A square piece detection method and packaging system

Abstract

The present application relates to square piece detection packaging technical field, disclose a kind of square piece detection method, the present application relates to a kind of surface detection unit, including bearing table, lower light source, upper light source, image acquisition module;Upper light source and lower light source are used to provide positive light environment and backlight environment for square piece;Square piece is placed on bearing table in the way of positive and negative alternation, and simultaneously in positive light environment and backlight environment, image acquisition module obtains first image and second image above square piece;Not only the surface image of square piece obtained is more clear, improve the accuracy of surface detection, size detection, inverted edge detection.Simultaneously, the present application also discloses a kind of packaging system, the present packaging system is realized automatic feeding by adsorption feeding unit, under the joint action of edge detection unit and surface detection unit, record unqualified product, realize qualified product and unqualified product classification packing in packing unit, improve the efficiency of packaging box detection, improve yield.

Description

Technical Field

[0001] This invention relates to the field of square piece detection and packaging technology, specifically to a square piece detection method and packaging system. Background Technology

[0002] Germanium sheets typically refer to square-shaped objects made of germanium material, widely used in semiconductors, optoelectronic devices, and infrared detectors. Germanium is an important semiconductor material with excellent electrical conductivity and optical properties.

[0003] CN117147580A and a visual inspection device for chipping defects at the chamfer of a silicon wafer, comprising: a conveying device for transporting silicon wafers along the front-back direction; and multiple visual inspection mechanisms located on the left and right sides of the conveying device, with two visual inspection mechanisms mounted on each side of the conveying device, the two visual inspection mechanisms being used to detect chipping defects at two chamfers on the same side of the silicon wafer.

[0004] The aforementioned technical solution also discloses a visual inspection method for silicon wafer chamfering defects. Through image acquisition, image preprocessing, defect detection, classification, and judgment, it achieves the detection of chamfering defects at the chamfers of silicon wafers. By inspecting the four chamfered edges of the silicon wafers conveyed by the conveying device, it determines whether there are chamfering problems at the four corners of the wafer. This allows for chamfering inspection of silicon wafers without affecting equipment capacity, thus improving the yield rate of the production line. However, the above technical solution can only inspect the four sides of the silicon wafer; it cannot inspect the surface condition, dimensions, or chamfering of the wafer. Furthermore, it cannot separate qualified and unqualified products after inspection. Summary of the Invention

[0005] The purpose of this application is to solve the above-mentioned problems and provide a method for detecting square tiles. This method involves placing an upper light source above and a lower light source below the support platform to provide a positive lighting environment and a backlight environment, respectively, so that the square tile is simultaneously in both positive and backlight environments. This not only results in a clearer surface image of the square tile but also improves the accuracy of surface detection, size detection, and edge detection. Simultaneously, this application also provides a packaging system. This packaging system achieves automatic feeding through an adsorption feeding unit. With the combined action of an edge detection unit and a surface detection unit, defective products are recorded. In the packaging unit, qualified and defective products are sorted and packaged, improving the efficiency of packaging box inspection and increasing production output.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A method for detecting a square, the method relates to a surface detection unit, the surface detection unit includes a support stage for placing the square, a lower light source located below the support stage, an upper light source located above the support stage, and an image acquisition module for acquiring an image of the square;

[0008] The upper light source and the lower light source are used to provide the positive light environment and the backlight environment for the square, respectively;

[0009] The squares are placed on the support platform in an alternating manner, and are simultaneously in a positive light environment and a backlight environment. The image acquisition module acquires images of the squares placed face up and face down from above the squares.

[0010] The illuminance of the upper light source is ~ lx, where the illuminance of the upper light source can be adopted. lx、 lx、 lx、 lx、 lx.

[0011] The illuminance of the light source can be adopted. lx, lx、 lx、 lx、 The values ​​can be lx, but are not limited to the listed values; other unlisted values ​​within this range are also applicable. However, as long as image acquisition is satisfactory, the illuminance of the lower light source should be as low as possible to avoid overkill.

[0012] Preferably, when the square is simultaneously in a positive light environment and a backlight environment, the axis of the first light emitted by the upper light source, the axis of the square, the axis of the second light emitted by the lower light source, and the axis of the image acquisition module are on the same straight line.

[0013] The surface inspection unit is also equipped with a thickness inspection module, which is located above the support platform and is used to inspect the thickness of the square piece.

[0014] Preferably, the upper light source is a coaxial light source; the lower light source is a direct light source; the image acquisition module is a CCD camera; and the support platform is a glass platform. Of course, the support platform can also be made of other transparent materials such as acrylic.

[0015] The model of the coaxial light source is: Wodepu CO2-100; the model of the linear light source is: Wodepu XF-PTI080; and the model of the CCD camera is: Hikvision MV-CH250-90TM-C-NF.

[0016] Preferably, the surface detection unit further includes a first horizontal driving module, and the support stage is connected to the first horizontal driving module. The first horizontal driving module is used to make multiple squares on the support stage pass through the image acquisition module in sequence.

[0017] Meanwhile, this application also provides a packaging system, including a frame, an adsorption feeding unit connected to the frame, an edge detection unit, a flipping unit, a packaging unit, and a surface detection unit as described above;

[0018] The adsorption and feeding unit is used to transport the square pieces to the edge detection unit;

[0019] The flipping unit is equipped with a first adsorption and conveying module, which is used to adsorb and convey the square piece in the edge detection unit to the surface detection unit, and flip the square piece after the surface detection unit completes the upper surface detection.

[0020] The packaging unit is equipped with a second adsorption and conveying module, which is used to adsorb the square pieces on the carrier platform into the packaging unit to separate and package qualified and unqualified products.

[0021] Preferably, the adsorption feeding unit includes a storage rack connected to the frame, a shaping unit, and a second horizontal drive module. The second horizontal drive module is provided with a lifting mechanism, and the lifting mechanism is provided with an adsorption component. The second horizontal drive module drives the adsorption component to pick up the square pieces located on the storage rack and place them in the shaping unit for shaping. Then, the shaped square pieces are adsorbed and transported to the edge detection unit.

[0022] Preferably, the edge detection unit includes a drive module connected to the frame, side light sources and CCD modules located on both sides of the drive module, a suction nozzle on the drive module, and a first rotary drive mechanism for driving the suction nozzle to rotate inside the drive module.

[0023] The adsorption and feeding unit places the square piece on the suction nozzle. The first rotation drive mechanism is used to make the edges and corners of the square piece alternately face the side light source and CCD module on the same side, and the drive module makes the edges or corners of the square piece on the suction nozzle pass through the side light source and CCD module in sequence.

[0024] The CCD module model is: ECO PN2KZV-140KM; the side light source model is: Wodepu LN5-200W-FN.

[0025] Preferably, the flipping unit includes a support platform, and the first adsorption and conveying module is provided with a second rotation drive mechanism for making the adsorbed square face up. The support platform is provided with a recess. The first adsorption and conveying module places the square face up on the support platform, and separates the first adsorption and conveying module from the square through the recess, and then moves to the top of the square to adsorb the back of the square.

[0026] Preferably, the packaging unit includes two conveyor belts connected to the frame, arranged side by side, and the conveyor belts are provided with a lower film conveying module for conveying the lower film, an upper film conveying module for conveying the upper film, a conveying roller group, and a cutting module; the conveying roller group is provided with a heating component.

[0027] The second adsorption conveying module places qualified square pieces on the lower film conveying module of one conveyor belt; and places unqualified square pieces on the lower film conveying module of another conveyor belt; the upper film conveying module attaches the upper film to the lower film and wraps the square pieces, which are then heated and conveyed to the conveyor belt by the conveyor roller group; the cutting module is used to cut the upper film and the lower film.

[0028] Compared with the prior art, the beneficial effects of this application are:

[0029] This detection method sets an upper light source above the support stage to provide a positive lighting environment and a lower light source below the support stage to provide a backlight environment. This allows the cube to be in both positive and backlight environments simultaneously, resulting in a clearer surface image of the cube and improving the accuracy of surface detection, size detection, and chamfer detection.

[0030] This packaging system achieves automatic feeding through an adsorption feeding unit. With the combined action of the edge detection unit and the surface detection unit, non-conforming products are recorded. In the packaging unit, conforming and non-conforming products are sorted and packaged, improving the efficiency of packaging box inspection and increasing production output. Attached Figure Description

[0031] Figure 1 This is a perspective view of the packaging system of the present invention;

[0032] Figure 2 This is a top view of the packaging system of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the adsorption feeding unit of the packaging system of the present invention;

[0034] Figure 4 This is a schematic diagram of the edge detection unit of the packaging system of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of the flipping unit of the packaging system of the present invention;

[0036] Figure 6 This is a schematic diagram of the surface detection unit of the packaging system of the present invention;

[0037] Figure 7 This is a schematic diagram of the structure of the packaging unit of the packaging system of the present invention;

[0038] Figure 8 This is one of the images acquired in this invention;

[0039] Figure 9 This is the second aspect of image acquisition in this invention;

[0040] Figure 10 This is the third aspect of image acquisition in this invention;

[0041] Figure 11 This is the fourth aspect of image acquisition in this invention;

[0042] Figure 12 This is the fifth aspect of image acquisition in this invention;

[0043] Figure 13 This is the sixth aspect of image acquisition in this invention;

[0044] Figure 14 This is the seventh aspect of image acquisition in this invention.

[0045] The labels for the attached figures are as follows:

[0046] Frame 1; Adsorption and feeding unit 2; Edge detection unit 3; Turning unit 4; Packaging unit 5; Surface detection unit 6; Storage rack 21; Shaping unit 22; Second horizontal drive module 23; Drive module 31; Side light source 32; CCD module 33; First adsorption and conveying module 41; Support platform 42; Second adsorption and conveying module 51; Conveyor belt 52; Lower film conveying module 53; Upper film conveying module 54; Conveying roller group 55; Cutting module 56; Bearing platform 61; Lower light source 62; Upper light source 63; Image acquisition module 64; First horizontal drive module 65; Thickness detection module 66; Lifting mechanism 231; Suction nozzle 311; Recess 421; Adsorption assembly 2311. Detailed Implementation

[0047] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0048] The squares mentioned in the following embodiments and comparative examples are all germanium squares. The germanium squares have beveled edges on all four sides: left-side bevel, right-side bevel, top-side bevel, and bottom-side bevel when placed face-up; and left-side bevel, right-side bevel, top-side bevel, and bottom-side bevel when placed face-down. The actual measured size of the square is 26. 26mm; The actual measured chamfer dimensions are: left chamfer 0.3mm, right chamfer 0.3mm, top chamfer 0.3mm, bottom chamfer 0.3mm, left chamfer 0.3mm, right chamfer 0.3mm, top chamfer 0.3mm, bottom chamfer 0.3mm.

[0049] Example 1

[0050] refer to Figures 1-7 A packaging system includes a frame 1, an adsorption feeding unit 2 connected to the frame 1, an edge detection unit 3, a flipping unit 4, a packaging unit 5, and a surface detection unit 6 as described above;

[0051] The adsorption feeding unit 2 is used to transport the square piece to the edge detection unit 3;

[0052] The flipping unit 4 is equipped with a first adsorption and conveying module 41. The first adsorption and conveying module 41 is used to adsorb and convey the square piece in the edge detection unit 3 to the surface detection unit 6, and flip the square piece after the surface detection unit 6 completes the upper surface detection.

[0053] The packaging unit 5 is equipped with a second adsorption and conveying module 51, which is used to adsorb the square pieces on the carrier platform 61 into the packaging unit 5 to separate and package qualified and unqualified products.

[0054] In practical applications, the adsorption feeding unit 2 adsorbs and conveys the square pieces to the edge detection unit 3. After detection by the edge detection unit 3, if there are any defective products, it will not affect the subsequent surface detection unit 6, but the location of the defective products will be recorded. The square pieces are then adsorbed and conveyed to the surface detection unit 6 via the first adsorption conveying module 41, where the front of the square pieces is inspected. Subsequently, the first adsorption conveying module 41 flips the square pieces so that the back of the square pieces is facing up, and then adsorbs and conveys the back of the square pieces again to the surface detection unit 6 for surface inspection. If any new defective products are found, they are recorded again. Finally, the second adsorption conveying module 51 adsorbs and conveys the qualified and defective products into the packaging unit 5 for separate packaging. This method improves the efficiency of packaging box inspection, avoids the inaccuracies of manual inspection, and increases production output.

[0055] Furthermore, the adsorption feeding unit 2 includes a storage rack 21, a shaping unit 22, and a second horizontal drive module 23 connected to the frame 1. The second horizontal drive module 23 is provided with a lifting mechanism 231, and the lifting mechanism 231 is provided with an adsorption component 2311. The second horizontal drive module 23 drives the adsorption component 2311 to pick up the square pieces located on the storage rack 21 and place them in the shaping unit 22 for shaping. Then, the shaped square pieces are adsorbed and transported to the edge detection unit 3.

[0056] Specifically, the second horizontal drive module 23 drives the adsorption component 2311 to the top of the storage rack 21, and drives the adsorption component 2311 to descend through the lifting mechanism 231 to adsorb the square pieces located in the storage rack 21. Then, through the second horizontal drive module 23, it moves to the top of the shaping unit 22, where the adsorption component 2311 places the square pieces in the shaping unit 22 and shapes the square pieces. This can be understood as limiting the four sides of the square pieces, controlling the angle and spacing of the square pieces. The adsorption component 2311 adsorbs the square pieces again and conveys them to the edge detection unit 3, realizing automatic shaping and feeding.

[0057] Preferably, the edge detection unit 3 includes a drive module 31 connected to the frame 1, side light sources 32 and CCD module 33 located on both sides of the drive module 31, a suction nozzle 311 provided on the drive module 31, and a first rotation drive mechanism (not shown in the figure) for driving the suction nozzle 311 to rotate inside the drive module 31.

[0058] The adsorption and feeding unit 2 places the square piece on the suction nozzle 311. The first rotation drive mechanism is used to make the edges and corners of the square piece alternately face the side light source 32 and CCD module 33 on the same side, and through the drive module 31, make the edges or corners of the square piece on the suction nozzle 311 pass through the side light source 32 and CCD module 33 in sequence.

[0059] In use, the purpose of the shaping unit 22 is to match the spacing of the squares with the spacing of the suction nozzles 311. When the adsorption assembly 2311 transports the squares to the edge detection unit 3, the adsorption assembly 2311 can accurately place each square on the suction nozzle 311 by simply looking down, and the squares are adsorbed by the suction nozzles 311. The drive module 31 drives the suction nozzles 311 to move forward so that the last suction nozzle 311 moves in front of the side light source 32 and the CCD module 33. The first rotation drive module 31 drives the suction nozzles 311 to rotate and drives the suction nozzles 311 to move backward so that the two sides of the squares pass through the side light source 32 and the CCD module 33 in sequence. The first rotation drive module 31 rotates again, and in the same way, the two end faces of the squares and the four diagonals pass through the side light source 32 and the CCD module 33 in pairs in sequence to perform complete edge detection on the squares and record defective products.

[0060] The side light source 32 and the CCD module 33 have been described in Chinese patent CN116161295A, so they will not be described in detail in this embodiment.

[0061] In this embodiment, the flipping unit 4 includes a support platform 42. The first adsorption and conveying module 41 is provided with a second rotation drive mechanism (not shown in the figure) for making the adsorbed square face up. The support platform 42 is provided with a recess 421. The first adsorption and conveying module 41 places the square face up on the support platform 42, and separates the first adsorption and conveying module 41 from the square through the recess 421, and then moves to the top of the square to adsorb the back of the square.

[0062] Specifically, after the edge detection of the square piece is completed, the first adsorption and conveying module 41 adsorbs and conveys the square piece to the surface detection unit 6. The surface detection unit 6 detects the front side of the square piece. After the detection is completed, the first adsorption and conveying module 41 adsorbs the square piece and uses the second rotation drive mechanism to turn the adsorbed square piece so that the reverse side is facing up, and places the square piece on the support platform 42. Then, the first adsorption and conveying module 41 separates from the square piece through the recess 421 and moves to the top of the square piece, adsorbs the reverse side of the square piece, and conveys the square piece to the surface detection unit 6. The surface detection unit 6 detects the reverse side of the square piece. In this way, not only can automatic flipping be achieved, but also the surface detection unit 6 can detect both the front and reverse sides of the square piece to ensure the accuracy of the detection. The conveying mentioned here can be understood as the first adsorption and conveying module 41 being able to move along the X-axis, Y-axis, and Z-axis.

[0063] Furthermore, the surface detection unit 6 includes a support stage 61 for placing the square, a lower light source 62 located below the support stage 61, an upper light source 63 located above the support stage 61, and an image acquisition module 64 for acquiring images of the square.

[0064] The upper light source 63 and the lower light source 62 are used to provide the positive light environment and the backlight environment for the square, respectively;

[0065] When the square is simultaneously in both positive and negative light environments, the axes of the first light emitted from the upper light source 63, the axis of the square, the axis of the second light emitted from the lower light source 62, and the axis of the image acquisition module 64 are all aligned on the same straight line. This coaxial configuration reduces errors in the optical path and ensures that the light directly illuminates the object being measured, thereby improving measurement accuracy.

[0066] Under the influence of the upper light source 63, the square can assist the image acquisition module 64 in making the surface of the square clearer, which is convenient for judging the defects on the surface of the square. Under the influence of the lower light source 62, the edges of the square can be made clearer, which is convenient for detecting the size of the square. At the same time, for squares with chamfered edges, since the chamfered edges cannot reflect the light source back to the image acquisition module 64, the uniformity of the chamfered edges can also be detected through the captured image.

[0067] Among them, the illuminance of the upper light source 63 is ~ The illuminance of the light source 62 under the light source is not less than lx; lx.

[0068] In a preferred embodiment, the illuminance of the upper light source 63 and the illuminance of the lower light source 62 are the same, and are... lx;

[0069] In other embodiments, the illuminance of the upper light source 63 is the same as that of the lower light source 62, and is... lx.

[0070] The upper light source 63 is a coaxial light source, model: Wodepu CO2-100; the lower light source 62 is a direct light source, model: Wodepu XF-PTI080; the support stage 61 is a glass support stage 61; the image acquisition unit is a CCD camera, model: Hikvision MV-CH250-90TM-C-NF.

[0071] The surface inspection unit 6 is also equipped with a thickness inspection module 66, which is located above the support stage 61 and is used to inspect the thickness of the square piece. Specifically, the thickness inspection unit is an optical measurement or an ultrasonic measurement.

[0072] Furthermore, the surface detection unit 6 also includes a first horizontal driving module 65, with the support stage 61 connected to the first horizontal driving module 65. The first horizontal driving module 65 is used to cause multiple square pieces on the support stage 61 to sequentially pass through the image acquisition module 64 and the thickness detection module 66. The first horizontal driving module 65 enables each square piece to be in both a simultaneously lit positive light environment and a backlight environment.

[0073] Preferably, the packaging unit 5 includes a conveyor belt 52 connected to the frame 1. There are two conveyor belts 52 arranged side by side. The conveyor belt 52 is provided with a lower film conveying module 53 for conveying the lower film, an upper film conveying module 54 for conveying the upper film, a conveying roller group 55, and a cutting module 56. The conveying roller group 55 is provided with a heating component (not shown in the figure).

[0074] The second adsorption conveying module 51 places qualified square pieces on the lower film conveying module 53 of one of the conveyor belts 52; and places unqualified square pieces on the lower film conveying module 53 of another conveyor belt 52; the upper film conveying module 54 attaches the upper film to the lower film and wraps the square pieces, and heats and conveys them to the conveyor belt 52 through the conveyor roller group 55; the cutting module 56 is used to cut the upper film and the lower film.

[0075] In the initial state, the lower film conveying module 53 and the upper film conveying module 54 respectively convey the lower film and the upper film to the conveying roller group 55, and the lower film and the upper film are covered by the heating component. In actual use, the square pieces after being detected by the surface detection unit 6 are adsorbed by the second adsorption conveying module 51 and conveyed to the lower film conveying module 53. Specifically, qualified products are placed on the lower film conveying module 53 of one conveyor belt 52, and unqualified products are placed on the lower film conveying module 53 of the other conveyor belt 52. When the number of square pieces on the lower film reaches the preset number, the conveying roller group 55 drives the lower film and the upper film to move, and makes the upper film adhere to the lower film to wrap the square pieces, and convey them to the corresponding conveyor belt 52. Finally, the upper film and the lower film are cut by the cutting module 56 to complete the packaging of the preset number of square pieces.

[0076] Example 2

[0077] A method for detecting square pieces, the method relating to the surface detection unit 6 in Example 1;

[0078] The cubes are placed alternately on the support platform 61, under both front and back lighting conditions. The image acquisition module 64 acquires a first image of the cube placed frontally and a second image of the cube placed backally from above. The illuminance of the upper light source 63 is [not specified]. The illuminance of the light source 62 under the light source is lx; lx.

[0079] Example 3

[0080] Basically the same as Example 2, except that the illuminance of the upper light source 63 is The illuminance of the light source 62 under the light source is lx; lx.

[0081] Example 4

[0082] Basically the same as Example 2, except that the illuminance of the upper light source 63 is... The illuminance of the light source 62 under the light source is lx; lx.

[0083] Example 5

[0084] Basically the same as Example 2, except that the illuminance of the upper light source 63 is... The illuminance of the light source 62 under the light source is lx; lx.

[0085] Comparative Example 1

[0086] Basically the same as Example 2, except that the illuminance of the upper light source 63 is The illuminance of the light source 62 under the light source is lx; lx.

[0087] Comparative Example 2

[0088] Basically the same as Example 2, except that the illuminance of the upper light source 63 is The illuminance of the light source 62 under the light source is lx; lx.

[0089] Comparative Example 3

[0090] Basically the same as Example 2, except that the illuminance of the upper light source 63 is The illuminance of the light source 62 under the light source is lx; lx.

[0091] Comparative Example 4

[0092] Basically the same as Example 2, except that the illuminance of the upper light source 63 is lx, no lower light source.

[0093] Squares were detected using the methods described in Examples 2-5 and Comparative Examples 1-4, respectively. The image acquisition results are shown in Table 1, and the measurement results are shown in Table 2. The acquired images are as follows: Figures 8-14 As shown.

[0094] Table 1. Image acquisition results of the squares

[0095]

[0096] Table 2 Measurement results of the squares

[0097]

[0098] The first and second image references obtained in Example 2 Figure 8 and Figure 9 As shown, since the first image and the second image are simply the front and back sides of the same square, they do not affect the result of the acquired image. Therefore, only one of the acquired first image and the second image is used for illustration.

[0099] Results analysis:

[0100] 1. As can be seen from the results of Examples 2-4, under both positive and backlighting environments, the illuminance of the upper light source is... ~ Within the lx range, the illuminance of the lower light source is LX can acquire clear first and second images, for reference. Figure 8 and Figure 9 Size data and chamfer data can be obtained from the first and second images. The obtained size is very close to the actual measured size, with a maximum difference of only 0.526 mm, while the maximum difference in chamfer is only 0.03 mm.

[0101] 2. As can be seen from the results of Example 2 and Comparative Examples 1 and 2, the upper light source in Comparative Example 1 used a higher illuminance value, and the obtained first and second image references... Figure 10 , Figure 10 Overexposure is clearly visible in the images; some areas on the surface of the square image are excessively bright. While this does not affect the detection of surface defects or dimensions, Table 2 shows that Comparative Example 1 cannot obtain data on the chamfered edges. Comparative Example 2 uses a lower illuminance value for its upper light source. The first and second images obtained are referenced. Figure 11 , Figure 11 It is evident from Table 2 that the acquired images are very dark. Although the dimensions can be obtained, surface defects are barely visible. Furthermore, as can be seen from Table 2, comparative example 2 also fails to obtain data on the beveled edges.

[0102] 3. As can be seen from the results of Examples 2, 5, and Comparative Example 3, the lower light source in Example 5 used a higher illuminance value, and the obtained first and second image references... Figure 12 The surface and chamfer of the square are clear, allowing for the acquisition of size and chamfer data; while the lower light source in Comparative Example 3 uses a different... lower illumination (lx), first image and second image reference. Figure 13 ,from Figure 13 As can be seen, the lower light source cannot make the edges of the square clear, and there will be shadows near the edges, which affects the acquisition of the edge data.

[0103] 4. As can be seen from the results of Example 2 and Comparative Example 4, Comparative Example 4 lacks a lower light source, and the obtained first and second image references... Figure 14 ,from Figure 14 As can be seen, although the size data of the square can be obtained, the shadows on the edges of the square affect the acquisition of the edge data.

[0104] In summary, this testing method involves placing an upper light source above the support platform to provide a positive lighting environment and a lower light source below it to provide a backlight environment, ensuring the cube is simultaneously in both positive and backlight environments. Experiments have demonstrated that the illuminance control of the upper light source is effective. ~ Within the lx range, the lower light source uses no less than The increased illumination not only resulted in clearer surface images of the squares, but also improved the accuracy of surface inspection, size inspection, and chamfer inspection.

[0105] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A packaging system for square pieces, characterized in that, It includes a frame, an adsorption and feeding unit connected to the frame, an edge detection unit, a flipping unit, a packaging unit, and a surface detection unit; the surface detection unit includes a support platform for placing the square piece, a lower light source located below the support platform, an upper light source located above the support platform, and an image acquisition module for acquiring images of the square piece; The upper light source and the lower light source are respectively used to provide a positive light environment and a backlight environment for the square piece; The square pieces are placed on the support platform in an alternating front and back light environment, and are simultaneously in a positive light environment and a back light environment. The image acquisition module acquires a first image of the square piece placed front and a second image of the square piece placed back above the square pieces; and acquires the surface condition, edge condition and size of the square pieces through the first image and the second image. The illuminance of the upper light source is ~ lx, the illuminance of the lower light source is not less than lx. lx; The adsorption and feeding unit is used to transport the square piece to the edge detection unit; The flipping unit is equipped with a first adsorption and conveying module, which is used to adsorb and convey the square piece in the edge detection unit to the surface detection unit, and flip the square piece after the surface detection unit completes the upper surface detection. The packaging unit is equipped with a second adsorption and conveying module, which is used to adsorb the square pieces on the carrier platform into the packaging unit to separate and package qualified and unqualified products. When the square is simultaneously in both a positive light environment and a backlight environment, the axis of the first light emitted by the upper light source, the axis of the square, the axis of the second light emitted by the lower light source, and the axis of the image acquisition module are all on the same straight line. The surface detection unit is also equipped with a thickness detection module, which is located above the support platform and is used to detect the thickness of the square piece; The upper light source is a coaxial light source; the lower light source is a direct light source; the image acquisition module is a CCD camera; and the support platform is a glass support platform. The surface detection unit further includes a first horizontal driving module, and the support platform is connected to the first horizontal driving module. The first horizontal driving module is used to make multiple squares on the support platform pass through the image acquisition module in sequence. The adsorption feeding unit includes a storage rack, a shaping unit, and a second horizontal drive module connected to the frame. The second horizontal drive module is equipped with a lifting mechanism, and the lifting mechanism is equipped with an adsorption component. The second horizontal drive module drives the adsorption component to pick up the square pieces located on the storage rack and place them in the shaping unit for shaping. Then, the shaped square pieces are adsorbed and transported to the edge detection unit.

2. The packaging system according to claim 1, characterized in that, The edge detection unit includes a drive module connected to the frame, side light sources and CCD modules located on both sides of the drive module, a suction nozzle on the drive module, and a first rotary drive mechanism for driving the suction nozzle to rotate inside the drive module. The adsorption and feeding unit places the square piece on the suction nozzle. The first rotation drive mechanism is used to make the edges and corners of the square piece alternately face the side light source and the CCD module on the same side, and the drive module makes the edges or corners of the square piece on the suction nozzle pass through the side light source and the CCD module in sequence.

3. The packaging system according to claim 1, characterized in that, The flipping unit includes a support platform. The first adsorption and conveying module is provided with a second rotation drive mechanism for making the adsorbed square face up. The support platform is provided with a recess. The first adsorption and conveying module places the square face up on the support platform and separates the first adsorption and conveying module from the square through the recess, and then moves to the top of the square to adsorb the back of the square.

4. The packaging system according to claim 1, characterized in that, The packaging unit includes two conveyor belts connected to the frame, arranged side by side. The conveyor belts are equipped with a lower film conveying module for conveying the lower film, an upper film conveying module for conveying the upper film, a conveying roller group, and a cutting module. The conveying roller group is equipped with a heating component. The second adsorption conveying module places qualified square pieces on the lower film conveying module of one conveyor belt; and places unqualified square pieces on the lower film conveying module of another conveyor belt; the upper film conveying module attaches the upper film to the lower film and wraps the square pieces, which are then heated and conveyed to the conveyor belt by the conveying roller group; The cutting module is used to cut the upper and lower films.

Images