y direction can enable different rows of mechanisms to load and unload materials separately. Compared with the loading and unloading of the mechanisms in the same row, this solution can prevent interference and further speed up the cycle.

[0089] In an exemplary embodiment, the output end of the rotating support 23 has magnetism to absorb materials. The magnetic absorption method is simple and convenient, low cost, and can ensure that the materials are not easy to move during the working process, ensuring the accuracy of the image. Since the materials are adsorbed by magnetic absorption in the front, the materials will have some magnetism. For some materials, such as knives, there are strict requirements on magnetism. Therefore, the first unloading mechanism 43 and the second unloading mechanism 44 are suitable for grabbing the materials to the demagnetization component 5 to demagnetize the materials, so that the materials meet the standards.

[0090] In an exemplary embodiment, an appearance inspection device includes a device for acquiring an image as described above, and further includes a detection module, which performs appearance inspection of a tool on the acquired image to obtain a detection result.

[0091] The description of the above specification and embodiments is used to explain the protection scope of the present invention, but does not constitute a limitation on the protection scope of the present invention. Through the enlightenment of the present invention or the above embodiments, ordinary technicians in this field can obtain modifications, equivalent substitutions or other improvements to the embodiments of the present invention or part of the technical features thereof through logical analysis, reasoning or limited experiments, which should be included in the protection scope of the present invention.

Claims

1. A method for acquiring an image of the outer wall of a product of any shape, which is suitable for detecting the outer wall of a material. Features: The following steps are involved: Shifting and / or rotating the material so that the real-time posture of the material is the same as a preset posture, wherein the preset posture determines the relative position of the coordinates of various locations of the material and the coordinates of the focus point of the line scan camera; The material is transferred and rotated according to a preset path, while the line scan camera acquires an image of the material. The preset path keeps the distance between the material and the line scan camera constant.

2. A method for acquiring an image of an outer wall of a product of any shape as claimed in claim 1, Features: The preset posture and the preset path are determined according to the contour of the material on the lower surface drawing or the upper surface drawing of the material.

3. A method for acquiring an image of an outer wall of a product of any shape as claimed in claim 2, Features: Acquire the lower or upper surface image of the material to obtain the real-time posture of the material, and determine the motion path between the real-time posture of the material and the preset posture, and transfer and / or rotate the material according to the motion path so that the real-time posture of the material is the same as the preset posture.

4. A method for appearance detection, Features: The method for acquiring an image of an outer wall of a product of any shape as claimed in any one of claims 1 to 3 further comprises the following steps: Perform appearance inspection of materials on images captured by line scan cameras.

5. A device for acquiring an image, Features: A method for acquiring an image of an outer wall of a product of any shape as claimed in any one of claims 1 to 3, comprising: Rack(1), A motion assembly (2), comprising an X-axis transfer mechanism (21), a Y-axis transfer mechanism (22) and a rotating support (23) which are connected to each other, wherein the output end of the rotating support (23) is suitable for supporting materials and rotating along an axis parallel to the vertical direction; A first line scan camera (31) is mounted on the frame (1) and is suitable for acquiring an image of the material.

6. A device for acquiring an image as claimed in claim 5, Features: It also includes a second line scan camera (32) and a third line scan camera (33); the material has a first curved surface, a second curved surface and a third curved surface, the first curved surface is used to transition between multiple side surfaces of the material, the second curved surface is used to transition between the side surfaces and the upper surface of the material, and the third curved surface is used to transition between the side surfaces and the lower surface of the material; the first line scan camera (31) is used to obtain a side image of the material, the first line scan camera (31) is perpendicular to the side surface of the material, the second line scan camera (32) is used to obtain an image at the second curved surface, and the third line scan camera (33) is used to obtain an image at the third curved surface; the second line scan camera (32) and the third line scan camera (33) are inclined relative to the first line scan camera (31).

7. A device for acquiring an image as claimed in claim 5, Features: It also includes a lower surface camera (34) and an upper surface camera (35), wherein the lower surface camera (34) is used to obtain an image of the lower surface of the material, and the upper surface camera (35) is used to obtain an image of the upper surface of the material.

8. A device for acquiring an image as claimed in claim 5, Features: The rotating support member (23) is suitable for sliding relative to the frame (1) along the Y-axis direction between a first material receiving position and a second material receiving position; A first loading mechanism (41), which is suitable for grabbing materials to be processed and is slidably connected to the frame (1) along the X-axis direction to place the materials to be processed on the rotating support (23) located at the first material receiving position; A second feeding mechanism (42) is arranged at intervals from the first feeding mechanism (41) along the Y-axis direction, and is suitable for grabbing materials to be processed. It is slidably connected to the frame (1) along the X-axis direction to place the materials to be processed on the rotating support (23) located at the second material receiving position; A first unloading mechanism (43), which is arranged in the same row as the first loading mechanism (41), is slidably connected to the frame (1) along the X-axis direction, and is suitable for grabbing processed materials on the rotating support (23) located at the first material receiving position; A second unloading mechanism (44), which is arranged in the same row as the second loading mechanism (42), is slidably connected to the frame (1) along the X-axis direction, and is suitable for grabbing processed materials on the rotating support (23) located at the second material receiving position; The first loading mechanism (41) and the second unloading mechanism (44) cooperate to load and unload materials, and the second loading mechanism (42) and the first unloading mechanism (43) cooperate to load and unload materials, and the two perform alternating cyclic actions.

9. A device for acquiring an image as claimed in claim 8, Features: It also includes a demagnetization component (5), the output end of the rotating support (23) has magnetism to absorb materials, and the first unloading mechanism (43) and the second unloading mechanism (44) are suitable for grabbing materials to the demagnetization component (5) to demagnetize the materials.

10. An appearance inspection device, Features: The device comprises a device for acquiring an image as described in any one of claims 5 to 9, and further comprises a detection module, wherein the detection module performs appearance detection on the acquired image.

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