A robot cooperative camera detection mechanism and detection method

Abstract

The application discloses a kind of robot cooperation camera detection mechanism and detection method, it includes optical machine module, the optical machine module includes connecting piece, at least one camera is provided on the connecting piece, further include at least two robots, the free end of each robot is connected with connecting piece, at least two robots are mirror image / rotational symmetry arrangement relative to the central axis of connecting piece.The application not only improves the display panel detection efficiency by the function of multiple camera lens shooting of multiple robot cooperation movement, more importantly, it provides stable support for optical machine module through multiple robot cooperation, avoids the jitter of optical machine module when moving with robot, effectively improves the image-taking precision of optical machine module, and ensures the detection accuracy of display panel.

Description

Technical Field

[0001] This invention belongs to the field of display device testing technology, and specifically discloses a robot collaborative camera structure and testing method. Background Technology

[0002] With the rapid development of the new display industry, the size of display panels is getting larger and larger, and the requirements for inspection and inspection efficiency are getting higher and higher. As the size of display panels increases, the field of view of a single camera lens is limited, requiring multiple images to complete the inspection, which is inefficient. Therefore, multiple sets of camera lenses are needed to simultaneously capture images of the display panel, and the function of completing the image capture and inspection in one step can be achieved through stitching. The above-mentioned multi-camera array constitutes an optomechanical module for inspecting display panels, and its structure and working principle are shown in CN110351530A. Furthermore, in order to meet the above-mentioned requirements for automated inspection of the optomechanical module, it is usually mounted on a robotic arm, the structure of which is shown in CN105372856A. The drawback of the above technical solution is that, since the optomechanical module includes multiple cameras, it is relatively heavy. When it is connected to a single robotic arm, it is in a cantilever state. Therefore, when the robotic arm moves the optomechanical module to move and capture images of the display panel, the vibration of the robotic arm during the movement will cause the optomechanical module to vibrate, thereby reducing the image capture accuracy of the optomechanical module. Therefore, the inspection accuracy of the display panel cannot be guaranteed. Summary of the Invention

[0003] To address the technical problems existing in the prior art, this invention provides a robot collaborative camera structure and detection method. It not only improves the detection efficiency of display panels by using multiple robots to cooperate and move multiple camera lenses to take pictures at once, but more importantly, it provides stable support for the optomechanical module through the coordinated movement of multiple robots, avoiding the shaking of the optomechanical module when it moves with the robots, effectively improving the image acquisition accuracy of the optomechanical module and ensuring the detection accuracy of the display panel.

[0004] This invention discloses a robot collaborative camera detection mechanism, including an optical engine module, the optical engine module including a connector, at least one camera being disposed on the connector, and at least two robots, the free end of each robot being connected to the connector, and the at least two robots being arranged in a mirror / rotational symmetric manner with respect to the central axis of the connector.

[0005] In a preferred embodiment of the invention, the central axes of the free ends of at least two robots are collinear.

[0006] In a preferred embodiment of the present invention, the intersection of the central axes of the free ends of any two robots is located on the central axis of the connector.

[0007] In a preferred embodiment of the invention, the central axis of the free end of each robot is perpendicular or parallel to the central axis of the connector.

[0008] In a preferred embodiment of the present invention, two or four cameras are arranged on the connector, and the four cameras are arranged in a two-dimensional manner.

[0009] In a preferred embodiment of the present invention, the connector includes an optomechanical base plate and a robot connecting plate arranged perpendicularly to each other. The optomechanical base plate is provided with an array of multiple camera mounting components, and the robot connecting plate is provided with mounting holes for connecting the free end of the robot.

[0010] In a preferred embodiment of the present invention, at least two robot connection plates are fixedly connected to the optomechanical base plate and arranged perpendicularly thereto, wherein any two robot connection plates are arranged parallel to each other or perpendicular to each other.

[0011] In a preferred embodiment of the present invention, the camera mounting assembly includes a camera fixing plate connected to the optical engine base plate, and a camera adjustment plate rotatable about the optical axis of the camera is connected to the guide post.

[0012] In a preferred embodiment of the present invention, the camera mounting plate is provided with a guide post extending along the optical axis of the camera, the camera mounting plate is slidably connected to the guide post, and the camera mounting plate is provided with a plurality of threaded holes arranged parallel to the guide post, and an adjusting screw is installed in each threaded hole.

[0013] In a preferred embodiment of the present invention, the camera adjustment plate is provided with at least a pair of arc-shaped holes, the center of the arc-shaped holes being located on the optical axis of the camera, the camera adjustment plate being fixedly connected to the camera fixing plate by a screw passing through the arc-shaped holes, and the camera being connected to the camera adjustment plate.

[0014] In a preferred embodiment of the present invention, a position sensor is provided on the connector.

[0015] In a preferred embodiment of the present invention, it includes a steel frame, on which vibration isolators are provided, and on which a marble platform is provided, and on which a dot screen module and a robot collaborative camera detection mechanism are provided.

[0016] The present invention also discloses a panel inspection method using a robot collaborative camera inspection mechanism as claimed in the present invention, wherein at least two robots work together to drive the optomechanical module to scan the panel along a preset path until an image of the entire panel is obtained.

[0017] The beneficial effects of this invention are: This invention has the advantages of simple structure and high detection accuracy. It provides at least two support points for the optomechanical module by connecting at least two robots to both ends of the optomechanical module at the same time, thereby effectively reducing the vibration interference of the optomechanical module caused by the shaking of the robot during the movement of the robot driving the optomechanical module, improving the imaging accuracy of the optomechanical module, ensuring the detection accuracy of the display panel, and the cooperative movement of multiple robots can realize the function of meeting the detection requirements with a single image capture.

[0018] Furthermore, the central axes of the free ends of at least two robots in this invention are collinear. This technical solution is applicable to square connectors. Two robots are arranged in a mirror-symmetrical manner on both sides of the square connector. The two robots and the optomechanical module form a gantry-type integral structure, thereby effectively reducing the vibration interference of the robot's shaking on the optomechanical module during the robot's movement, improving the imaging accuracy of the optomechanical module, and ensuring the detection accuracy of the display panel.

[0019] Furthermore, the intersection of the central axes of the free ends of any two robots in this invention is located on the central axis of the connector. This technical solution is applicable to circular connectors, where at least two robots are arranged circumferentially. The two robots and the optomechanical module form a gantry-type integral structure, thereby effectively reducing the vibration interference of the robot's shaking on the optomechanical module during the robot's movement, improving the imaging accuracy of the optomechanical module, and ensuring the detection accuracy of the display panel.

[0020] Furthermore, the central axis of the free end of each robot in this invention is perpendicular or parallel to the central axis of the connector. This technical solution improves the compatibility of this invention, as the connection position between the free end of the robot and the connector can be reasonably set as needed, thus improving the compatibility of this invention.

[0021] Furthermore, the connector of the present invention includes an optical engine base plate and a robot connecting plate. The optical engine base plate is provided with an array of multiple camera mounting components, and the robot connecting plate is provided with mounting holes for connecting the free end of the robot. This technical solution has the advantages of simple structure and easy assembly and debugging.

[0022] Furthermore, at least two robot connecting plates are fixedly attached to the optomechanical base plate of the present invention, which are arranged perpendicularly to it. Any two robot connecting plates are arranged parallel to each other or perpendicular to each other. This technical solution has the advantages of high rigidity and easy assembly.

[0023] Furthermore, the camera mounting assembly of the present invention includes a camera fixing plate connected to the optical engine base plate, and a camera adjustment plate that can rotate around the optical axis of the camera is connected to the guide post. This technical solution is more convenient for the installation and debugging of multiple cameras arranged in an array on the connector.

[0024] Furthermore, the camera mounting plate of the present invention is provided with a guide post extending along the optical axis of the camera. The camera mounting plate is slidably connected to the guide post. The camera mounting plate is provided with a plurality of threaded holes arranged parallel to the guide post. An adjusting screw is installed in each threaded hole. The presence of the adjusting screw makes it easy to level each camera, ensuring that the image capture plane of the camera and the display panel always remain parallel.

[0025] Furthermore, the camera adjustment plate of the present invention is provided with at least a pair of arc-shaped holes, the center of which is located on the optical axis of the camera. The camera adjustment plate is fixed to the camera fixing plate by a screw passing through the arc-shaped hole. The camera is connected to the camera adjustment plate. This technical solution is more conducive to the adjustment of the camera position.

[0026] Furthermore, the connector of the present invention is provided with a position sensor, and the presence of the position sensor is more conducive to the synchronous and coordinated work of multiple robotic arms.

[0027] Furthermore, the system includes a steel frame equipped with vibration isolators, a marble platform mounted on the vibration isolators, and a dot-screen module and a dual-robot collaborative camera inspection mechanism mounted on the marble platform. At least two robots are simultaneously connected to both ends of a fixed base for multiple optomechanical modules. The robots are then fixed to the marble platform via mounting bases, and the marble is mounted on the steel frame base using vibration isolators. This reduces external vibration interference to the optomechanical modules. The collaborative movement of the dual robots allows for a single image capture to meet inspection requirements. This solves the problem of low efficiency in using traditional automated mechanisms for multiple movements and image capture in the inspection of large-size display panels. It achieves the function of completing inspection in a single image capture by multiple camera lenses using dual-robot collaborative movement, thus improving inspection efficiency. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a robot collaborative camera detection mechanism according to the present invention;

[0029] Figure 2 This is a schematic diagram of a robot collaborative camera detection mechanism according to the present invention;

[0030] Figure 3 This is a front view of a robot collaborative camera detection mechanism according to the present invention;

[0031] Figure 4 This is a top view of a robot collaborative camera detection mechanism according to the present invention;

[0032] Figure 5 This is an exploded view of the camera mounting assembly of a robot collaborative camera inspection mechanism according to the present invention;

[0033] Figure 6This is an enlarged view of the camera mounting component of a robot collaborative camera inspection mechanism according to the present invention;

[0034] Figure 7 This is a motion path diagram of the optomechanical module of a robot collaborative camera detection mechanism according to the present invention;

[0035] In the diagram: 1-Foot cup, 2-Steel frame, 3-Vibration isolator, 4-Marble platform, 5-Connector, 6-Robot, 7-Optical-mechanical reinforcing plate, 8-Camera, 9-Guide column, 10-Spot screen PG, 11-Robot connecting plate, 12-Optical-mechanical base plate, 13-Camera fixing plate, 14-Camera adjustment plate, 15-Adjusting screw, 16-Product under test, 17-Position sensor, 18-Central axis; 19-Jig. Detailed Implementation

[0036] The technical solutions (including preferred technical solutions) of the present invention will be further described in detail below with reference to the accompanying drawings and by way of listing some optional embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0037] This invention discloses a robot collaborative camera inspection mechanism. Compared with the existing technology of connecting a single manipulator / robot to an optical engine module, it can provide at least two fulcrums for the optical engine module. Through the coordinated action of multiple robots, it provides stable support for the optical engine module, avoids the shaking of the optical engine module when it moves with the robot, effectively improves the imaging accuracy of the optical engine module, and ensures the detection accuracy of the display panel. The invention includes an optical engine module, which includes a connector 5. The connector 5 is provided with at least one camera 8 and includes at least two robots 6. The free end of each robot 6 is connected to the connector 5. The at least two robots are arranged in a mirror / rotational symmetry with respect to the central axis 18 of the connector 5. It is understood that the present invention provides at least two support points for the connector 5 of the optomechanical module by using at least two robots 6, thereby changing the existing cantilever connector 5 structure into a gantry / bracket type integrated structure, thus providing multiple support points for the connector 5. The coordinated movement of multiple robots 6 drives the connector 5 to translate relative to the product under test 16. The gantry / bracket type integrated structure formed by multiple robots 6 and connector 5 effectively eliminates the shaking during the movement of connector 5 and reduces external vibration interference to camera 8. The cooperative movement of robots can achieve the function of meeting the detection requirements with a single image capture.

[0038] Preferably, two or four cameras are arranged on the connector, and the four cameras are arranged in a two-dimensional manner.

[0039] Preferably, such as Figure 1-4 As shown, the present invention includes an optomechanical module, which includes a square connector 5. Four cameras 8 are arranged in an array on the connector 5. The four cameras 8 are arranged rotationally symmetrically with respect to the central axis 18 of the connector 5. One robot 6 is arranged on each side of the connector 5. The free end of each robot 6 is connected to the connector 5. The two robots are arranged mirror-symmetrically with respect to the central axis 18 of the connector 5. The central axes of the free ends of the two robots 6 are collinear and perpendicular to the central axis 18 of the connector 5. This technical solution enables the two robots 6 and the optomechanical module to form a gantry structure. The two robots 6 move in concert to drive the optomechanical module to move.

[0040] The present invention can also adopt the following technical solution: it includes an optical engine module, the optical engine module includes a square connector 5, a plurality of cameras 8 are arranged in an array on the connector 5, the plurality of cameras 8 are arranged rotationally symmetrically with respect to the central axis 18 of the connector 5, a robot 6 is arranged on each of three or four sides of the connector 5, the free end of each robot 6 is connected to the connector 5, at least two robots are arranged mirror symmetrically with respect to the central axis 18 of the connector 5, the central axes of the free ends of at least two robots 6 are collinear, the central axes of the free ends of at least two robots 6 are perpendicular to each other, the central axes of the free ends of each robot 6 are collinear and perpendicular to the central axis 18 of the connector 5, this technical solution enables three or four robots 6 and the optical engine module to form a multi-point support structure, and the coordinated movement of the plurality of robots 6 drives the movement of the optical engine module.

[0041] It should be noted that the present invention is not limited to Figure 1-4 The illustrated embodiment can also adopt the following structure:

[0042] This invention includes an optomechanical module, which includes a circular connector 5. Four cameras 8 are arranged in an array on the connector 5. The four cameras 8 are arranged rotationally symmetrically with respect to the central axis 18 of the connector 5. Multiple robots 6 are connected to the outer circumference of the connector 5. The free end of each robot 6 is connected to the connector 5. The multiple robots are arranged rotationally symmetrically with respect to the central axis 18 of the connector 5. The central axes of the free ends of each robot 6 are collinear and perpendicular to the central axis 18 of the connector 5. The intersection of the central axes of the free ends of any two robots 6 is located on the central axis 18 of the connector 5. This technical solution enables the multiple robots 6 and the optomechanical module to form a multi-point support structure. The coordinated movement of the multiple robots 6 drives the movement of the optomechanical module.

[0043] Preferably, the central axis of the free end of each robot 6 of the present invention is perpendicular or parallel to the central axis 18 of the connector 5, that is, each robot 6 can be connected to either the robot connecting plate 11 or the optomechanical base plate 12. Since the robot 6 has six degrees of freedom, the installation method with the connector 5 does not restrict its degrees of freedom.

[0044] Preferably, such as Figure 5 and 6 As shown, the connector 5 includes an optical engine base plate 12, with a robot connecting plate 11 vertically fixed to each side of the base plate 12. Both the optical engine base plate 12 and the robot connecting plate 11 are cubic in shape. Four camera mounting components are arranged in an array on the optical engine base plate 12, and four clearance holes are provided for the camera 8 to capture images. The positions of the four camera mounting components correspond one-to-one with the positions of the four clearance holes. The robot connecting plate 11 has mounting holes for connecting the free end of the robot 6. To improve the fixing strength between the optical engine base plate 12 and the robot connecting plate 11, two optical engine reinforcing plates 7 are also fixed to the optical engine base plate 12. The optical engine reinforcing plates 7 are located between the two robot connecting plates 11 and serve as supporting ribs.

[0045] Preferably, the camera mounting assembly includes a camera mounting plate 13 connected to the optical engine base plate 12, and a camera adjustment plate 14 connected to the guide post 9, which is capable of rotating around the optical axis of the camera 8.

[0046] Preferably, the camera mounting plate 13 is provided with a guide post 9 extending along the optical axis of the camera 8. The camera mounting plate 13 is slidably connected to the guide post 9. The camera mounting plate 13 is provided with four threaded holes arranged parallel to the guide post 9. Four adjusting screws 15 are installed in each threaded hole. The bottom surface of the four adjusting screws 15 is in contact with the optical engine base plate 12. The four guide posts 9 are arranged symmetrically with respect to the optical axis of the camera 8. The four adjusting screws 15 are arranged symmetrically with respect to the optical axis of the camera 8. The coordinated adjustment of the four adjusting screws 15 can realize the adjustment of the level of the camera mounting plate 13.

[0047] Preferably, the camera adjustment plate 14 is provided with at least one pair of arc-shaped holes, the center of which is located on the optical axis of the camera 8. The camera adjustment plate 14 is fixedly connected to the camera fixing plate 13 by a screw passing through the arc-shaped hole, and the camera 8 is connected to the camera adjustment plate 14.

[0048] Preferably, a position sensor 17 is provided on the connector 5, and the position sensor 17 is installed below the robot connector plate 11.

[0049] Preferably, it includes a steel frame 2, a vibration isolator 3 is provided on the steel frame 2, a marble platform 4 is provided on the vibration isolator 3, and a dot screen module and a robot collaborative camera detection mechanism are provided on the marble platform 4.

[0050] Preferably, the vibration isolator 3 is an air vibration isolator.

[0051] The operating steps and usage method of this invention are as follows: The foot cup 1 is fixed to the lower side of the steel frame 2 to adjust the overall level of the equipment; the marble platform 4 is fixed to the steel frame 2 via vibration isolators 3, and the interior of the steel frame 2 is used to install the industrial control computer and electrical control components; two robots 6 are fixed to the left and right sides of the marble platform 4 via their respective bases, and then the two robots 6 are fixed to the two bases respectively; robot connecting plates 11 are fixed to both sides of the optical engine base plate 12, and fixed to the other two sides of the optical engine base plate 12 via optical engine reinforcing plates 7 to increase the rigidity of the entire optical engine module and ensure the stability and reliability of the entire optical engine module; the free ends of the robots 6 are fixed to the robot connecting plates 11, and the two robots 6... The free end is used as a reference to coordinate adjustment to achieve the horizontal correction of camera 8; camera mounting plate 13 is fixed on the optical engine base plate 12, camera adjustment plate 14 is fixed on camera mounting plate 13, and after the camera 8 and lens are assembled as a whole, they are fixed on camera adjustment plate 14. The height of the four corners of camera adjustment plate 14 is adjusted by adjusting adjustment screw 15 to achieve the function of adjusting the camera level and ensure the clarity of image acquisition; fixture 19 is fixed on marble platform 4, dot screen PG10 is fixed inside fixture 19, and the product to be tested 16 is placed on top of fixture 19. This ensures that dot screen PG10 can be at the closest distance to the product to be tested 16, ensuring the stability of illuminating the product to be tested 16 and improving detection efficiency.

[0052] The robot 6 collaborative adjustment method of this invention: After assembling the robot connecting plate 11, the optomechanical base plate 12, and the position sensor 17 into a whole, two robots 6 are then installed as a whole, ensuring that the free ends (rotation axes) of the two robots 6 can be aligned with the installation position of the robot connecting plate 11 and their screw holes; with the central axis 18 of the optomechanical base plate 12 as a reference, one robot 6 moves to make the optomechanical base plate 12 rotate clockwise around the central axis 18, and the other robot 6 moves simultaneously to make the optomechanical base plate 12 rotate counterclockwise around the central axis 18, thus adjusting the Q-axis angle of the optomechanical module; Using the axis connecting the central axes (i.e., the rotation axes of their ends) of the two robots 6 as a reference, the free ends of the two robots 6 rotate simultaneously in one direction, thus adjusting the Ry axis angle of the optomechanical module. Using the vertical axis perpendicular to the axis connecting the central axes (i.e., the rotation axes of their ends) of the two robots 6 as a reference, and with this vertical axis parallel to the product surface, the free ends of the two robots 6 rotate simultaneously in opposite directions, thus adjusting the Rx axis angle of the optomechanical module. This coordinated motion can adjust the level of the optomechanical module, keeping it parallel to the product surface, thus meeting the image acquisition requirements.

[0053] like Figure 7As shown, the thick solid line represents the large-size display screen under test, and the thick dashed line divides the large-size display screen into four smaller screens. Camera 1 is set as the reference motion camera. The two robots control the motion of camera 1 to move and take pictures according to the direction and trajectory of the thin solid line in the figure. Cameras 2, 3, and 4 are follow-up cameras, which are also controlled by the collaborative motion of the two robots to move and take pictures according to the direction and trajectory of the thin dashed line in the figure. By stitching the images together, a complete image of the entire display screen is finally obtained, which meets the testing requirements.

[0054] The present invention also discloses a panel inspection method using a robot collaborative camera inspection mechanism, wherein at least two robots 6 work together to drive the optical engine module to scan the panel along a preset path until an image of the entire panel is obtained.

[0055] It should be noted that the working principle of the optomechanical module of the present invention is existing technology, which can be referred to the content disclosed in Chinese invention patent CN110351530A, so it will not be elaborated here.

[0056] Those skilled in the art will readily understand that the above are merely preferred embodiments of the present invention and are not intended to limit the invention. Any modifications, combinations, substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A robot cooperative camera detection mechanism, comprising an optical-mechanical module, the optical-mechanical module comprising a connecting piece (5) on which at least one camera (8) is arranged, characterized in that: It also includes at least two robots (6), the free end of each robot (6) is connected to the connector (5), and the at least two robots are arranged in a mirror / rotational symmetry with respect to the central axis (18) of the connector (5); the connector (5) includes an optical engine base plate (12) and a robot connecting plate (11), the optical engine base plate (12) is provided with an array of multiple camera mounting components, and the robot connecting plate (11) is provided with mounting holes for connecting the free ends of the robots (6); the camera mounting components include a camera fixing plate (13) connected to the optical engine base plate (12), and a camera adjustment plate (14) that can rotate around the optical axis of the camera (8) is connected to the camera fixing plate (13); the camera adjustment plate (14) is provided with at least a pair of arc-shaped holes, the center of the arc-shaped holes is located on the optical axis of the camera (8), the camera adjustment plate (14) is fixed to the camera fixing plate (13) by a screw passing through the arc-shaped holes, and the camera (8) is connected to the camera adjustment plate (14).

2. The robot collaborative camera detection mechanism according to claim 1, characterized in that: The central axis of the free end of each robot (6) is perpendicular or parallel to the central axis (18) of the connector (5).

3. The robot collaborative camera detection mechanism according to claim 1, characterized in that: The central axes of the free ends of at least two robots (6) are collinear.

4. The robot collaborative camera detection mechanism according to claim 1, characterized in that: Two or four cameras are arranged on the connector, and the four cameras are arranged in a two-dimensional manner.

5. The robot collaborative camera detection mechanism according to claim 1, characterized in that: At least two robot connection plates (11) are fixedly connected to the optomechanical base plate (12) and arranged perpendicularly thereto. Any two robot connection plates (11) are arranged parallel to each other or perpendicular to each other.

6. The robot collaborative camera detection mechanism according to claim 1, characterized in that: The camera mounting plate (13) is provided with a guide post (9) extending along the optical axis of the camera (8). The camera mounting plate (13) is slidably connected to the guide post (9). The camera mounting plate (13) is provided with a plurality of threaded holes arranged parallel to the guide post (9). An adjusting screw (15) is installed in each threaded hole.

7. The robot collaborative camera detection mechanism according to claim 1, characterized in that: A position sensor (17) is provided on the connector (5).

8. A method for panel inspection using a robot collaborative camera inspection mechanism as described in any one of claims 1-7, characterized in that: The at least two robots (6) work together to drive the optomechanical module to scan the panel along a preset path until an image of the entire panel is obtained.

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