Vision inspection system, inspection method and related devices

Abstract

The embodiment of the application discloses a kind of visual detection system, detection method and related device, visual detection system includes stage assembly, robot assembly and visual component, stage assembly includes driving part and stage body.The visual detection system provided by the application, stage assembly also has the ability of movement, stage assembly can be driven by driving piece and move and rotate along the first direction, at least for driving visual component to move in second direction and third direction by robot assembly, on the one hand, stage assembly and robot assembly can coordinate motion, can improve detection efficiency, can be carried on multiple stage bodies on stage assembly, that is, multiple pieces to be detected can be detected simultaneously;On the other hand, robot assembly can not move in the first direction, stage body moves in the first direction, reduces the probability that error is generated by the combination of stage body motion trajectory and robot assembly motion trajectory, to make visual detection more accurate.

Description

Visual inspection systems, inspection methods and related devices Technical Field

[0001] This application relates to the field of visual inspection technology, and in particular to a visual inspection system, inspection method and related apparatus. Background Technology

[0002] With social progress, robot inspection is widely used in visual inspection scenarios. Utilizing the four- or six-axis degrees of freedom of robots, multi-angle inspection of the object under test can be easily achieved. It is especially good at inspecting irregularly shaped parts, and the inspection efficiency and compatibility are greatly improved.

[0003] Existing inspection methods typically use a robot end effector carrying a set of area scan camera vision components. Each inspection item is inspected individually, with the item stationary while the robot and vision components inspect various points on the stationary item. After inspecting one item, the process repeats for the next. Alternatively, the robot end effector grasps the item and inspects it using the vision components, repeating this process for the next item after the previous one is inspected.

[0004] Existing technical solutions for robot vision inspection can only inspect a single object at a time. If multiple objects are inspected simultaneously, the consistency of the image at each inspection point cannot be guaranteed, thus failing to improve inspection efficiency. Furthermore, because the linearity tolerance of point-to-point robot motion is greater than 0.1mm, when the robot is equipped with a line scan camera vision inspection component, the image will produce jagged edges across multiple pixels, making line scan vision inspection impossible. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] Therefore, a first aspect of the present invention provides a visual inspection system.

[0007] A second aspect of the present invention provides a detection method.

[0008] A third aspect of the present invention provides a computer-readable storage medium.

[0009] A fourth aspect of the present invention provides a control device.

[0010] In view of the above, a visual inspection system is provided according to a first aspect of the embodiments of this application, comprising:

[0011] A stage assembly, the stage assembly including a driving component and a stage body, the driving component being used to drive the stage body to move and rotate along a first direction;

[0012] A robot component and a vision component, the vision component being connected to the robot component, the robot component being used at least to drive the vision component to move upward in a second direction and a third direction.

[0013] In one possible implementation, the first direction, the second direction, and the third direction are perpendicular to each other.

[0014] In one possible implementation, each of the stage components includes at least two of the stage bodies.

[0015] In one feasible implementation, the vision components are in multiple sets, with each platform body corresponding to one set of vision components;

[0016] The driving component is used to drive each of the platform bodies to rotate independently.

[0017] In one possible implementation, each of the vision components includes an area scan camera and / or a line scan camera.

[0018] In one feasible implementation, the stage assembly further includes:

[0019] A workbench, wherein the drive component is mounted on the workbench;

[0020] A coordinate calibration block, comprising multiple calibration surfaces, wherein the multiple calibration surfaces have different inclination angles relative to the surface of the work platform, and the coordinate calibration block is used to be mounted on the work platform.

[0021] In one possible implementation, the inclination angles of the plurality of calibration surfaces relative to the surface of the work platform include one or more of the following: 0°, 30°, 45°, 60°, and 90°.

[0022] In one feasible implementation, the bottom of the coordinate calibration block is formed with a mounting ear, and the coordinate calibration block is connected to the worktable through the mounting ear.

[0023] In one feasible implementation, the stage assembly includes two sets of stage bodies, which are respectively arranged on both sides of the coordinate calibration block.

[0024] In one possible implementation, multiple calibration surfaces are arranged on the side of the coordinate calibration block opposite to the robot assembly.

[0025] In one feasible implementation, the robot component includes a six-axis robot.

[0026] According to a second aspect of the embodiments of this application, a detection method is provided, applied to a visual inspection system as described in any of the above technical solutions, the detection method comprising:

[0027] Place the part to be tested on the stage body;

[0028] The platform body drives the workpiece to be inspected to move and rotate along the first direction, and the robot component drives the vision component to move upward in the second and third directions to collect image information of the workpiece to be inspected.

[0029] The object to be detected is detected based on the image information.

[0030] In one feasible implementation, the detection method further includes: performing consistency debugging, wherein the steps of performing consistency debugging include:

[0031] Adjust the robot components so that the acquisition direction of the vision components is parallel to the working surface of the platform components, and at the same time, the pixel difference between the platform bodies acquired by multiple vision components is less than or equal to the first threshold, and perform optical debugging.

[0032] Based on the results of the optical calibration, the zero position of the robot component is determined.

[0033] In one feasible implementation, the value of the first threshold is less than or equal to 8.

[0034] In one feasible implementation, the step of moving and rotating the object to be inspected along a first direction via the platform body, and moving the vision component upward in a second and third direction via the robot component to acquire image information of the object to be inspected includes:

[0035] Based on the detection angle requirements of the test component, the test calibration surface is determined among multiple calibration surfaces on the coordinate calibration block;

[0036] Based on the test calibration surface, a test coordinate system for controlling the movement of the platform assembly and the robot assembly is determined;

[0037] The third direction is perpendicular to the plane containing the test calibration surface.

[0038] In one feasible implementation, when the vision component includes an area scan camera, the step of moving and rotating the object to be inspected along a first direction via the stage body, and moving the vision component upward in a second direction and a third direction via the robot component to acquire image information of the object to be inspected further includes:

[0039] In the test coordinate system, the driving component moves the stage body, exposing the stage body to the field of view of the area array camera;

[0040] The robot component drives the vision component to move upward in a second direction and a third direction, so as to acquire image information of the object to be inspected through the area array camera.

[0041] In one feasible implementation, when the vision component includes a line scan camera and the surface to be inspected of the object to be inspected is planar, the step of moving and rotating the object to be inspected along a first direction by the stage body and moving the vision component upward in a second and third direction by the robot component to acquire image information of the object to be inspected further includes:

[0042] In the test coordinate system, the driving component drives the stage body to rotate so that the image acquisition direction of the line scan camera is perpendicular to the surface to be tested;

[0043] The driving component drives the stage body to move along the first direction, and the line scan camera acquires image information of the object to be tested.

[0044] In one feasible implementation, when the vision component includes a line scan camera, and the surface to be inspected of the object to be inspected is a cylindrical or conical surface, the step of moving and rotating the object to be inspected along a first direction via the stage body, and moving the vision component upward in a second and third direction via the robot component to acquire image information of the object to be inspected further includes:

[0045] In the test coordinate system, the positioning mechanism on the stage body is adjusted so that the center of the test piece is concentric with the rotation center of the drive component;

[0046] The robot component drives the vision component to move upward in a second direction and a third direction, so that the vision component reaches the test angle;

[0047] The platform body is rotated by a drive component, and the image information of the object to be tested is acquired by the line scan camera.

[0048] In one feasible implementation, the test angle includes an angle perpendicular to the surface to be tested or an angle tilted at 30° relative to the surface to be tested.

[0049] A computer-readable storage medium is provided according to a third aspect of the embodiments of this application.

[0050] The computer-readable storage medium stores a computer program that implements the detection method as described in any of the above technical solutions.

[0051] A control device is provided according to a fourth aspect of the embodiments of this application, comprising:

[0052] Memory, which stores computer programs;

[0053] The processor executes the computer program;

[0054] When the processor executes the computer program, it implements the detection method as described in any of the above technical solutions.

[0055] Compared with the prior art, the present invention has at least the following beneficial effects:

[0056] The visual inspection system provided in this application includes a stage assembly, a robot assembly, and a vision assembly. The stage assembly includes a drive component and a stage body. When visual inspection of a workpiece is required, the vision inspection assembly can be fixed on the stage body. When the vision assembly acquires image information of the workpiece, the drive component can move and rotate the stage body along a first direction. The robot assembly is used to drive the vision assembly to move upward in at least two directions, such that the workpiece and the vision assembly have three degrees of freedom of movement and rotation. Based on this, image information of the workpiece can be acquired through the vision assembly, thereby completing the visual inspection. The vision inspection system provided in this application embodiment also has a stage component that is capable of movement. The stage component can be driven by a drive component to move and rotate the stage body along a first direction. The robot component is used to drive the vision component to move upward in a second direction and a third direction. On the one hand, the stage component and the robot component can move in coordination, which can improve the detection efficiency. Multiple stage bodies can be mounted on the stage component, which means that multiple objects to be inspected can be inspected simultaneously. On the other hand, the robot component can not move in the first direction, while the stage body moves in the first direction, which reduces the probability of errors caused by the combination of the stage body's motion trajectory and the robot component's motion trajectory, and makes the vision inspection more accurate. Attached Figure Description

[0057] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0058] Figure 1 is a schematic structural diagram of a visual inspection system according to an embodiment of this application;

[0059] Figure 2 is a schematic structural diagram of the stage assembly of a vision inspection system according to an embodiment of this application;

[0060] Figure 3 is a partially enlarged schematic structural diagram of the stage assembly of a vision inspection system according to an embodiment of this application at the coordinate calibration block;

[0061] Figure 4 is a schematic flowchart of the detection method according to an embodiment of this application;

[0062] Figure 5 is a structural block diagram of a computer-readable storage medium according to an embodiment of this application;

[0063] Figure 6 is a structural block diagram of a control device according to an embodiment of this application.

[0064] The correspondence between the reference numerals and component names in Figures 1 to 3 is as follows:

[0065] 110 platform components, 120 robot components, 130 vision components.

[0066] 111 Worktable, 112 Coordinate calibration block, 113 Platform body, 114 Drive component, 1121 Calibration surface, 121 Robot J2 axis, 122 Robot J3 axis, 123 Robot J5 axis. Detailed Implementation

[0067] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0068] As shown in Figures 1 to 3, a visual inspection system is proposed according to a first aspect of the present application, comprising: a stage assembly 110, the stage assembly 110 including a driving component 114 and a stage body 113, the driving component 114 being used to drive the stage body 113 to move and rotate along a first direction; a robot assembly 120 and a vision assembly 130, the vision assembly 130 being connected to the robot assembly 120, the robot assembly 120 being used at least to drive the vision assembly 130 to move upward in a second direction and a third direction.

[0069] The visual inspection system provided in this application includes a stage assembly 110, a robot assembly 120, and a vision assembly 130. The stage assembly 110 includes a drive component 114 and a stage body 113. When visual inspection of a workpiece is required, the vision inspection assembly can be fixed on the stage body 113. When image information of the workpiece is acquired by the vision assembly 130, the drive component can move and rotate the stage body 113 along a first direction. The robot assembly 120 is used to drive the vision assembly 130 to move upward in a second and third direction, so that the workpiece and the vision assembly 130 have three degrees of freedom of movement and rotation. Based on this, image information of the workpiece can be acquired by the vision assembly 130, thereby completing the visual inspection. The vision inspection system provided in this application embodiment also has a stage assembly 110 with the ability to move. The stage assembly 110 can drive the stage body 113 to move and rotate along the first direction through the driving component. The robot assembly 120 is used to drive the vision assembly 130 to move upward in the second direction and the third direction. On the one hand, the stage assembly 110 and the robot assembly 120 can move in coordination, which can improve the detection efficiency. Multiple stage bodies 113 can be mounted on the stage assembly 110, which means that multiple objects to be inspected can be inspected at the same time. On the other hand, the robot assembly 120 can not move in the first direction, while the stage body 113 moves in the first direction, which reduces the probability of errors caused by the combination of the movement trajectory of the stage body 113 and the movement trajectory of the robot assembly 120, and can make the vision inspection more accurate. Furthermore, the robot assembly 120 and the driving component 114 move in coordination, with high linearity of movement, which can use a line scan camera for inspection and can make full use of the imaging advantages of the line scan camera.

[0070] In one feasible implementation, the first direction, the second direction, and the third direction are perpendicular to each other.

[0071] This technical solution further provides the positional relationship between the first direction, the second direction, and the third direction. The first direction, the second direction, and the third direction are perpendicular to each other and can form a spatial coordinate system, enabling the vision component 130 to acquire images of the object to be inspected mounted on the platform body 113. As shown in Figure 1, the first direction can be the Y-axis direction, the second direction can be the X-axis direction, and the third direction can be the Z-axis direction. Combined with the rotation drive of the platform body 113 by the drive component 114, and with the platform component 110 and the robot component 120 working together, the vision component 130 can be adjusted to any coordinate in the spatial coordinate system, facilitating the acquisition of image information.

[0072] As shown in Figures 1 to 3, in one feasible implementation, each stage assembly 110 includes at least two stage bodies 113; the vision components 130 are in multiple sets, with each stage body 113 corresponding to one set of vision components 130.

[0073] In this technical solution, each stage assembly 110 may include two or more stage bodies 113, and there may be multiple vision components 130. That is, each stage body 113 can correspond to one vision component 130, and each stage body 113 can fix one object to be inspected. Based on this, the vision inspection system provided in this application embodiment can simultaneously inspect multiple objects. Furthermore, the stage assembly 110 can drive the stage body 113 to move and rotate along a first direction via a driving component, and the robot assembly 120 is used to drive the vision components 130 to move upward in a second direction and a third direction. The robot assembly 120 does not move in the first direction, which can reduce straightness tolerance, avoid the generation of jagged edges of multiple pixels in the image, and ensure the consistency of imaging by different vision components 130.

[0074] In one possible implementation, the drive component 114 is used to drive each platform body 113 to rotate independently.

[0075] In this technical solution, when there are two or more stage bodies 113, each stage body 113 can be independently rotated by the driving component 114. This arrangement ensures the consistency of movement of different components and the consistency of imaging of different vision components 130 when the visual inspection system provided in this application is used to inspect the workpiece.

[0076] It is understood that the drive component 114 may include a linear drive and a rotary drive. The linear drive can be connected to all the platform bodies 113, that is, the linear drive can drive all the platform bodies 113 to move synchronously along the first direction. There can be multiple rotary drives, and each platform body 113 can be equipped with a rotary drive. This arrangement facilitates the individual rotary drive of each platform body 113.

[0077] In one possible implementation, each vision component 130 includes an area scan camera and / or a line scan camera.

[0078] In this technical solution, a vision component 130 is further provided. Since the stage component 110 can drive the stage body 113 to move and rotate along the first direction through the driving component, and the robot component 120 is used to drive the vision component 130 to move upward in the second and third directions, and the robot component 120 does not move in the first direction, the imaging consistency and imaging quality of the vision component 130 can be guaranteed. Therefore, the vision component 130 includes an area scan camera and / or a line scan camera, enabling the vision inspection system to have more application scenarios.

[0079] As shown in Figures 1 to 3, in one feasible embodiment, the platform assembly 110 further includes: a worktable 111, on which a drive component 114 is disposed; and a coordinate calibration block 112, which includes multiple calibration surfaces with different inclination angles relative to the surface of the work platform. The coordinate calibration block 112 is used to be disposed on the worktable 111.

[0080] In this technical solution, considering that both the stage assembly 110 and the robot assembly 120 can move, the key to accurate imaging lies in how to control the precise movement of the stage assembly 110 and the robot assembly 120. Based on this, the stage assembly 110 can include a worktable 111 and a coordinate positioning block. During the visual inspection process, the visual inspection system can determine the coordinate system through the coordinate positioning block, so that the stage assembly 110 and the robot assembly 120 can move in the same coordinate system, which can make the motion control of the stage assembly 110 and the robot assembly 120 more precise.

[0081] In this technical solution, considering that different inspection directions may be required for different parts to be inspected, such as for planar products, the image acquisition direction of the vision component 130 may need to be perpendicular to the plane where the worktable is located. However, for curved products, the vision component 130 may need to have a moving angle with the surface of the worktable. Based on this, the coordinate calibration block 112 includes multiple calibration surfaces. The tilt angle of each calibration surface relative to the worktable 111 is known. During the visual inspection process, the corresponding calibration surface can be determined based on the angle requirement of image acquisition. Furthermore, a coordinate system can be established based on the calibration surface, making the position movement control of the robot component 120 and the platform body 113 more precise.

[0082] In one possible implementation, the inclination angles of the plurality of calibration surfaces 1121 relative to the surface of the work platform include one or more of the following: 0°, 30°, 45°, 60° and 90°.

[0083] In this technical solution, a layout of multiple calibration surfaces 1121 is further provided. The tilt angles of the multiple calibration surfaces 1121 relative to the surface of the work platform include one or more of 0°, 30°, 45°, 60° and 90°. This arrangement takes into account that 0°, 30°, 45°, 60° and 90° are conventional inspection angles. The arrangement of calibration surfaces 1121 at these angles facilitates the rapid positioning of the robot component 120.

[0084] In one feasible implementation, the bottom of the coordinate calibration block 112 is provided with mounting ears, and the coordinate calibration block 112 is connected to the worktable 111 via the mounting ears. This arrangement makes the fixation of the coordinate calibration block 112 on the worktable more reliable.

[0085] In one feasible implementation, the stage assembly 110 includes two sets of stage bodies 113, which are respectively arranged on both sides of the coordinate calibration block 112. This arrangement allows the stage bodies 113 to be closer to the coordinate calibration block 112, making the linkage between the stage assembly 110 and the robot assembly 120 more stable and reliable.

[0086] In one feasible implementation, a plurality of calibration surfaces 1121 are arranged on the side of the coordinate calibration block 112 opposite to the robot assembly 120. This arrangement makes it easier for the robot assembly 120 to identify the calibration surfaces 1121.

[0087] In one feasible implementation, robot assembly 120 includes a six-axis robot. This configuration allows for more flexible movement of robot assembly 120.

[0088] As shown in Figure 4, a detection method is proposed according to a second aspect of the embodiments of this application, applied to a visual inspection system as described in any of the above technical solutions. The detection method includes:

[0089] Step 201: Place the part to be tested on the stage body;

[0090] Step 202: The platform body drives the workpiece to be inspected to move and rotate along the first direction, and the robot component drives the vision component to move upward in the second and third directions to collect image information of the workpiece to be inspected;

[0091] Step 203: Detect the object to be inspected based on image information.

[0092] The detection method provided in this application embodiment, since it is applied to the visual inspection system of any of the above technical solutions, therefore possesses all the beneficial effects of the visual inspection system of the above technical solutions.

[0093] The detection method provided in this application first places the object to be detected on the stage body, and then the stage body drives the object to be detected to move and rotate along the first direction. The robot component drives the vision component to move upward in the second and third directions to collect image information of the object to be detected. Finally, the object to be detected is detected based on the image information. On the one hand, the stage component and the robot component can move in coordination, which can improve the detection efficiency. Multiple stage bodies can be mounted on the stage component, which means that multiple objects to be detected can be detected at the same time. On the other hand, the robot component can not move in the first direction, while the stage body moves in the first direction, which reduces the probability of error caused by the combination of the movement trajectory of the stage body and the movement trajectory of the robot component, and makes the visual detection more accurate.

[0094] In one feasible implementation, the method further includes: performing consistency debugging, the steps of which include: adjusting the robot components so that the acquisition direction of the vision components is parallel to the working surface of the platform components, and the pixel difference between the platform bodies acquired by multiple vision components is less than or equal to a first threshold, and performing optical debugging; and determining the zero position of the robot components based on the results of the optical debugging.

[0095] In this technical solution, when there are multiple platform bodies, and each platform body corresponds to at least one vision component, to improve detection accuracy, optical consistency can be adjusted before placing the object to be inspected on the platform body. First, the position of the robot component is adjusted so that the acquisition direction of the vision component is parallel to the working surface of the platform component. Simultaneously, the pixel difference between the platform bodies acquired by multiple vision components is less than or equal to a first threshold. This indicates that the images acquired by all vision components have high consistency, and the optical adjustment can be considered complete. Then, the visual inspection system with the completed optical adjustment is used to perform visual inspection of the object to be inspected, which improves detection accuracy.

[0096] In some examples, to minimize the adjustment range of robot components and achieve more precise motion control of both the robot and platform components, optical adjustment can include coarse and fine optical adjustments, specifically:

[0097] The optical coarse adjustment steps may include: adjusting the light source components of the robot assembly, vision assembly, and vision inspection system; using a level to measure and ensure the lens surface of the vision assembly is parallel to the surface of the workpiece to be inspected, at which point the imaging of multiple stage bodies is consistent (the difference in imaging pixels between different stage bodies is less than a first threshold); designating the first direction as the Y-axis, the second direction as the X-axis, and the third direction as the Z-axis; further calibrating the robot assembly's current position as the absolute zero point; after calibration, forcing the RX to 0 and the RZ to 18° in its base coordinate system; and switching to the joint coordinate system.

[0098] The steps of optical fine-tuning are: fine-tuning the vision components to ensure consistent imaging across multiple workstations.

[0099] Based on this, the optical adjustment method provided in this application embodiment allows for coarse optical adjustment at the absolute zero point of the robot component at the factory, and fine optical adjustment at the absolute zero point of the new robot component. Since the coordinates of the two absolute zero points are not significantly different, the adjustment range of the robot component can be reduced, and the assembly requirements of the robot component can be lowered.

[0100] In one feasible implementation, the first threshold value is less than or equal to 8. When the pixel difference between the platform body acquired by multiple vision components is less than or equal to 8, the image information acquired by the multiple vision acquisition components can be considered to have consistency, thereby stopping the consistency adjustment and ensuring detection accuracy.

[0101] In one feasible implementation, the steps of moving and rotating the workpiece to be inspected along a first direction by driving the stage body, and moving the vision component upward in a second direction and a third direction by driving the robot component to acquire image information of the workpiece to be inspected include: determining a test calibration surface among multiple calibration surfaces on a coordinate calibration block based on the detection angle requirements of the workpiece; determining a test coordinate system for controlling the movement of the stage component and the robot component based on the test calibration surface; wherein the third direction is perpendicular to the plane where the test calibration surface is located.

[0102] This technical solution further provides a step for acquiring image information. During the acquisition of image information, the detection path of the part to be inspected can be taught first. During the teaching process, based on the detection angle requirements of the part to be inspected, the test calibration surface is determined from multiple calibration surfaces on the calibration block. Then, a coordinate system is constructed based on the test calibration surface. Finally, the path is taught based on the coordinate system, which can control the movement of the robot components as accurately as possible and improve the image acquisition accuracy.

[0103] In some examples, the specific steps of path teaching may include:

[0104] Step 1: The coordinates of the robot component in the test coordinate system include: the robot's X, Y, Z, Rx, Ry, and Rz coordinates and the external rotation coordinates of the platform component. When running the robot component coordinates, the six axes of the robot component and the rotation axis of the drive component can run simultaneously. After all axes are in position, a position signal is fed back.

[0105] Step 2: Coordinate fixture for the part to be inspected: Based on optical requirements, design a coordinate calibration block in advance. The coordinate calibration block has multiple calibration surfaces at 0°, 30°, 45°, 60°, and 90° angles to the stage surface. The calibration surfaces have a two-dimensional origin, XY coordinates, and direction. After optical debugging is completed, the coordinates of the part to be inspected at each angle are calibrated and saved to the robot component.

[0106] Step 3: Area Scan Camera Teaching: When the vision component includes an area scan camera, the teaching point is moved into the field of view of the area scan camera using the drive component. Based on the optical scheme, the coordinates of the corresponding calibration plane are switched. At this point, the robot component moves in the test coordinate system, making the teaching point relatively easy to locate. After teaching is complete, the teaching point is saved. The coordinates of both the robot component and the drive component are simultaneously saved to the teaching point.

[0107] Step 4: Line scan camera teaching: When the vision component includes a line scan camera, determine the start and end points for image acquisition, and then use linear motion commands to control the drive components to complete the image capture process.

[0108] This setup allows for precise control of the robot's component movement and improves image acquisition accuracy.

[0109] It is understandable that after the path teaching is completed, the teaching points can be stored in the coordinate memory of the vision inspection system.

[0110] In one feasible implementation, when the vision component includes an area scan camera, the step of moving and rotating the test piece along a first direction by driving the stage body, and moving the vision component upward in a second direction and a third direction by driving the robot component to acquire image information of the test piece further includes: in the test coordinate system, moving the stage body by a driving component so that the stage body is exposed to the field of view of the area scan camera; and moving the vision component upward in a second direction and a third direction by driving the robot component to acquire image information of the test piece by the area scan camera.

[0111] In this technical solution, when the vision component includes an area scan camera, after path teaching is completed, it is only necessary to place the object to be inspected on the stage body, and then drive the stage body to move based on the distance of the path teaching, so that the stage body is exposed to the field of view of the area scan camera; by driving the vision component to move upward in the second direction and the third direction through the robot component, the visual inspection of the object to be inspected can be completed.

[0112] In one feasible implementation, when the vision component includes a line scan camera and the surface to be inspected of the object to be inspected is a plane, the step of moving and rotating the object to be inspected along a first direction by driving the stage body, and moving the vision component upward in a second direction and a third direction by driving the robot component to acquire image information of the object to be inspected further includes: in the test coordinate system, rotating the stage body by driving the drive component so that the image acquisition direction of the line scan camera is perpendicular to the surface to be inspected; moving the stage body along the first direction by driving the drive component, and acquiring image information of the object to be inspected by the line scan camera.

[0113] In this technical solution, when the vision component includes a line scan camera and the surface to be inspected of the workpiece is planar, the stage body can be rotated first by a drive component so that the image acquisition direction of the line scan camera is perpendicular to the surface to be inspected. Then, the stage body is moved along the first direction by the drive component, and the image information of the workpiece to be inspected is acquired by the line scan camera. That is to say, during the image acquisition process, only the drive component moves, and the robot component does not move. Based on this, the quality of the line scan camera can be improved, enabling the line scan camera to be applied to dynamic, multi-station visual inspection. It can make full use of the imaging advantages of the line scan camera, eliminate the jagged edges of multiple pixels in the image, and improve the quality of visual inspection.

[0114] In one feasible implementation, when the vision component includes a line scan camera, and the surface to be inspected of the test piece is a cylindrical or conical surface, the step of moving and rotating the test piece along a first direction via the stage body, and moving the vision component upward in a second and third direction via the robot component to acquire image information of the test piece further includes: adjusting the positioning mechanism on the stage body in the test coordinate system so that the center of the test piece is concentric with the rotation center of the driving component; moving the vision component upward in the second and third directions via the robot component so that the vision component reaches the test angle; rotating the stage body via the driving component, and acquiring image information of the test piece via the line scan camera.

[0115] In this technical solution, when the vision component includes a line scan camera, if the surface to be inspected of the workpiece is a cylindrical or conical surface, the positioning mechanism on the stage body can be adjusted first to make the center of the workpiece concentric with the rotation center of the driving component. Then, the robot component drives the vision component to move upward in a second and third direction so that the vision component reaches the test angle. Finally, the driving component drives the stage body to rotate, and the line scan camera acquires the image information of the workpiece. That is to say, during the image acquisition process, only the driving component moves, and the robot component does not move. Based on this, the quality of the line scan camera can be improved, enabling the line scan camera to be applied to dynamic, multi-station visual inspection. It can fully utilize the imaging advantages of the line scan camera, eliminate the jagged edges of multiple pixels in the image, and improve the quality of visual inspection.

[0116] In one feasible implementation, the test angle includes an angle perpendicular to the surface to be tested or an angle tilted at 30° relative to the surface to be tested. This setting can further improve testing efficiency and accuracy.

[0117] As shown in Figure 5, a computer-readable storage medium 301 is provided according to a third aspect of the embodiments of this application. The computer-readable storage medium 301 stores a computer program 302 to implement the detection method as described in any of the above technical solutions.

[0118] The computer-readable storage medium 301 provided in this application embodiment implements the detection method of any of the above technical solutions, and therefore possesses all the beneficial effects of the detection method of the above technical solutions.

[0119] The computer-readable storage medium 301 provided in this application embodiment first places the object to be inspected on the stage body, and then the stage body drives the object to be inspected to move and rotate along the first direction. The robot component drives the vision component to move upward in the second and third directions to collect image information of the object to be inspected. Finally, the object to be inspected is inspected based on the image information. On the one hand, the stage component and the robot component can move in coordination, which can improve the inspection efficiency. Multiple stage bodies can be mounted on the stage component, which means that multiple objects to be inspected can be inspected at the same time. On the other hand, the robot component can not move in the first direction, while the stage body moves in the first direction, which reduces the probability of error caused by the combination of the movement trajectory of the stage body and the movement trajectory of the robot component, and makes the visual inspection more accurate.

[0120] Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, or portable hard drive), and includes several instructions to cause a computer device (such as a personal computer, server, or network device) to execute the methods described in the various implementation scenarios of this application.

[0121] As shown in Figure 6, a control device is proposed according to a fourth aspect of the embodiments of this application, comprising: a memory 401 storing a computer program; and a processor 402 executing the computer program; wherein, when the processor 402 executes the computer program, it implements the detection method as described in any of the above technical solutions.

[0122] The control device provided in this application embodiment implements the detection method of any of the above-described technical solutions, and therefore possesses all the beneficial effects of the detection method of the above-described technical solutions.

[0123] The control device provided in this application first places the workpiece to be inspected on the stage body, and then drives the workpiece to be inspected to move and rotate along the first direction through the stage body. The robot component drives the vision component to move upward in the second and third directions to collect image information of the workpiece to be inspected. Finally, the workpiece to be inspected is inspected based on the image information. On the one hand, the stage component and the robot component can move in coordination, which can improve the inspection efficiency. Multiple stage bodies can be mounted on the stage component, which means that multiple workpieces to be inspected can be inspected at the same time. On the other hand, the robot component can not move in the first direction, while the stage body moves in the first direction, which reduces the probability of error caused by the combination of the movement trajectory of the stage body and the movement trajectory of the robot component, and makes the visual inspection more accurate.

[0124] In some examples, the control device may also include a user interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, and so on. The user interface may include a display screen, input units such as a keyboard, and optional user interfaces may include USB ports, card reader ports, etc. The network interface may optionally include standard wired interfaces, wireless interfaces (such as Wi-Fi interfaces), etc.

[0125] In an exemplary embodiment, the control device may further include an input / output interface and a display device, wherein the various functional units can communicate with each other via a bus. The memory stores a computer program, and a processor is used to execute the program stored in the memory and perform the methods described in the above embodiments.

[0126] The aforementioned storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device described above, supporting the operation of information processing programs and other software and / or programs. The network communication module is used to enable communication between the various components within the storage medium, as well as communication with other hardware and software in the information processing physical device.

[0127] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platform, or it can be implemented by hardware.

[0128] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0129] Example

[0130] As shown in Figures 1 to 3, an embodiment of the application provides a visual inspection system, including: a stage assembly 110, which includes a driving component 114 and a stage body 113, wherein the driving component 114 is used to drive the stage body 113 to move and rotate along a first direction; a robot assembly 120 and a vision assembly 130, wherein the vision assembly 130 is connected to the robot assembly 120, and the robot assembly 120 is at least used to drive the vision assembly 130 to move upward in a second direction and a third direction.

[0131] The first direction is the Y-axis direction, the second direction is the X-axis direction, and the third direction can be the Z-axis direction.

[0132] The robot component 120 has at least two vision components 130 installed at its end. The drive component 114 is directly controlled by the control box of the robot component 120. The rotation axis of the drive component 114 drives at least two stage bodies 113 to move, and the workpiece to be inspected is clamped and fixed on the stage body 113.

[0133] During the inspection, the robot only moves along the J2 / J3 / J5 axes, and the vision component 130 only moves in the plane perpendicular to the Y phase, realizing the X phase, Z phase and A phase movements. Then, in conjunction with the Y phase and C phase movements of the drive component 114, the "robot component 120 + drive component 114" system realizes the operation of five degrees of freedom: X phase, Y phase, Z phase, A phase and C phase.

[0134] The robot component 120 includes a six-axis serial dual-arm support robot and a robot control box.

[0135] The vision component 130 includes a vision inspection module consisting of a line scan camera, an area scan camera, and a light source, as well as a light source control system and a camera flicker control system.

[0136] The drive component 114 includes a Y-phase linear module and a C-phase rotary axis. The base of the C-phase rotary axis is fixed on the Y-phase linear module. The C-phase rotary axis drives multiple platform bodies 113 to rotate simultaneously via couplings, etc. The platform body 113 includes a holding device or an adsorption device to ensure that the workpiece to be tested does not shift during the rotation of the C-axis. At the same time, the platform body 113 includes a positioning device to ensure that the multiple workpieces to be tested have the same posture on the platform. The drive component 114 is controlled by the control box of the robot component 120. When the robot component 120 is taught, the position of the drive component 114 is also taught and saved to the robot's motion point. When executing the motion point, the drive component 114 runs together with the robot component 120, and the drive component 114 and the robot do not need to interact separately.

[0137] This embodiment provides a detection method for multi-station area array detection and line scan detection by cooperating between a robot component 120 and a platform component 110. Before detection, the positioning device on the platform component 110 positions the workpiece to be detected; after positioning, the clamping device on the platform body 113 fixes the workpiece to be detected onto the platform body 113. During detection, the robot component 120 moves only along the robot J2 axis 121, robot J3 axis 122, and robot J5 axis 123 to achieve movement of the robot component 120 in the plane perpendicular to the Y-axis. Simultaneously, it cooperates with the drive component 114 to move in the Y-phase and C-phase to achieve multi-angle detection of the workpiece to be detected. Because the robot component 120 only moves in the plane perpendicular to the Y-phase, while the workpiece to be detected is parallel to the Y-phase, and the vision component 130 is also parallel to the Y-phase, the consistency of multi-station imaging can be ensured during the detection process, enabling simultaneous detection at multiple stations and improving detection efficiency. At the same time, the good linearity of the drive component 114 can be utilized to achieve line scan detection carried by the robot end effector.

[0138] In some examples, the detection method is executed as follows:

[0139] 1. Optical component consistency debugging: After the equipment is installed and debugged, the part to be tested is first moved onto the stage body 113. After the positioning mechanism of the stage body 113 realizes the positioning of the part to be tested, the clamping device on the stage body 113 clamps it; through the tooling, the consistency debugging of multi-station optical components is completed.

[0140] 2. Teaching the inspection path of the workpiece to be inspected: First, the workpiece to be inspected is moved onto the platform body 113. After the positioning mechanism of the platform body 113 positions the workpiece, the clamping device on the platform body 113 clamps it. The robot adjusts only the robot J2 axis 121, robot J3 axis 122 and robot J5 axis 123 in the joint coordinate system, or it can switch to the base coordinate system and adjust only the X axis, Z axis and A axis. At the same time, the Y axis and C axis of the drive component are used to teach the points one by one and save the path.

[0141] If the robot component 120 carries a linear array vision component 130 at its end, the robot component 120 is first adjusted in the joint coordinate system along the J2 / J3 / J5 axes to achieve the imaging angle between the linear array camera and the light source and the surface of the object to be inspected. Then, the starting point and ending point of the drive component along the Y-axis or rotation axis are taught, and the path is saved.

[0142] In automatic operation, the part to be tested is first moved onto the platform body 113. After the platform positioning mechanism positions the part to be tested, the clamping device on the platform body 113 clamps it; and the testing process is executed according to the teaching path.

[0143] In summary, the visual inspection system and method provided in this application have the following advantages: First, the stage assembly 110 and the robot assembly 120 can move in coordination, which can improve inspection efficiency. Multiple stage bodies 113 can be mounted on the stage assembly 110, meaning that multiple items to be inspected can be inspected simultaneously. Second, the robot assembly 120 can remain stationary in the first direction while the stage bodies 113 move in the first direction, reducing the probability of errors arising from the combination of the movement trajectories of the stage bodies 113 and the robot assembly 120, thus making visual inspection more accurate.

[0144] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0145] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0146] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0147] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A visual inspection system, characterized in that, include: A stage assembly, comprising a driving component and a stage body, wherein the driving component drives the stage body to move and rotate along a first direction; a robot assembly and a vision assembly, wherein the vision assembly is connected to the robot assembly, and the robot assembly is at least used to drive the vision assembly to move upward in a second direction and a third direction; a detection method applied to the vision inspection system includes: placing a workpiece to be inspected on the stage body; driving the workpiece to be inspected to move and rotate along the first direction via the stage body, and driving the vision assembly to move upward in the second direction and a third direction via the robot assembly to acquire image information of the workpiece to be inspected; and inspecting the workpiece to be inspected based on the image information; the step of driving the workpiece to move and rotate along the first direction via the stage body, and driving the vision assembly to move upward in the second direction and a third direction via the robot assembly to acquire image information of the workpiece to be inspected includes: based on the required detection angle of the workpiece to be inspected... The following steps are proposed: First, among multiple calibration surfaces on a coordinate calibration block, a test calibration surface is determined. Based on the test calibration surface, a test coordinate system is determined for controlling the movement of the stage assembly and the robot assembly. The third direction is perpendicular to the plane containing the test calibration surface. Second, when the vision assembly includes a line scan camera and the surface to be inspected of the object to be inspected is a plane, the step of moving and rotating the object to be inspected along a first direction via the stage body, and moving the vision assembly upwards in a second and third direction via the robot assembly to acquire image information of the object to be inspected, further includes: rotating the stage body via the driving component in the test coordinate system so that the image acquisition direction of the line scan camera is perpendicular to the surface to be inspected; moving the stage body along the first direction via the driving component, and acquiring image information of the object to be inspected via the line scan camera. During image acquisition, only the driving component moves.

2. The visual inspection system according to claim 1, characterized in that, The first direction, the second direction, and the third direction are perpendicular to each other.

3. The visual inspection system according to claim 1, characterized in that, Each of the said stage components includes at least two said stage bodies.

4. The visual inspection system according to claim 3, characterized in that, The vision components are in multiple sets, with each stage body corresponding to one set of vision components; wherein, the driving component is used to drive each stage body to rotate independently.

5. The visual inspection system according to claim 4, characterized in that, in, Each of the aforementioned vision components includes an area scan camera and / or a line scan camera.

6. The visual inspection system according to claim 1, characterized in that, The platform assembly further includes: a worktable, on which the driving component is disposed; and a coordinate calibration block, which includes multiple calibration surfaces, each having a different angle of inclination relative to the surface of the work platform, and is used to be disposed on the worktable.

7. The visual inspection system according to claim 6, characterized in that, The inclination angles of the plurality of calibration surfaces relative to the surface of the work platform include one or more of the following: 0°, 30°, 45°, 60° and 90°.

8. The visual inspection system according to claim 6, characterized in that, The bottom of the coordinate calibration block has a mounting ear, and the coordinate calibration block is connected to the worktable through the mounting ear.

9. The visual inspection system according to claim 6, characterized in that, The stage assembly includes two sets of stage bodies, which are respectively arranged on both sides of the coordinate calibration block.

10. The visual inspection system according to claim 6, characterized in that, Multiple calibration surfaces are arranged on the side of the coordinate calibration block opposite to the robot assembly.

11. The visual inspection system according to any one of claims 1 to 10, characterized in that, The robot assembly includes a six-axis robot.

12. The visual inspection system according to any one of claims 1 to 10, characterized in that, Also includes: The consistency debugging process includes: adjusting the robot components so that the acquisition direction of the vision components is parallel to the working surface of the platform components, and the pixel difference between the platform bodies acquired by multiple vision components is less than or equal to a first threshold, and performing optical debugging; and determining the zero position of the robot components based on the results of the optical debugging.

13. The visual inspection system according to claim 12, characterized in that, The value of the first threshold is less than or equal to 8.

14. The visual inspection system according to claim 1, characterized in that, When the vision component includes an area scan camera, the step of moving and rotating the test piece along a first direction by the stage body and moving the vision component upward in a second and third direction by the robot component to acquire image information of the test piece further includes: in the test coordinate system, moving the stage body by the driving component so that the stage body is exposed to the field of view of the area scan camera; and moving the vision component upward in a second and third direction by the robot component to acquire image information of the test piece through the area scan camera.

15. The visual inspection system according to claim 1, characterized in that, When the vision component includes a line scan camera, and the surface to be inspected of the test piece is a cylindrical or conical surface, the step of moving and rotating the test piece along a first direction via the stage body, and moving the vision component upward in a second and third direction via the robot component to acquire image information of the test piece further includes: adjusting the positioning mechanism on the stage body in the test coordinate system so that the center of the test piece is concentric with the rotation center of the driving component; moving the vision component upward in a second and third direction via the robot component so that the vision component reaches the test angle; rotating the stage body via the driving component, and acquiring image information of the test piece via the line scan camera.

16. The visual inspection system according to claim 15, characterized in that, The test angle includes an angle perpendicular to the surface to be tested or an angle tilted at 30° relative to the surface to be tested.

Images