Flat product-based line array scanning detection device and detection process

Abstract

This invention relates to the field of product appearance inspection technology, and more particularly to a linear scan inspection device and process for flat panel products. The device includes a support platform; a linear scan inspection module mounted on the support platform; a product axis module mounted on the support platform, the product axis module including an X4-axis sliding stage that slides along the X-axis on the support platform; an R3 rotating seat rotatably mounted on the X4-axis sliding stage, with its rotation axis along the X-axis; and an R4 rotating seat rotatably mounted on the R3 rotating seat, with its rotation axis along the Z-axis. During operation, the operator places the product on the R4 rotating seat. The X4-axis sliding stage conveys the product to the line scan camera's inspection position. The R3 rotating seat rotates the product so that its side faces upwards. The R4 rotating seat rotates the product along the Y-axis, causing the imaging point of the line scan inspection module to complete one revolution around the rounded corner trajectory of the product, thus completing the scanning of the rounded corners of the product's side. This improves inspection efficiency and reduces costs.

Description

Technical Field

[0001] This invention relates to the field of product appearance inspection technology, and in particular to a linear array scanning inspection device and inspection process for flat panel products. Background Technology

[0002] Currently, the appearance inspection areas for tablet products on the market include: the front, back, sides, and other features (such as speakers, logos, and cameras). The side areas are further subdivided into four rounded corner areas and four flat areas. In production, linear scanning or area scanning is generally used to inspect these areas.

[0003] Linear scan principle: Refer to Figure 1 The system includes a line scan camera 8, a line scan lens 81, and a line scan light source 82. The line scan camera, the line scan light source 82, and the plane to be measured 84 form angles a and b (ab are variables) respectively, and form a set of optical paths. The object distance between the imaging point 83 and the line scan lens 81 is c. With a, b, and c remaining constant, the line scan camera 8 and the plane to be measured 84 move at a relatively uniform speed, thereby outputting a clear image of the scanned surface.

[0004] Array principle: refer to Figure 2 It includes an area array camera 9, an area array lens 91, and an area array light source 92. The area array camera is at a 90° angle to the plane to be measured 94, and the object distance between the imaging point 93 and the area array lens 91 is d. After the relative positions are stationary, a clear image is output by fixed shooting.

[0005] Because line scan cameras have a small depth of field, they can generally only detect planar areas, while the detection of rounded corner areas requires a separate area scan camera, which makes the process more complicated and the cost higher. Summary of the Invention

[0006] To address the technical problems in the prior art, this invention provides a linear scan detection device and detection process based on flat panel products.

[0007] In a first aspect, the present invention discloses a linear array scanning detection device based on a flat panel product.

[0008] The present invention relates to a linear scan detection device for flat panel products, comprising a support platform; a linear scan detection module disposed on the support platform; a product axis module disposed on the support platform, the product axis module including an X4-axis sliding stage sliding along the X-axis direction on the support platform; an R3 rotating seat rotatably disposed on the X4-axis sliding stage, the rotation axis of the R3 rotating seat being set along the X-axis direction; and an R4 rotating seat rotatably disposed on the R3 rotating seat, the rotation axis of the R4 rotating seat being set along the Z-axis direction, the R4 rotating seat being adapted to fix the product relatively; the X4-axis sliding stage being adapted to transport the product to the detection position of the linear scan camera; the R3 rotating seat being adapted to rotate the product so that the side of the product faces upward; and the R4 rotating seat being adapted to drive the product to rotate along the Z-axis direction when the side of the product faces upward, so that the linear scan detection module can complete the scanning of the rounded corners of the product side.

[0009] With the above technical solution, during operation, the operator places the product on the R4 rotary table, and then the X4 axis sliding stage conveys the product to the detection position of the line scan camera. Then, the R3 rotary table rotates the product so that the side of the product faces upward. At this time, the R4 rotary table drives the product to rotate along the Y-axis so that the imaging point of the line scan detection module rotates around the rounded corner trajectory of the product to complete the scanning of the rounded corner of the product side, thereby improving detection efficiency and reducing costs.

[0010] Furthermore, the line scan detection module includes a detection frame mounted on a support platform; an X1-axis sliding stage that slides along the X-axis direction on the detection frame; a Z1-axis sliding stage that slides along the Z-axis direction on the X1-axis sliding stage; and a line scan camera mounted on the Z1-axis sliding stage.

[0011] Furthermore, the line scan detection module also includes an R1 rotating seat, which is rotatably mounted on a Z1 axis sliding stage. The rotation axis of the R1 rotating seat is set along the Y axis, and the line scan camera is mounted on the R1 rotating seat and is tilted.

[0012] Furthermore, the line scan detection module also includes a line scan light source module, which includes an X2-axis sliding stage that slides along the X-axis direction on the detection frame; a Z2-axis sliding stage that slides along the Z-axis direction on the X2-axis sliding stage; and a line scan light source that is disposed on the Z2-axis sliding stage.

[0013] Furthermore, the area array detection module also includes an area array light source module, which includes a light source frame disposed on a support platform, on which a light source is placed; and a robotic arm disposed on the support platform, which is adapted to grasp the light source and place the light source below the area array camera.

[0014] Furthermore, the line scan light source module also includes an R2 rotating base, which is rotatably mounted on the Z2 axis sliding stage. The rotation axis of the R2 rotating base is set along the Y axis. The line scan light source is mounted on the R2 rotating base and is tilted to assist the line scan camera in imaging.

[0015] Furthermore, the support platform is equipped with a visual guidance camera, which is suitable for capturing the features of the flat panel and determining the actual relative position between the line scan camera and the product.

[0016] Furthermore, the product axis module also includes a sliding support platform disposed on the support platform along the Y-axis direction; a Y-axis sliding platform that slides on the sliding support platform along the Y-axis direction; and an X1-axis sliding platform that slides on the Y-axis sliding platform along the X-axis direction.

[0017] Secondly, this invention discloses a detection process.

[0018] A detection process, based on the aforementioned linear scan detection device for flat panel products, is characterized by comprising the following steps: Loading procedure: The operator places the flat product face up on the product axis module; Front area detection steps: The product axis module conveys the product to the detection position of the line scan camera, and the X4 axis sliding stage moves the product at a constant speed to output a front image; Side area detection steps: The product is rotated by the R3 rotating base so that the side of the product faces upward. Then the line scan camera scans the side of the product once and outputs the side image. Manual flipping steps: The R3 rotary seat rotates the product to face up, and the Y-axis sliding table (42) moves the product to the unloading station. The operator flips the product so that the reverse side faces up. Reverse area detection steps: Repeat the front area detection steps; Material unloading process: The Y-axis sliding table moves the product to the unloading station, where the operator unloads the product.

[0019] Furthermore, in the side area detection step, after the product's side faces upward, the X4 axis sliding stage moves the product along the X-axis. At this time, the line scan camera scans one side of the product. After scanning one side of the product, the R4 rotating seat drives the product to rotate, which is suitable for the line scan camera to scan the rounded corners of the product. At this time, the line scan camera and the line scan light source move synchronously, so that the light from the line scan camera is always tangent to the rounded corners. Then, the above steps are repeated until all single sides and rounded corners of the product's sidewalls are scanned and imaged.

[0020] Furthermore, after the material loading step, a front visual guidance step is adopted. The front visual guidance step involves using a visual guidance camera to capture the features of the flat panel and determining the actual relative position between the line scan camera and the product. After the manual flipping step, a reverse visual guidance step is performed. The reverse visual guidance step is a repetition of the front visual guidance step.

[0021] The beneficial effects of this invention are: 1. Five-axis linkage is achieved through the Z1 axis sliding stage, Z2 axis sliding stage, X4 axis sliding stage, R3 rotary table, and R4 rotary table, thereby realizing one-time imaging of the side of the product. This allows the plane and rounded corners of the side of the product to be output as images in a coherent manner, thereby improving the detection effect and efficiency. 2. The X1-axis sliding stage can adjust the position of the line scan camera along the X-axis, while the Z1-axis sliding stage can adjust the position of the line scan camera along the Z-axis, thus enabling scanning of products at different locations. 3. The X2-axis sliding stage can adjust the position of the line scan light source along the X-axis, while the Z2-axis sliding stage can adjust the position of the line scan light source along the Z-axis, thus adapting to the scanning of products in different positions in conjunction with the line scan camera. The R1 rotary table can adjust the angle of the line scan camera around the Y-axis, and the R2 rotary table can adjust the angle of the line scan light source around the Y-axis, thereby ensuring the clarity of the line scan image; 4. The X4-axis sliding stage and Y-axis sliding stage can move the product along the X and Y axes, thus facilitating the adjustment of the product's position on the horizontal plane. The R3 rotary table can rotate the product around the X-axis, and the R4 rotary table can rotate the product around the Y-axis, thus facilitating the adjustment of the product's state and allowing different parts of the product to be displayed in a better posture, which in turn facilitates scanning by the line scan camera. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a schematic diagram of the linear array scanning principle in the background technology.

[0024] Figure 2 A schematic diagram of the area array principle in the background art.

[0025] Figure 3 This is a schematic diagram illustrating the overall structure of the linear array scanning detection device based on a flat panel product in this invention.

[0026] Figure 4 This is a schematic diagram illustrating the linear array detection module in this invention.

[0027] Figure 5 This is a schematic diagram illustrating the product axis module in this invention.

[0028] Figure 1 In the middle: 8. Linear scan camera; 81. Linear scan lens; 82. Linear scan light source; 83. Imaging point; 84. Plane to be measured.

[0029] Figure 2 In the diagram: 9. Area array camera; 91. Area array lens; 92. Area array light source; 93. Imaging point; 94. Plane to be measured.

[0030] Figure 3-5 In the middle section: 1. Support platform; 2. Line scan detection module; 21. Detection frame; 22. X1 axis sliding stage; 23. Z1 axis sliding stage; 24. R1 rotary seat; 25. Line scan camera; 26. Line scan light source module; 261. X2 axis sliding stage; 262. Z2 axis sliding stage; 263. R2 rotary seat; 264. Line scan light source; 4. Product axis module; 41. Sliding support stage; 42. Y-axis sliding stage; 43. X4 axis sliding stage; 44. R3 rotary seat; 45. R4 rotary seat; 5. Line scan camera detection position. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0032] In a first aspect, the present invention discloses a linear array scanning detection device based on a flat panel product.

[0033] Reference Figures 3 to 5 A linear scan detection device based on a flat panel product includes a support platform 1, on which a visual guidance camera, a linear scan detection module 2, and a product axis module 4 are provided. The product axis module 4 is adapted to change the product posture and transport the product sequentially through the detection areas of the visual guidance camera and the linear scan detection module 2.

[0034] During operation, the operator places the product on the product axis module 4. At this point, the product is positioned below the vision guidance camera, which captures the features of the flat panel to determine the actual relative position between the line scan camera 25 and the product. The product axis module 4 then transports the product to the detection position of the line scan camera 25, i.e., the scanning area of ​​the line scan camera 25. The line scan camera 25 then scans the front and sides of the product and outputs the front and side images. Finally, the product axis module 4 transports the product to the unloading station, where the operator unloads it.

[0035] The line scan detection module 2 includes a detection frame 21 and a line scan camera 25. The detection frame 21 is fixedly connected to the support platform 1. An X1-axis sliding stage 22 slides on the detection frame 21 along the X-axis direction, and a Z1-axis sliding stage 23 slides on the X1-axis sliding stage 22 along the Z-axis direction. An R1 rotating seat 24 is also rotatably mounted on the Z1-axis sliding stage 23. The rotation axis of the R1 rotating seat 24 is set along the Y-axis, meaning that the R1 rotating seat 24 can rotate around the Y-axis. The line scan camera 25 is fixedly connected to the R1 rotating seat 24 and is tilted towards the product axis module 4. The X1-axis sliding stage 22 can adjust the position of the line scan camera 25 along the X-axis direction, and the Z1-axis sliding stage 23 can adjust the position of the line scan camera 25 along the Z-axis direction, thereby enabling scanning of products at different positions. In this embodiment, the line scan camera 25 includes a line scan camera body and a line scan lens.

[0036] The line scan detection module 2 also includes a line scan light source module 26. The line scan light source module 26 includes an X2-axis sliding stage 261, a Z2-axis sliding stage 262, an R2 rotating seat 263, and a line scan light source 264. The X2-axis sliding stage 261 slides along the X-axis direction on the detection frame 21, and the Z2-axis sliding stage 262 slides along the Z-axis direction on the X2-axis sliding stage 261. The R2 rotating seat 263 is rotatably mounted on the Z2-axis sliding stage 262, and its rotation axis is set along the Y-axis, meaning the R2 rotating seat 263 can rotate around the Y-axis. The line scan light source 264 is fixedly connected to the R2 rotating seat 263 and is tilted towards the product axis module 4 to assist the line scan camera 25 in detection. The X2-axis sliding stage 261 can adjust the position of the line scan light source 264 along the X-axis, while the Z2-axis sliding stage 262 can adjust the position of the line scan light source 264 along the Z-axis, thus enabling it to work with the line scan camera 25 to scan products in different positions. The R1 rotary table 24 can adjust the angle of the line scan camera 25 around the Y-axis, and the R2 rotary table 263 can adjust the angle of the line scan light source 264 around the Y-axis, thereby ensuring the clarity of the line scan image.

[0037] Product axis module 4 includes a sliding support platform 41, a Y-axis sliding platform 42, an X4-axis sliding platform 43, an R3 rotary seat 44, and an R4 rotary seat 45. The sliding support platform 41 is arranged along the Y-axis direction and fixedly connected to the support platform 1. The Y-axis sliding platform 42 slides along the Y-axis direction on the sliding support platform 41, and the X4-axis sliding platform 43 slides along the X-axis direction on the Y-axis sliding platform 42. The R3 rotary seat 44 is rotatably mounted on the X4-axis sliding platform 43, and its rotation axis is set along the X-axis direction, meaning the R3 rotary seat 44 can rotate around the X-axis. The R4 rotary seat 45 is rotatably mounted on the R1 rotary seat 24, and its rotation axis is set along the Z-axis direction, meaning the R4 rotary seat 45 can rotate around the Z-axis. The R4 rotary seat 45 is equipped with an adsorption element, which can be a magnet or a suction cup, suitable for fixing the product relatively on the R4 rotary seat 45. The X4-axis sliding stage 43 and the Y-axis sliding stage 42 can move the product along the X and Y axes, thus facilitating the adjustment of the product's position on the horizontal plane. The R3 rotary table 44 can rotate the product around the X-axis, and the R4 rotary table 45 can rotate the product around the Z-axis, thus facilitating the adjustment of the product's state and allowing the various parts of the product to be displayed in a better posture, thereby facilitating the detection by the line scan camera 25 and the area scan camera.

[0038] In the above scheme, the X1 axis sliding stage 22 and the like all use a lead screw structure, electric push rod structure, cylinder structure, linear module or gear rack structure to achieve linear motion, while the R1 rotary seat 24 and the like all use a rotary cylinder or motor to achieve rotary motion. When using a motor, a harmonic reducer can be used in conjunction.

[0039] Working principle: The operator places the product on the R4 rotating seat 45, and then the Y-axis sliding stage 42 moves along the Y-axis so that the product is located below the vision guidance camera. The vision guidance camera captures the features of the flat panel and determines the actual relative position between the line scan camera 25 and the product.

[0040] The product is then conveyed to the detection position of the line scan camera 25 via the Y-axis sliding stage 42 and the X4-axis sliding stage 43, which is the scanning area of ​​the line scan camera 25. At this time, the X4-axis sliding stage 43 moves the product at a constant speed, while the line scan camera 25 continuously scans, ultimately outputting an image of the product surface. If the product is large and located on a horizontal plane, after the X4-axis sliding stage 43 completes one line scan with the product, the Y-axis sliding stage 42 moves the product a certain distance, and then the X-axis sliding stage 43 performs another line scan with the product, repeating the above steps until the entire front of the product has been scanned. The distance that the Y-axis sliding stage 42 moves with the product does not exceed the line scan width of the line scan camera 25.

[0041] Then, the R3 rotary table 44 rotates the product around the X-axis, so that one side of the product faces upwards. Subsequently, the X4 axis sliding stage 43 moves the product along the X-axis, and the line scan camera 25 continues scanning. When the scan of this single side is complete and a rounded corner of the product is about to be scanned, the R4 rotary table 45 rotates the product around the Z-axis. The Z1 axis sliding stage 23 and the Z2 axis sliding stage 262 respectively move the line scan camera 25 and the line scan light source 264 along the Z-axis, ensuring that the line scan camera 25 and the scanning area are always located on the rounded corner surface of the product, thus ensuring the scanning effect. After the rounded corner is scanned, the scanning continues for subsequent single sides and rounded corners of the product until the entire side of the product is scanned, finally outputting the product side image. Five-axis linkage is achieved through the Z1-axis sliding stage 23, Z2-axis sliding stage 262, X4-axis sliding stage 43, R3 rotary seat 44, and R4 rotary seat 45, enabling single-pass imaging of the product's side surface. This allows for the simultaneous and continuous output of images of the product's side plane and rounded corners, thereby improving inspection effectiveness and efficiency. Because the product's rounded corners and the rotation center of the R4 rotary seat 45 are not on the same axis, the maximum height of the product's rounded corners gradually increases and then gradually decreases during rotation. Similarly, the heights of the line scan camera 25 and the line scan light source 264 also gradually increase and then gradually decrease to ensure effective line scanning.

[0042] Finally, the Y-axis sliding table 42 transports the product to the unloading station, where the operator unloads it.

[0043] Secondly, this invention discloses a detection process.

[0044] A detection process, based on the aforementioned linear scan detection device for flat panel products, includes the following steps: Loading procedure: The operator places the flat product face up on the R2 rotating seat 263; Frontal visual guidance steps: Use the visual guidance camera to capture the features of the tablet, determine the actual relative position of the line scan camera 25 and the product, and adjust the product to the appropriate position. Frontal area detection steps: The imaging area of ​​the line scan camera 25 forms a scan line, and the length of the scan line is the line scan width of the line scan camera 25. The product is conveyed to the detection position of the line scan camera 25 via the Y-axis sliding stage 42 and the X4-axis sliding stage 43. At this time, the line scan camera 25 starts scanning, while the X4-axis sliding stage 43 moves with the product at a constant speed. The front of the product passes through the scan line formed by the scanning area of ​​the line scan camera 25, so that the line scan camera 25 completes the scanning of the front of the product and outputs the frontal image. If the product is large in size and located on a horizontal plane, after the X4-axis sliding stage 43 completes one line scan with the product, the Y-axis sliding stage 42 moves the product a certain distance, and then the X-axis sliding stage 43 moves the product again to perform another line scan. The above steps are repeated until the entire front of the product has been scanned. The distance that the Y-axis sliding stage 42 moves with the product does not exceed the line scan width of the line scan camera 25. Side area detection steps: The R3 rotary table 44 rotates the product around the X-axis, so that one side of the product faces upward. Then, the X4 axis sliding stage 43 moves the product along the X-axis, and the line scan camera 25 continues to scan. When the scan of this single side is completed and a rounded corner of the product is about to be scanned, the R4 rotary table 45 rotates the product around the Y-axis, while the Z1 axis sliding stage 23 and the Z2 axis sliding stage 262 respectively move the line scan camera 25 and the line scan light source 264 along the Z-axis. The X4 axis sliding stage 43 moves the product along the X-axis, ensuring that the scan line of the line scan camera 25 moves continuously and uniformly along the rounded corner surface, so that the entire rounded corner surface passes through the scan line of the line scan camera 25, so as to output a complete image of the rounded corner surface, thereby ensuring the scanning effect. After the rounded corner is scanned, the scan of the subsequent single sides and rounded corners of the product continues until the entire side of the product is scanned, and finally the side image of the product is output. Manual flipping process: The R3 rotary table 44 rotates the product until the front side is facing up, and the Y-axis sliding table 42 moves the product to the unloading station. The operator flips the product so that the back side is facing up. Reverse visual guidance steps: The Y-axis slide stage 42 then transports the product to below the visual guidance camera, and then the front visual guidance steps are repeated; Reverse area detection step: Repeat the front area detection step to output the reverse image of the product; Unloading steps: The Y-axis sliding table 42 moves the product to the unloading station, where the operator unloads the product.

[0045] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A linear scan detection device based on a flat panel product, characterized in that, include Support platform (1); The line scan detection module (2) is mounted on the support platform (1); A product axis module (4) is mounted on a support platform (1). The product axis module (4) includes... The X4 axis sliding stage (43) slides along the X-axis on the support platform (1); The R3 rotary seat (44) is rotatably mounted on the X4 axis sliding stage (43), and the rotation axis of the R3 rotary seat (44) is set along the X-axis direction; The R4 rotating seat (45) is rotatably mounted on the R3 rotating seat (44). The rotation axis of the R4 rotating seat (45) is set along the Z-axis direction. The R4 rotating seat (45) is suitable for fixing the product relatively. The X4-axis sliding stage (43) is adapted to transport the product to the detection position of the line scan camera (25); The R3 rotating seat (44) is adapted to rotate the product so that the side of the product faces upward; The R4 rotary seat (45) is adapted to rotate the product along the Z-axis when the side of the product is facing upwards, so that the line scan detection module (2) can complete the scanning of the rounded corners of the product's side. The line scan detection module (2) includes The testing frame (21) is mounted on the support platform (1); The X1 axis sliding stage (22) slides along the X-axis direction on the inspection frame (21); The Z1 axis sliding stage (23) slides along the Z-axis direction on the X1 axis sliding stage (22); A line scan camera (25) is mounted on a Z1 axis sliding stage (23); The line scan detection module (2) also includes an R1 rotating seat (24), which is rotatably mounted on the Z1 axis sliding stage (23). The rotation axis of the R1 rotating seat (24) is set along the Y axis. The line scan camera (25) is mounted on the R1 rotating seat (24) and is tilted. The line scan detection module (2) further includes a line scan light source module (26), the line scan light source module (26) including... The X2 axis sliding stage (261) slides along the X-axis on the inspection frame (21); The Z2 axis sliding stage (262) slides along the Z-axis direction on the X2 axis sliding stage (261); A linear scanning light source (264) is mounted on a Z2-axis sliding stage (262); The line scan light source module (26) also includes an R2 rotating base (263), which is rotatably mounted on the Z2 axis sliding stage (262). The rotation axis of the R2 rotating base (263) is set along the Y axis. The line scan light source (264) is mounted on the R2 rotating base (263) and is tilted to assist the line scan camera (25) in imaging.

2. The linear scan detection device based on flat panel products as described in claim 1, characterized in that, The support platform (1) is equipped with a visual guidance camera, which is suitable for capturing the features of the flat panel and determining the actual relative position of the line scan camera (25) and the product.

3. The linear scan detection device based on flat panel products according to claim 1, characterized in that, The product axis module (4) also includes A sliding support platform (41) is provided on the support platform (1) along the Y-axis direction; The Y-axis sliding stage (42) slides along the Y-axis direction on the sliding support stage (41); The X1 axis sliding stage (22) slides along the X-axis direction on the Y-axis sliding stage (42).

4. A detection process, based on the linear scan detection device for flat panel products as described in claim 1, characterized in that, Includes the following steps: Loading steps: The operator places the flat product face up on the product shaft module (4); Front area detection steps: The product axis module (4) transports the product to the detection position of the line scan camera (25), and moves the product at a constant speed through the X4 axis sliding stage (43) to output a front image; Side area detection steps: The product is rotated by the R3 rotating seat (44) so ​​that the side of the product faces upward. Then the line scan camera (25) scans the side of the product once and outputs the side image. Manual flipping steps: The R3 rotary table (44) rotates the product to face up, and the Y-axis sliding table (42) moves the product to the unloading station. The operator flips the product so that the reverse side faces up. Reverse area detection steps: Repeat the front area detection steps; Unloading steps: The Y-axis sliding table (42) moves the product to the unloading station, and the operator unloads the product.

5. The detection process as described in claim 4, characterized in that, In the side area detection step, after the product side faces upward, the X4 axis sliding stage (43) moves the product along the X-axis. At this time, the line scan camera (25) scans one side of the product side. After the scanning of one side of the product side is completed, the R4 rotating seat (45) drives the product to rotate, which is suitable for the line scan camera (25) to scan the rounded corner of the product. At this time, the line scan camera (25) and the line scan light source (264) move synchronously, so that the scanning area of ​​the line scan camera (25) is always located on the rounded corner surface during the rotation of the product rounded corner. Then the above steps are repeated until all single sides and rounded corners of the product sidewall are scanned and imaged.

6. The detection process as described in claim 4, characterized in that, After the material loading step, a front visual guidance step is adopted. The front visual guidance step is to take pictures of the flat panel features by the visual guidance camera to determine the actual relative position of the line scan camera (25) and the product. After the manual flipping step, a reverse visual guidance step is performed. The reverse visual guidance step is a repetition of the front visual guidance step.

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