Object surface visual inspection system based on multi-eye stereo and photometric stereo

Abstract

The present application relates to a surface visual inspection system for an object based on multi-eye stereo and photometric stereo, which comprises a placement table for placing an object to be inspected, and an image pickup device for capturing an image of the surface of the object to be inspected, and also comprises a partitioned light source and a controller, wherein the partitioned light source and the image pickup device are electrically connected to the controller respectively, and the controller pre-stores a plurality of partitions, wherein the partitions are arranged in a one-to-one correspondence with the partitioned light sources, the partitioned light sources are used to illuminate the corresponding partitions, the controller is used to control each partitioned light source to illuminate the object to be inspected respectively, and the controller is also used to control the image pickup device to capture one by one the partitioned images of the object to be inspected illuminated by each partitioned light source; the controller is also used to obtain the partitioned images corresponding to all the partitions, and synthesize and process all the partitioned images to obtain a stereo image, and output the stereo image for display; the present application has the effect of reducing the possibility of missing defects on the surface of the object to be inspected and improving the comprehensiveness of the inspection.

Description

Technical Field

[0001] The present application relates to the field of visual inspection technology, and in particular to a system for visual inspection of object surfaces based on multi-view stereo and photometric stereo. Background Art

[0002] Objects generally produce different appearance defects during the production and use process. Common defect types include scratches, scrapes, pits, breakage, missing, dirt, holes, deformation, etc. These defects can easily affect the quality and performance of the product. For this reason, machine vision inspection is generally used to detect defects on the surface of objects.

[0003] Machine vision refers to using machines to replace human eyes for measurement and judgment. Specifically, the surface of an object is illuminated by an external light source, and the captured target is converted into an image through an image capture device (such as CMOS, CCD). The image is then manually observed to more clearly analyze the defects on the surface of the object, or the image is processed by an image processing system to extract the features corresponding to the defect type in the image to achieve detection and identification of the defect.

[0004] However, the light source of the above-mentioned machine vision inspection method is generally a single light source with a fixed irradiation direction. When visually inspecting objects with multiple types of defects, a single light source with a fixed irradiation direction is not easy to present all the defects of the above-mentioned objects, which can easily lead to missed defects and affect the comprehensiveness of visual inspection. Therefore, it needs to be improved. Summary of the invention

[0005] In order to improve the phenomenon of missed defect detection and enhance the comprehensiveness of visual inspection of object surfaces, the present application provides an object surface visual inspection system based on multi-eye stereo and photometric stereo.

[0006] The present application provides a surface visual inspection system for objects based on multi-eye stereo and photometric stereo, which adopts the following technical solutions:

[0007] A surface visual inspection system for objects based on multi-eye stereo and photometric stereo, comprising a placement table for placing an object to be inspected, and an image capture device for capturing an image of the surface of the object to be inspected, and also comprising a partitioned light source and a controller, wherein the partitioned light source and the image capture device are electrically connected to the controller respectively, wherein the controller pre-stores a plurality of partitions, wherein the partitions are arranged in a one-to-one correspondence with the partitioned light sources, wherein the partitioned light sources are used to illuminate the corresponding partitions, wherein the controller is used to control each partitioned light source to illuminate the object to be inspected respectively, wherein the controller is also used to control the image capture device to capture one by one a partitioned image of the object to be inspected illuminated by each partitioned light source; wherein the controller is also used to obtain the partitioned images corresponding to all partitions, and synthesize and process all the partitioned images to obtain a stereoscopic image, and output and display the stereoscopic image.

[0008] By adopting the above-mentioned technical scheme, compared with the existing method of using a single light source at a single position to illuminate and detect the object to be measured, the present application sets up multiple partitioned light sources, and respectively illuminates the object to be measured in partitions, while capturing the partitioned images under the partitioned illumination, and then synthesizing all the partitioned images to obtain a three-dimensional image, which is used to characterize the three-dimensional surface morphology of the object to be measured, thereby reducing the possibility of missing surface defects of the object to be measured and improving the comprehensiveness of detection.

[0009] Preferably, the image capturing device comprises a photometric stereo camera;

[0010] The controller is used to control the photometric stereo camera to capture the subarea images of the object under the illumination of each subarea light source one by one, and the controller is also used to synthesize the subarea images to obtain a first stereo image, wherein the first stereo image can be a 2.5D image or a pseudo 3D image;

[0011] The controller is further configured to output and display the first stereoscopic image in the form of a point cloud.

[0012] By adopting the above technical solution, a photometric stereo camera is used to photograph the object under the illumination of each partition light source to obtain a partition image of each partition, and then all the partition images are synthesized by a controller to obtain a first stereo image, which is then output in the form of a point cloud.

[0013] Preferably, the image capturing device comprises a multi-eye camera, wherein the multi-eye camera comprises a top camera disposed on the top of the storage table, and a plurality of side cameras arranged circumferentially above the storage table;

[0014] The controller is also used to control the top camera and each side camera to respectively photograph the object to be measured to obtain partial images, and obtain the partial images, and synthesize all the partial images to obtain a second stereoscopic image;

[0015] The controller is further configured to output and display the second stereoscopic image in the form of a point cloud.

[0016] By adopting the above technical solution, a multi-eye camera is used to shoot the object to be measured from multiple directions to obtain the positional images corresponding to each direction, and then all the positional images are synthesized to form a second stereoscopic image. Finally, the second stereoscopic image is output and displayed in the form of a point cloud through the controller.

[0017] Preferably, a through hole is provided on the surface of the placement table, and an adsorption component is provided below the placement table near the through hole. The object to be measured is placed on the upper surface of the placement table near the through hole, and the adsorption port of the adsorption component is connected to the through hole. The adsorption component is used to control the formation of negative pressure or release of negative pressure at the through hole. The adsorption component is controlled by a controller so as to control the opening and closing of the adsorption component through the controller.

[0018] By adopting the above-mentioned technical scheme, the setting of the through hole of the storage table and the adsorbent can make it possible for when the object to be measured is placed on the storage table, the controller controls the adsorbent to make the through hole of the storage table adsorbed to form a negative pressure, so as to achieve the adsorption of the object to be measured by the adsorbent, and the object to be measured is fixed on the storage table by adsorption, thereby reducing the situation where the position displacement of the object to be measured during the detection process affects the image synthesis processing effect.

[0019] Preferably, the adsorption port of the adsorption member is connected to an air inlet pipe, the air inlet pipe is inserted into the through hole, and the storage table is also provided with a sealing component for opening and closing the through hole.

[0020] By adopting the above technical solution, when no detection is required, the through hole is closed by using the sealing component to prevent debris in the external environment from clogging the through hole or the air inlet pipe, thereby affecting the adsorption and fixation effect of the object to be tested.

[0021] Preferably, the sealing assembly includes a guide rod, a support member and a blocking block, a sliding hole for inserting the guide rod being provided through the surface of the storage table, the support member being provided on the guide rod to drive the storage table to slide along the axial direction of the guide rod; a cavity is provided inside the storage table, the cavity is connected to the sliding hole and the through hole, the blocking block is located in the cavity, one end of the blocking block close to the guide rod is sleeved on the guide rod, and a guide surface is provided on the side wall where the blocking block and the guide rod are sleeved with each other, the guide surface being used to drive the blocking block to slide in a direction away from the through hole or slide in a direction close to the through hole and be inserted into the through hole when the storage table slides relative to the guide rod.

[0022] By adopting the above technical solution, the support member drives the storage table to slide relative to the guide rod, such as driving the storage table to slide downward relative to the guide rod. At this time, the guide surface will cause the blocking block to move in a direction away from the through hole, thereby opening the through hole. On the contrary, when the storage table slides upward relative to the guide rod, the setting of the guide surface causes the blocking block to move in a direction close to the through hole and insert into the through hole, thereby closing the through hole.

[0023] Preferably, the support member includes a support spring, which is connected between the guide rod and the storage table, and the expansion and contraction direction of the support spring is parallel to the axial direction of the guide rod; a return spring is commonly connected between the blocking block and the inner wall of the cavity, and the expansion and contraction direction of the return spring is parallel to the sliding direction of the blocking block along the cavity; and when the support spring and the return spring are not deformed, one end of the blocking block away from the guide rod is inserted into the through hole, and the air intake pipe is located directly below the through hole.

[0024] By adopting the above technical scheme, when the object to be measured is placed on the placement table, the placement table will move downward due to the gravity of the object to be measured. At this time, the support spring is compressed (this scheme assumes that the gravity of all objects to be measured can cause the placement table to move downward, that is, the support spring is compressed), and the guide rod slides relative to the sliding hole, so that the blocking block slides in the direction away from the through hole under the action of the guide surface, opening the through hole. At the same time, the air intake pipe is inserted into the through hole while the placement table moves downward, thereby realizing the connection between the air intake pipe and the through hole; and when the detection is completed and the object to be measured is removed from the surface of the placement table, the support spring will drive the placement table to move up and reset. At this time, the air intake pipe will be separated from the through hole. At the same time, the reset spring will also drive the blocking block to be reinserted into the through hole, thereby realizing the closure of the through hole.

[0025] Preferably, the sealing assembly also includes an airbag, an air release pipe and an air release valve. The airbag is arranged above the storage table. The airbag is connected to the air outlet of the adsorbent through a pipe. The air release pipe is connected to the airbag. The air release valve is arranged on the air release pipe to control whether the air release pipe is connected to the airbag.

[0026] By adopting the above-mentioned technical scheme, the present scheme transmits the gas extracted by the adsorption component to the airbag, so that the airbag can press against the storage table below it after being inflated, thereby moving the storage table downward. This scheme is not only applicable to the measured object whose weight is greater than the weight of the storage table, but also solves the lifting and lowering drive of the storage table when the weight of the measured object is not greater than the weight of the storage table, thereby expanding the applicability of the present application scheme. After the detection is completed, the gas in the airbag can be released through the pressure relief valve, so that after the airbag releases the pressure on the storage table, the storage table is moved up and reset under the drive of the support spring, and then the blocking block is reinserted into the through hole and reset.

[0027] Preferably, the air outlet of the adsorbent is connected to a first air outlet pipe and a second air outlet pipe, and a switching valve, wherein the switching valve allows the air outlet of the adsorbent to be and only be connected to the first air outlet pipe or the second air outlet pipe at the same time, the first air outlet pipe is connected to the airbag, the switching valve is electrically connected to the controller, and the controller is also electrically connected to a detection module, wherein the detection module is used to determine whether the weight of the object to be measured is greater than the storage platform, and the controller is used to control the opening and closing of the switching valve and the adsorbent based on the detection result of the detection module.

[0028] By adopting the above technical solution, during actual testing, the tester only needs to place the object to be tested on the storage table. At this time, the detection module will automatically detect whether the weight of the object to be tested is greater than the weight of the storage table. The controller will choose whether to use the airbag inflation to press the storage table and open the through hole according to the detection result, that is, it realizes automatic selection of the opening and closing method of the through hole and automatic control of the opening and closing of the through hole.

[0029] Preferably, the end of the deflation tube away from the airbag faces the surface of the storage platform.

[0030] By adopting the above technical solution, when the detection is completed, the gas in the airbag can be released through the pressure relief valve, so that after the airbag releases the pressure on the placement table, the placement table is moved up and reset under the drive of the support spring, and then the blocking block is reinserted into the through hole and reset. In this process, the present application stipulates that the mouth of the air relief pipe is facing the surface of the placement table. Therefore, the gas in the airbag can be used to purge the surface of the placement table, thereby reducing the accumulation of dust and other debris on the surface of the placement table, thereby reducing the situation where the object to be measured cannot be stably fitted with the upper surface of the placement table due to the accumulation of debris on the surface of the placement table, thereby affecting the stability of the positioning of the adsorbent on the object to be measured.

[0031] In summary, the present application includes at least one of the following beneficial technical effects:

[0032] Compared with the existing method of using a single light source at a single position to illuminate and detect the object to be tested, the present application sets up multiple partitioned light sources, and respectively illuminates the object to be tested in partitions, and simultaneously captures the partitioned images under the partitioned illumination, and then synthesizes all the partitioned images to obtain a stereoscopic image, and uses the stereoscopic image to characterize the surface three-dimensional morphology of the object to be tested, thereby reducing the possibility of missing defects on the surface of the object to be tested and improving the comprehensiveness of the detection;

[0033] The present application uses a photometric stereo camera to photograph the object under the illumination of each partition light source to obtain a partition image of each partition, and then synthesizes all the partition images through a controller to obtain a 2.5D image or a pseudo 3D image, which is then output in the form of a point cloud; a multi-eye camera is used to photograph the object under test from multiple directions to obtain a positional image corresponding to each direction, and then all the positional images are synthesized to form a 2.5D image, which is then output in the form of a point cloud. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural diagram of the object surface visual detection system based on multi-eye stereo and photometric stereo disclosed in Example 1 of the present application.

[0035] Figure 2It is a structural block diagram of the object surface visual detection system based on multi-eye stereo and photometric stereo disclosed in Example 1 of the present application.

[0036] Figure 3 It is a structural diagram of the object surface visual detection system based on multi-eye stereo and photometric stereo disclosed in Example 2 of the present application.

[0037] Figure 4 yes Figure 3 Sectional view along AA direction.

[0038] Figure 5 It is a cross-sectional view used to illustrate the connection relationship between the blocking block and the cavity in Example 2 of the present application.

[0039] Explanation of the reference numerals: 1. frame; 11. movable frame; 12. storage table; 121. through hole; 122. sliding hole; 123. cavity; 124. reset spring; 2. image acquisition device; 21. photometric stereo camera; 22. multi-eye camera; 3. partition light source; 4. controller; 41. detection module; 411. first ranging sensor; 412. second ranging sensor; 5. sealing assembly; 51. guide rod; 52. support member; 521. support spring; 53. sealing block; 531. docking hole; 532. guide surface; 54. airbag; 55. deflation pipe; 56. deflation valve; 6. adsorption member; 61. air inlet pipe; 62. first air outlet pipe; 63. second air outlet pipe; 64. switching valve. Implementation

[0040] The following is combined with Figure 1-5 This application is described in further detail. Example

[0041] Embodiment 1 of the present application discloses a surface visual inspection system for objects based on multi-eye stereo and photometric stereo. Figure 1 and Figure 2 The object surface visual inspection system based on multi-eye stereo and photometric stereo includes a storage table 12, an image capture device 2, a partitioned light source 3 and a controller 4. The storage table 12 is used to place the object to be tested, and the object to be tested can be: plastic, textile, metal, 3C, ceramic, lithium battery, rubber, wood, medical supplies, etc. A frame 1 is provided on the periphery of the storage table 12, and the partitioned light source 3 is installed on the frame 1. The partitioned light source 3 can be an eight-channel or four-channel annular light source, or an eight-channel or four-channel spherical integral light source. Each channel of the corresponding partitioned light source 3 is provided with a luminous body (this is the prior art and will not be repeated here). A movable frame 11 is fixedly installed on the frame 1, and a lifting device (such as a cylinder or a motor screw) can be provided on the frame 1 to realize the lifting of the movable frame 11. The image capture device is installed on the movable frame 11 and is located above the partitioned light source 3.

[0042] Reference Figure 1 and Figure 2 , the controller 4 may be a PLC controller, which pre-stores a number of partitions, the number of which is consistent with the number of luminous bodies, the partition light source 3 and the image capture device are both electrically connected to the controller 4, and the controller 4 can independently control the on and off of the luminous body of the partition light source 3 in each partition (i.e., each channel), thereby realizing irradiation of the object to be measured from each partition. The controller 4 is also used to control the image capture device 2 to capture the partition images of the object to be measured under the irradiation of the luminous body of each partition one by one, and then synthesize all the partition images to obtain a stereo image, and output and display the stereo image.

[0043] Reference Figure 1 and Figure 2 , wherein the stereo image includes a first stereo image; the image capture device 2 includes a photometric stereo camera 21, which can be installed directly above the storage table 12, and the controller 4 is used to control the photometric stereo camera 21 to capture the partition images of the object under the illumination of the luminous body of each partition one by one, and the controller 4 is also used to synthesize the partition images to obtain the first stereo image. Specifically, the first stereo image can be a 2.5D image or a pseudo 3D image, which can be synthesized by the controller 4 using the neural network SDPS-Net algorithm related to the photometric stereo algorithm.

[0044] Reference Figure 1 and Figure 2 , the stereoscopic image also includes a second stereoscopic image, the image capture device 2 also includes a multi-eye camera 22, the multi-eye camera 22 includes a top camera mounted above the center of the storage table 12, and a plurality of side cameras arranged circumferentially above the storage table 12, the side cameras in the embodiment of the present application can be specifically four, and are tilted toward the center of the storage table 12; the top camera and the side camera each correspond to a shooting angle, and the controller 4 is used to control the multi-eye camera 22 to capture the positional image of the object under each shooting angle, and synthesize all the positional images to obtain the second stereoscopic image. Specifically, the second stereoscopic image can be a 2.5D image, which can be obtained by the controller 4 using the NeRF algorithm to fuse the positional images. The controller 4 is also used to output and display the above-mentioned first stereoscopic image and / or the second stereoscopic image in the form of a point cloud.

[0045] The implementation principle of an object surface visual inspection system based on multi-eye stereo and photometric stereo disclosed in Example 1 of the present application is as follows: when it is necessary to inspect the object to be inspected, the object to be inspected is placed on the storage table 12, and then the partitioned light source 3 and the photometric stereo camera 21 are started by the controller 4, and the photometric stereo camera 21 is controlled to shoot at a preset frequency, and at the same time, the partitioned light source 3 is controlled to switch the light-emitting body on and off at the preset frequency, so that the image obtained by the photometric stereo camera 21 each time is an image of the object to be inspected under the illumination of the corresponding light-emitting body, that is, the partitioned image of the partition corresponding to the light-emitting body, and the photometric stereo camera 21 and the light-emitting body are turned off when the number of shots is consistent with the number of partitions; the controller 4 is used to receive all the partitioned images and synthesize all the partitioned images to obtain a first stereo image, that is, a 2.5D image and a pseudo 3D image based on the neural network SDPS-Net algorithm related to the existing photometric stereo algorithm, and finally the controller 4 outputs the aforementioned first stereo image in the form of a point cloud.

[0046] In addition, a multi-eye camera 22 can also be used to photograph the object to be measured. Specifically, the top camera and each side camera are respectively started by the controller 4 to photograph the object to be measured from different perspectives to obtain images of corresponding perspectives (i.e., partial images). The controller 4 will receive all partial images and use the NeRF algorithm to fuse the partial images to obtain a second stereo image, and finally output the second stereo image in the form of a point cloud. Example

[0047] The difference between Example 2 of the present application and Example 1 is that: Figure 3 and Figure 4 A through hole 121 is provided on the surface of the storage platform 12. The object to be measured is placed on the upper surface of the storage platform 12 near the through hole 121. A sealing assembly 5 for opening and closing the through hole 121 is provided on the storage platform 12. The sealing assembly 5 includes a guide rod 51, a support member 52 and a blocking block 53. The support member 52 specifically includes a support spring 521. There can be multiple through holes 121, and the through holes 121, the guide rod 51 and the blocking block 53 are provided in a one-to-one correspondence. The guide rod 51 is fixedly provided on one side of the storage platform 12 in the vertical direction, and a sliding hole 122 for inserting the guide rod 51 is provided through the storage platform 12. The support spring 521 is sleeved on the guide rod 51, and the support spring 521 is connected between the guide rod 51 and the storage platform 12.

[0048] Reference Figure 4 and Figure 5, a cavity 123 is provided inside the storage platform 12 for each blocking block 53 to slide, and the cavity 123 is connected to the corresponding through hole 121 and the sliding hole 122, and the blocking block 53 is reciprocatingly slidably connected between the through hole 121 and the sliding hole 122. A return spring 124 is fixedly connected between the blocking block 53 and the inner wall of the cavity 123, and the expansion and contraction direction of the return spring 124 is parallel to the expansion and contraction direction of the blocking block 53; a docking hole 531 is provided on one side of the blocking block 53 near the corresponding guide rod 51 for the guide rod 51 to pass through, and a guide surface 532 is provided on the inner wall of the docking hole 531 and the peripheral wall of the guide rod 51, and the guide surface 532 can be a slope or an outward convex arc surface; the guide surface 532 is used to drive the blocking block 53 to slide in a direction away from the through hole 121 or slide in a direction close to the through hole 121 and be inserted into the through hole 121 when the storage platform 12 slides relative to the guide rod 51.

[0049] Reference Figure 4 and Figure 5 , and when the return spring 124 and the support spring 521 are not deformed, one end of the blocking block 53 close to the through hole 121 is inserted into the through hole 121, and when the storage platform 12 moves down, the support spring 521 is compressed, and the guide rod 51 slides relative to the storage platform 12. At this time, the guide surface 532 on the guide rod 51 will push the guide surface 532 on the blocking block 53, so that the blocking block 53 moves in a direction away from the through hole 121. At this time, the return spring 124 is deformed and the through hole 121 is opened; and when the storage platform 12 moves up under the elastic force of the support spring 521, the return spring 124 will drive the blocking block 53 to slide and reset and insert it into the corresponding through hole 121.

[0050] Reference Figure 2 , Figure 4 and Figure 5 , an adsorbent 6 is provided below the storage platform 12 near the through hole 121, and the adsorbent 6 is specifically an air pump. The adsorption port of the adsorbent 6 is connected with an air inlet pipe 61, and the air inlet pipe 61 is arranged one-to-one with the through hole 121, and the outer diameter of the air inlet pipe 61 is smaller than the inner diameter of the through hole 121. When the reset spring 124 and the support spring 521 are not deformed, the air inlet pipe 61 is located below the storage platform 12, and is located directly below the corresponding through hole 121, and there is a gap with the lower surface of the storage platform 12. The air outlet of the adsorbent 6 is also connected with the first air outlet pipe 62 and the second air outlet pipe 63, and the air outlet of the adsorbent 6 is also provided with a switching valve 64 for switching the air outlet of the adsorbent 6 with the first air outlet pipe 62 and the second air outlet pipe 63, that is, the switching valve 64 allows the air outlet of the adsorbent 6 to be and can only be connected with the first air outlet pipe 62 or the second air outlet pipe 63 at the same time.

[0051] Reference Figure 2 , Figure 4 and Figure 5The sealing component 5 also includes an airbag 54, an air release pipe 55, and an air release valve 56. The airbag 54 is installed on the frame 1, and the airbag 54 is located above the storage table 12. The end of the first air outlet pipe 62 away from the adsorption component 6 is connected to the airbag 54. The air release pipe 55 is connected to the airbag 54, and the mouth of the air release pipe 55 faces the upper surface of the storage table 12. The pressure relief valve is installed on the air release pipe 55 to control whether the air release pipe 55 is connected to the airbag 54; the air release valve 56, the switching valve 64 and the adsorption component 6 are all electrically connected to the controller 4, and the controller 4 is also electrically connected to the detection module 41. The detection module 41 is used to determine whether the weight of the object to be measured is greater than the storage table 12. Specifically, the detection module 41 can be a first distance measuring sensor 411 embedded in the upper surface of the storage table 12 near the through hole 121, and a second distance measuring sensor 412 installed on the frame 1.

[0052] Reference Figure 2 , Figure 4 and Figure 5 , the detection end of the second distance measuring sensor 412 faces the upper surface of the storage platform 12, and the detection end of the first distance measuring sensor 411 faces the upper surface of the storage platform 12. In this embodiment, it is assumed that when the object to be measured is placed on the storage platform 12, the object to be measured is located above the first distance measuring sensor 411. Therefore, the distance value detected by the first distance measuring sensor 411 can be used to determine whether the object to be measured is placed on the storage platform 12. If so, the controller 4 will start the second distance measuring sensor 412 and detect the distance value between the second distance measuring sensor 412 and the storage platform 12. If the distance If the value is equal to the specified distance value, it means that the placement table 12 has moved down, which further means that the weight of the object to be measured is greater than the weight of the placement table 12. At this time, the controller 4 controls the switching valve 64 to connect the air outlet of the adsorption component 6 with the second air outlet pipe 63. At this time, due to the downward movement of the placement table 12, the through hole 121 must be in an open state, and the air inlet pipe 61 has been inserted into the through hole 121. At this time, the controller 4 will start the adsorption component 6 to form a negative pressure at the through hole 121, thereby fixing the object to be measured on the placement table 12 until the detection is completed, and then close the adsorption component 6.

[0053] On the contrary, if the distance value between the second distance measuring sensor 412 and the storage platform 12 is not equal to the specified distance value, it means that the storage platform 12 has not moved down, or the storage platform 12 has not moved down enough, that is, the weight of the measured object is not greater than the weight of the storage platform 12. At this time, the controller 4 will control the switching valve 64 to connect the air outlet of the adsorption component 6 with the first air outlet pipe 62, and start the adsorption component 6 to adsorb external air through the adsorption component 6 and transport it to the airbag 54, so that the airbag 54 inflates and presses down the storage platform 12, thereby realizing the downward movement of the storage platform 12. The controller 4 can preset the distance value and the distance value. The correspondence table of the time for inflating the airbag 54 determines the time for inflating the airbag 54 by the distance value, and after reaching the specified time, controls the switching valve 64 to connect the air outlet of the adsorption component 6 with the second air outlet pipe 63. At this time, it is considered that the placement table 12 has been moved down to make the blocking block 53 completely separated from the through hole 121, and the air inlet pipe 61 has been inserted into the through hole 121, and is in a state where the end wall of the air inlet pipe 61 is flush with the upper surface of the placement table 12; at this time, the air inlet pipe 61 is in contact with the lower surface of the object to be measured, and the adsorption component 6 continues to work to achieve negative pressure adsorption positioning of the object to be measured.

[0054] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A surface visual inspection system based on multi-eye stereo and photometric stereo, comprising a platform (12) for placing an object to be inspected, and an image capturing device (2) for capturing an image of the surface of the object to be inspected, characterized in that: The device also comprises a partitioned light source (3) and a controller (4), wherein the partitioned light source (3) and the image capturing device (2) are respectively electrically connected to the controller (4), wherein the controller (4) pre-stores a plurality of partitions, wherein the partitions are arranged in a one-to-one correspondence with the partitioned light sources (3), wherein the partitioned light sources (3) are used to illuminate the corresponding partitions, wherein the controller (4) is used to control each partitioned light source (3) to illuminate the object to be measured, and wherein the controller (4) is also used to control the image capturing device (2) to capture one by one the partitioned images of the object to be measured illuminated by each partitioned light source (3); wherein the controller (4) is also used to obtain the partitioned images corresponding to all the partitions, and to synthesize and process all the partitioned images to obtain a stereoscopic image, and then output and display the stereoscopic image; A through hole (121) is provided on the surface of the storage platform (12); an adsorption member (6) is further provided below the storage platform (12) near the through hole (121); the object to be measured is placed on the upper surface of the storage platform (12) near the through hole (121); the adsorption port of the adsorption member (6) is connected to the through hole (121); the adsorption member (6) is used to control the formation of negative pressure at the through hole (121) or release negative pressure; The adsorption port of the adsorption member (6) is connected to an air inlet pipe (61), the air inlet pipe (61) is inserted into the through hole (121), and a sealing component (5) for opening and closing the through hole (121) is also provided on the storage platform (12); The sealing assembly (5) comprises a guide rod (51), a support member (52) and a blocking block (53); a sliding hole (122) for inserting the guide rod (51) is provided through the surface of the storage platform (12); the support member (52) is arranged on the guide rod (51) to drive the storage platform (12) to slide along the axis direction of the guide rod (51); a cavity (123) is provided inside the storage platform (12); the cavity (123) is connected to the sliding hole (122) and the through hole (121); the blocking block (53) is provided to the storage platform (12) and the sealing ... The block (53) is located in the cavity (123); one end of the blocking block (53) near the guide rod (51) is sleeved on the guide rod (51); and a guide surface (532) is provided on the side wall where the blocking block (53) and the guide rod (51) are sleeved together. The guide surface (532) is used to drive the blocking block (53) to slide in a direction away from the through hole (121) or slide in a direction close to the through hole (121) and be inserted into the through hole (121) when the storage platform (12) slides relative to the guide rod (51); The support member (52) includes a support spring (521), the support spring (521) is connected between the guide rod (51) and the storage platform (12), and the expansion and contraction direction of the support spring (521) is parallel to the axial direction of the guide rod (51); a return spring (124) is commonly connected between the blocking block (53) and the inner wall of the cavity (123), and the expansion and contraction direction of the return spring (124) is parallel to the sliding direction of the blocking block (53) along the cavity (123); and when the support spring (521) and the return spring (124) are not deformed, one end of the blocking block (53) away from the guide rod (51) is inserted into the through hole (121), and the air intake pipe (61) is located directly below the through hole (121).

2. The object surface visual inspection system based on multi-eye stereo and photometric stereo according to claim 1 is characterized by: The image capturing device (2) comprises a photometric stereo camera (21); The controller (4) is used to control the photometric stereo camera (21) to capture the subarea images of the object to be measured under the illumination of each subarea light source (3) one by one, and the controller (4) is also used to synthesize the subarea images to obtain a first stereo image, wherein the first stereo image can be a 2.5D image or a pseudo 3D image; The controller (4) is also used to output and display the first stereoscopic image in the form of a point cloud.

3. The object surface visual inspection system based on multi-eye stereo and photometric stereo according to claim 1 is characterized in that: The image capture device (2) comprises a multi-eye camera (22), wherein the multi-eye camera (22) comprises a top camera arranged on the top of the storage platform (12), and a plurality of side cameras arranged circumferentially above the storage platform (12); The controller (4) is also used to control the top camera and each side camera to respectively photograph the object to be measured to obtain partial images, and acquire the partial images, and synthesize all the partial images to obtain a second stereoscopic image; The controller (4) is also used to output and display the second stereoscopic image in the form of a point cloud.

4. The object surface visual inspection system based on multi-eye stereo and photometric stereo according to claim 1 is characterized in that: The adsorption component (6) is controlled by the controller (4) so ​​as to be used for controlling the opening and closing of the adsorption component (6) through the controller (4).

5. The object surface visual inspection system based on multi-eye stereo and photometric stereo according to claim 1 is characterized by: The sealing assembly (5) further comprises an air bag (54), an air release pipe (55) and an air release valve (56); the air bag (54) is arranged above the storage table (12); the air bag (54) is connected to the air outlet of the adsorbent (6) through a pipeline; the air release pipe (55) is connected to the air bag (54); the air release valve (56) is arranged on the air release pipe (55) to control whether the air release pipe (55) is connected to the air bag (54).

6. The object surface visual inspection system based on multi-eye stereo and photometric stereo according to claim 5 is characterized by: The air outlet of the adsorbent (6) is connected to a first air outlet pipe (62) and a second air outlet pipe (63), and is used for switching valve (64). The switching valve (64) allows the air outlet of the adsorbent (6) to be and can only be connected to the first air outlet pipe (62) or the second air outlet pipe (63) at the same time. The first air outlet pipe (62) is connected to the air bag (54). The switching valve (64) is electrically connected to the controller (4). The controller (4) is also electrically connected to a detection module (41). The detection module (41) is used to determine whether the weight of the object to be measured is greater than the storage platform (12). The controller (4) is used to control the opening and closing of the switching valve (64) and the adsorbent (6) based on the detection result of the detection module (41).

7. The object surface visual inspection system based on multi-eye stereo and photometric stereo according to claim 5 is characterized by: The end of the deflation pipe (55) away from the air bag (54) faces the surface of the storage platform (12).

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