Apparent defect detection method and device compatible with multiple products and medium

Abstract

The invention discloses a multi-product compatible appearance defect detection method and device and a medium. The method comprises the steps that a to-be-detected product is grabbed through a mechanical arm; the appearance size of the to-be-detected product is obtained through the processor, and the motion path of the to-be-detected product is determined according to the appearance size; acquiring surface illumination intensity of the to-be-detected product through a processor, and setting luminous intensity and luminous patterns of an integrating sphere screen light source according to the surface illumination intensity; acquiring a motion video of the to-be-detected product on the motion path through a video acquisition device; and processing the motion video through a processor, and detecting the appearance defect of the to-be-detected product. Different motion paths are set through the processor according to the appearance size of a product, the light-emitting pattern and the light-emitting intensity of the integrating sphere screen light source are set according to the illumination intensity, appearance defects of different products can be detected, compatibility is high, detection cost is low, and the visual inspection device can be widely applied to the technical field of visual inspection.

Description

Technical Field

[0001] The present invention relates to the field of visual inspection technology, and in particular to a multi-product compatible appearance defect inspection method, equipment and medium. Background Art

[0002] Machine vision is the use of computers to recognize the image of objects in order to expand the human visual function. This technology can solve many problems in industrial image detection. Visual inspection technology is an emerging inspection technology based on machine vision research. The inspection system based on visual sensors has the advantages of strong anti-interference ability, high efficiency, simple composition, etc., which can improve the flexibility and automation of production.

[0003] Most of the existing machine vision inspection equipment is non-standard design, and can basically only detect the appearance defects of one product or a category of products, with low compatibility. When it is necessary to detect the appearance defects of different products, different visual inspection equipment needs to be designed, and the inspection cost is high. Summary of the invention

[0004] In view of this, an object of an embodiment of the present invention is to provide a multi-product compatible appearance defect detection method, device and medium, which can detect appearance defects of different products, have strong compatibility and low detection cost.

[0005] In a first aspect, an embodiment of the present invention provides a multi-product compatible appearance defect detection method, which is applied to a multi-product compatible appearance defect detection system, wherein the multi-product compatible appearance defect detection system includes a manipulator, a video acquisition device, an integrating sphere screen light source, and a processor, and the multi-product compatible appearance defect detection method includes:

[0006] Grab the product to be tested by the robot arm and move the product to be tested to a preset position;

[0007] Acquiring the appearance size of the product to be detected by the processor, and determining the movement path of the product to be detected according to the appearance size;

[0008] The processor obtains the surface illumination intensity of the first surface of the product to be inspected, and sets the luminous intensity and luminous pattern of the integrating sphere screen light source according to the surface illumination intensity, and the integrating sphere screen light source emits light to the product to be inspected through the luminous pattern;

[0009] Capturing a motion video of the product to be inspected on the motion path by the video acquisition device, and sending the motion video to the processor;

[0010] After the motion video is processed by the processor, appearance defects of the product to be inspected are detected.

[0011] In some optional embodiments, after the processor processes the motion video and detects the appearance defects of the product to be inspected, the method includes:

[0012] The processor selects shooting point coordinates that meet shooting requirements according to the motion video, and the shooting point coordinates represent the coordinates of the manipulator;

[0013] The processor corrects the motion path according to the shooting point coordinates.

[0014] In some optional embodiments, the method further includes:

[0015] The processor sets the moving speed of the manipulator according to the motion path and a pattern library, wherein the pattern library stores a plurality of the light-emitting patterns;

[0016] The processor controls the integrating sphere screen light source to switch different luminous patterns at different shooting points, and the shooting points represent the coordinate interval of the manipulator;

[0017] The processor obtains a plurality of video frame images of different shooting points from the motion video, and determines, based on the video frame images, whether to retain or switch the luminous patterns corresponding to the video frame images.

[0018] In some optional embodiments, after the processor obtains the appearance size of the product to be detected, the process includes:

[0019] Acquiring, by the processor, a newly added light-emitting pattern and / or a light-emitting pattern combination of different shooting points, wherein the light-emitting pattern combination represents a set of a plurality of the light-emitting patterns, and the plurality of light-emitting patterns of the set are switched in sequence at the corresponding shooting points;

[0020] The processor controls the integrating sphere screen light source to randomly switch the newly added light-emitting pattern or sequentially switch a plurality of the light-emitting patterns in the light-emitting pattern combination corresponding to the shooting point when the manipulator is located at the shooting point.

[0021] In some optional embodiments, setting the luminous intensity and luminous pattern of the integrating sphere screen light source according to the surface illumination intensity includes:

[0022] Determine the clarity of the photographing surface of the product to be inspected according to the surface illumination intensity, wherein the photographing surface clarity represents the clarity of each part of the photographed surface of the product to be inspected after imaging;

[0023] The light pattern of the integrating sphere screen light source and the light intensity of each part of the light pattern are set according to the clarity of the shooting surface, so that the light pattern illuminates the shooting surface of the product to be inspected after emitting light, and each part of the shooting surface has a preset light intensity.

[0024] In some optional embodiments, after setting the luminous intensity and luminous pattern of the integrating sphere screen light source according to the surface illumination intensity, the method further comprises:

[0025] When the manipulator moves a first preset distance, the processor controls the manipulator to rotate so that the second surface of the product to be inspected is opposite to the integrating sphere screen light source;

[0026] The processor sets the light emitting pattern of the integrating sphere screen light source and the light emitting intensity of each part of the light emitting pattern according to the surface light intensity of the second surface of the product to be detected.

[0027] In some optional embodiments, the manipulator includes at least a first six-axis manipulator and a second six-axis manipulator, and the method further includes:

[0028] Grasp the product to be inspected by the first six-axis manipulator and move it along the motion path;

[0029] When the first six-axis manipulator moves the first preset distance, or rotates any surface of the product to be inspected except the grasping surface to face the integrating sphere screen light source, the second six-axis manipulator grasps the surface of the product to be inspected that faces the integrating sphere screen light source, and the grasping surface represents the surface of the product to be inspected that contacts the first six-axis manipulator;

[0030] The second six-axis manipulator continues to move the product to be inspected on the remaining motion path, so that the grasping surface and other unphotographed surfaces of the product to be inspected are sequentially opposite to the integrating sphere screen light source, and the motion video is obtained by photographing through the video acquisition device.

[0031] In some optional embodiments, the detecting the appearance defects of the product to be inspected after processing the motion video by the processor includes:

[0032] The processor obtains video frame images of different surfaces of the product to be inspected under different luminous patterns;

[0033] The processor detects appearance defects of the product to be inspected according to the video frame image;

[0034] In the case that the same unclear part exists in all the video frame images of the same surface, an error report is generated, and the error report includes the image, coordinates and the light emitting pattern of the unclear part.

[0035] In a second aspect, an embodiment of the present invention provides a computer device, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein the steps of the above method are implemented when the computer program is executed by the processor.

[0036] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to perform the method as described above.

[0037] The implementation of the embodiment of the present invention includes the following beneficial effects: the embodiment of the present invention provides a method for detecting appearance defects compatible with multiple products, including: grabbing the product to be detected by the manipulator and moving the product to be detected to a preset position; obtaining the appearance size of the product to be detected by the processor, and determining the movement path of the product to be detected according to the appearance size; obtaining the surface illumination intensity of the first surface of the product to be detected by the processor, setting the luminous intensity and luminous pattern of the integrating sphere screen light source according to the surface illumination intensity, and the integrating sphere screen light source emitting light to the product to be detected through the luminous pattern; collecting the motion video of the product to be detected on the motion path by the video acquisition device, and sending the motion video to the processor; and detecting the appearance defects of the product to be detected after processing the motion video by the processor. The manipulator grabs different products, and the processor sets different movements according to the appearance size of the product, and sets the luminous pattern and luminous intensity of the integrating sphere screen light source according to the illumination intensity of the product detection surface, so as to clearly capture the surface of the product and then perform defect detection, and can detect the appearance defects of different products, with strong compatibility and low detection cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 1 is a schematic diagram of the structure of a multi-product compatible appearance defect detection system provided by an embodiment of the present invention; Figure 2 is a flow chart of a multi-product compatible appearance defect detection method provided by an embodiment of the present invention; Figure 3 is a schematic block diagram of the structure of a computer device provided by an embodiment of the present invention; Figure numerals: manipulator 101, suction cup 102, product to be inspected 103, first video camera 201, second video camera 202, third video camera 203, integrating sphere screen light source 204, processor 301, manipulator communication line 302, video camera communication line 303, light source drive and communication line 304. DETAILED DESCRIPTION

[0041] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0042] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0043] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0044] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0045] First, the implementation environment of the present invention is exemplified. This example does not limit the specific device structure, but is a specific implementation environment in which the technical solution of the present invention can be executed. Figure 1 , Figure 1This is a schematic diagram of the implementation environment of an embodiment of the present invention. The multi-product compatible appearance defect detection system of this embodiment includes a manipulator 101, a video acquisition device, an integrating sphere screen light source 204 and a processor 301. The manipulator 101 includes a multi-axis manipulator 101. This embodiment takes a six-axis manipulator as an example. The video acquisition device includes multiple video cameras. This embodiment takes three video cameras as an example, namely a first video camera 201, a second video camera 202 and a third video camera 203.

[0046] Integrating sphere screen light source 204: displays the corresponding luminous pattern on the screen after receiving and processing the control instructions through the light source driver and communication line 304; can provide four-color RGBW lighting, and use HDMI (High Definition Multimedia Interface) for high-speed pattern transmission, which can improve the switching speed of the luminous pattern of the integrating sphere screen light source 204, thereby improving product testing efficiency; the integrating sphere screen light source 204 can provide three-dimensional structured light illumination, adopts a hemispherical design, so as to simulate light incident at various angles; simulates traditional light source illumination, and has a wide range of applicability.

[0047] Six-axis manipulator: moves or rotates after receiving control instructions from processor 301 through manipulator communication line 302.

[0048] Video camera: captures a video of the product surface illuminated by the integrating sphere screen light source 204 .

[0049] Processor 301: sends control instructions through the manipulator communication line 302 and the light source drive and communication line 304, receives the video captured by the video camera through the video camera communication line 303, and detects the appearance defects of the product after processing the video.

[0050] The following is based on the Figure 1 The implementation environment shown is used to further illustrate the control method of the embodiment of the present invention.

[0051] Reference Figure 2 , Figure 2 A flowchart of a multi-product compatible appearance defect detection method provided by an embodiment of the present invention, the multi-product compatible appearance defect detection method includes but is not limited to the following steps:

[0052] S201, grab the product 103 to be inspected by the robot 101, and move the product 103 to be inspected to a preset position;

[0053] S202, obtaining the appearance size of the product to be detected 103 through the processor 301, and determining the movement path of the product to be detected 103 according to the appearance size;

[0054] S203, obtaining the surface illumination intensity of the first surface of the product to be inspected 103 through the processor 301, setting the luminous intensity and luminous pattern of the integrating sphere screen light source 204 according to the surface illumination intensity, and emitting light to the product to be inspected 103 through the luminous pattern;

[0055] S204, collecting a motion video of the product to be inspected 103 on the motion path through a video acquisition device, and sending the motion video to the processor 301;

[0056] S205 , detecting appearance defects of the product to be inspected 103 after processing the motion video by the processor 301 .

[0057] It should be noted that the manipulator 101 adopts a multi-axis manipulator 101, and the present embodiment adopts a six-axis manipulator. The six-axis manipulator grabs the product to be detected 103 through the suction cup 102 set at the grabbing position, and can grab products of different sizes through the suction cup 102, which has strong applicability. The video acquisition device directly obtains the video image stream of the product to be detected 103 through the recording mode, avoiding the traditional imaging switching time, and the detection efficiency is high. The six-axis manipulator grabs the center position of the first surface of the product to be detected 103, and moves the product to be detected 103 to a preset position, which is the starting position of the shooting, and is specifically set according to actual needs. The appearance size information of the product to be detected 103 is input into the processor 301, and the processor 301 automatically generates the motion path of the product to be detected 103 according to the appearance size of the product to be detected 103, so as to set different motion paths according to different products, and has strong applicability. A light intensity detector is provided at the video acquisition device, or at other positions that do not affect the integrating sphere screen light source 204, and the specific position is not limited here. The light intensity of each part of the detection surface of the product to be detected 103 (i.e., the surface opposite to the integrating sphere screen light source 204) is detected by the light intensity detector. By setting the light intensity detector at the video acquisition device, the light intensity of the detection surface collected by the shooting angle of the video acquisition device can be detected, which avoids the situation that the reflection of the detection surface is affected or changes when reaching the video acquisition device when the light intensity detector is set at other places for detection, and the detection is more accurate. The luminous intensity and luminous pattern of the integrating sphere screen light source 204 are set according to the light intensity of the detection surface, so that all parts of the detection surface are illuminated and have corresponding light intensity; then the motion video of the product to be detected 103 on the motion path is collected by the video acquisition device, and the motion video is sent to the processor 301. The processor 301 intercepts the video frame image of the corresponding position from the motion video, and detects the appearance defects of the product to be detected 103 through the video frame image. Only by inputting the appearance size parameters of the product, the path can be automatically planned, the luminous intensity and luminous pattern of the integrating sphere screen light source 204 can be automatically set, the shooting can be automatically performed, the effect can be automatically determined, manpower can be saved, and the product yield can be improved.

[0058] In some optional embodiments, Figure 2 The steps after step 205 include but are not limited to: the processor 301 selects shooting point coordinates that meet the shooting requirements according to the motion video, and the shooting point coordinates represent the coordinates of the manipulator 101; the processor 301 corrects the motion path according to the shooting point coordinates.

[0059] Specifically, the shooting point coordinates are the coordinates of the six-axis manipulator corresponding to the video frame image intercepted by the processor 301. If the clarity of the video frame image meets the preset requirements, the six-axis manipulator coordinates corresponding to the video frame image are retained, if not, they are removed. The preset requirements can be clarity scores, defect visibility, etc., which are not specifically limited here. After processing the shooting point coordinates corresponding to the video frame image of the entire motion path, all shooting point coordinates that meet the requirements are obtained, and the shooting point coordinates are corrected to the motion path, that is, the corrected motion path only needs to pass through the shooting point coordinates that meet the requirements. When shooting the same product next time, the corrected motion path is directly called, and it is ensured that the shooting is performed at the shooting point, and the detection efficiency is greatly improved.

[0060] In some optional embodiments, the principle and formula for determining the motion path of the product to be inspected 103 according to the appearance size are as follows:

[0061] The safe operating space coordinate range of the six-axis manipulator is set in advance. The center position of the six-axis manipulator is recorded as x0, y0, z0, r0, u0, v0, and the product appearance dimensions are recorded as l0, w0, h0. The coordinates of each corner point of the product are calculated according to the space matrix.

[0062] For example, the coordinates of the upper left corner of a product are calculated as follows:

[0063]

[0064]

[0065]

[0066] Thus, the coordinates of the upper left corner of the product (x1, y1, z1) are calculated, and the coordinate set of the upper left corner of the product during the entire movement process is obtained, and then the coordinates of the manipulator 101 are determined. The coordinates of the manipulator 101 can be automatically obtained, or converted according to the coordinates of the upper left corner of the product to determine the movement path of the product. The working distance and field of view of the video acquisition device are known. The manipulator 101 can move completely within the camera field of view according to the default rules, that is, the product is photographed once, thereby achieving full coverage of the product appearance surface detection.

[0067] In some optional embodiments, the method also includes: the processor 301 sets the moving speed of the manipulator 101 according to the motion path and the pattern library, and the pattern library stores a plurality of luminous patterns; the processor 301 controls the integrating sphere screen light source 204 to switch different luminous patterns at different shooting points, and the shooting points represent the coordinate interval of the manipulator 101; the processor 301 obtains a plurality of video frame images of different shooting points from the motion video, and determines the luminous pattern corresponding to the video frame image according to the video frame image to retain or switch.

[0068] Specifically, the processor 301 sets the moving speed of the manipulator 101 according to the pattern library. The faster the speed of the manipulator 101, the fewer luminous patterns are switched in the unit moving distance. Therefore, in order to ensure that the luminous patterns in the pattern library can be switched within the motion path, the processor 301 sets the moving speed of the manipulator 101, thereby ensuring that the products to be detected 103 clamped by the manipulator 101 can be irradiated by the luminous patterns in the pattern library, and are photographed by the video acquisition device. This facilitates finding luminous patterns suitable for different shooting points. After the video acquisition device shoots the motion video of the product to be detected 103, the processor 301 intercepts multiple video frame images of different shooting points from the motion video, and different video frame images include different luminous patterns, that is, at least one video frame image is obtained to show the effect of a certain luminous pattern irradiated on the product to be detected 103, thereby determining how the imaging effect of the product to be detected 103 under the irradiation of this luminous pattern is, and determining whether to retain this luminous pattern, the next time the same product is detected, it can be quickly located and detected, and the detection efficiency is high.

[0069] In some optional embodiments, after the processor 301 obtains the appearance dimensions of the product to be inspected 103, it includes: obtaining a newly added luminous pattern and / or a luminous pattern combination of different shooting points through the processor 301, the luminous pattern combination represents a set of multiple luminous patterns, and the multiple luminous patterns of the set are switched in sequence at the corresponding shooting points; the processor 301 controls the integrating sphere screen light source 204 to randomly switch the newly added luminous pattern, or to sequentially switch the multiple luminous patterns in the luminous pattern combination corresponding to the shooting point when the manipulator 101 is located at the shooting point.

[0070] Specifically, when the processor 301 obtains a new appearance size, it can prompt whether to add a new luminous pattern in the input interface. If there are other newly added luminous patterns, and the newly added pattern is designated as the luminous pattern during detection, multiple newly added luminous patterns are randomly switched during detection, so that the newly added luminous pattern illuminates the product to be detected 103 for shooting. If the newly added pattern is added to the pattern library, the corresponding movement speed of the manipulator 101 is set as in the above embodiment, and all the luminous patterns in the pattern library are sequentially illuminated on the product to be detected 103 for shooting. The patterns in the pattern library can also be partially irradiated, and the integrating sphere screen light source 204 will not switch to irradiate the unspecified luminous patterns during the movement of the manipulator 101. It is also possible to specify the use of the same set of luminous patterns at unused shooting points, so as to exhaust the set of luminous patterns at different shooting points, that is, at each shooting point, the integrating sphere screen light source 204 completely switches all the luminous patterns in the set.

[0071] In some optional embodiments, the luminous intensity and luminous pattern of the integrating sphere screen light source 204 are set according to the surface illumination intensity, including: determining the clarity of the shooting surface of the product to be inspected 103 according to the surface illumination intensity, the shooting surface clarity characterizing the clarity of each part of the surface of the product to be inspected 103 after imaging; setting the luminous pattern of the integrating sphere screen light source 204 and the luminous intensity of each part of the luminous pattern according to the shooting surface clarity, so that the luminous pattern illuminates the shooting surface of the product to be inspected 103 after emitting light, and each part of the shooting surface has a preset illumination intensity.

[0072] Specifically, before the acquisition device takes pictures, the light intensity at various locations on the shooting surface of the product to be inspected 103 is first detected by a light intensity detector arranged at the acquisition device (that is, the surface light intensity, which indicates the light intensity at various locations on the shooting surface). The processor 301 compares the illumination intensity at each location with the preset illumination intensity, and sets the corresponding luminous pattern and luminous intensity at each location according to the comparison result; if the illumination intensity of area A of the shooting surface obtained by the processor 301 is less than the preset illumination intensity, then it is detected whether the luminous area A of the integrating sphere screen light source 204 corresponding to area A of the shooting surface is illuminated, and if it is illuminated, the luminous intensity of the luminous area A is enhanced, and if it is not illuminated, the luminous area A is allowed to illuminate, and after the light of the luminous area A is irradiated on area A of the shooting surface, the area A of the shooting surface detected by the illumination intensity detector has the preset illumination intensity; if the illumination intensity of area B of the shooting surface obtained by the processor 301 is greater than the preset illumination intensity, then it is detected that the luminous intensity of the luminous area B of the integrating sphere screen light source 204 corresponding to area B of the shooting surface is reduced to a corresponding extent according to the difference between the illumination intensity of area B of the shooting surface and the preset illumination intensity, or the luminous area B of the integrating sphere screen light source 204 is turned off, so that the area B of the shooting surface detected by the illumination intensity detector has the preset illumination intensity. The preset illumination intensity of the shooting surface area B and the preset illumination intensity of the shooting surface area A can be the same or different, and are set according to actual needs and are not limited here. After processing the illumination intensity of several areas of the shooting surface, several luminous areas of the integrating sphere screen light source 204 corresponding to the several areas of the shooting surface can be obtained, thereby obtaining the luminous pattern and luminous intensity.

[0073] In some optional embodiments, after setting the luminous intensity and luminous pattern of the integrating sphere screen light source 204 according to the surface light intensity, it includes: when the manipulator 101 moves a first preset distance, controlling the manipulator 101 to rotate through the processor 301 so that the second surface of the product to be inspected 103 is relative to the integrating sphere screen light source 204; the processor 301 sets the luminous pattern of the integrating sphere screen light source 204 and the luminous intensity of each part of the luminous pattern according to the surface light intensity of the second surface of the product to be inspected 103.

[0074] Specifically, the manipulator 101 can rotate the product to be inspected 103 so that different surfaces of the product to be inspected 103 are used as shooting surfaces for shooting. After shooting the first surface, the manipulator 101 runs a first preset distance, stops, and rotates to the second surface of the product to be inspected 103, so that the second surface of the product to be inspected 103 is used as the shooting surface relative to the integrating sphere screen light source 204; and the manipulator 101 is restarted. After the manipulator 101 moves, the corresponding luminous pattern and luminous intensity are set according to the light intensity at various locations on the second surface of the product to be inspected 103, and the shooting is performed through the video acquisition device. Other surfaces are also used as shooting surfaces after the manipulator 101 rotates relative to the integrating sphere screen light source 204, which will not be repeated here.

[0075] In some optional embodiments, the manipulator 101 includes at least a first six-axis manipulator and a second six-axis manipulator, and the method further includes: grasping the product to be inspected 103 and moving it on the motion path by the first six-axis manipulator; when the first six-axis manipulator moves a first preset distance, or rotates the product to be inspected 103 so that any surface except the grasping surface is opposite to the integrating sphere screen light source 204, grasping the surface of the product to be inspected 103 that is already opposite to the integrating sphere screen light source 204 by the second six-axis manipulator, and the grasping surface represents the surface of the product to be inspected 103 that is in contact with the first six-axis manipulator; continuing to move the product to be inspected 103 on the remaining motion path by the second six-axis manipulator, so that the grasping surface and other un-photographed surfaces of the product to be inspected 103 are sequentially opposite to the integrating sphere screen light source 204, and are photographed by a video acquisition device to obtain a motion video.

[0076] Specifically, at least two manipulators 101 are provided, namely, a first six-axis manipulator and a second six-axis manipulator, and the first six-axis manipulator grasps the product to be inspected 103, moves it on the motion path, and photographs it through the acquisition device; because when the first six-axis manipulator grasps the product to be inspected 103, the contact surface between the first six-axis manipulator and the product to be inspected 103 cannot rotate to be opposite to the integrating sphere screen light source 204, or the rotation is possible due to the blind spot of the grasping of the first six-axis manipulator. Therefore, after the first six-axis manipulator completes the photographing of any side of the product to be inspected 103 (that is, relative to the integrating sphere screen light source 204), the second six-axis manipulator grasps the surface of the product to be inspected 103 that has been photographed, and continues to move on the remaining motion path, and rotates the surface of the product to be inspected 103 that has not been photographed to be opposite to the integrating sphere screen light source 204 to complete the photographing.

[0077] In some optional embodiments, the appearance defects of the product to be inspected 103 are detected after the processor 301 processes the motion video, including: the processor 301 obtains video frame images of different surfaces of the product to be inspected 103 under different luminous patterns; the processor 301 detects the appearance defects of the product to be inspected 103 according to the video frame images; when the same unclear part exists in all video frame images of the same surface, an error report is generated, and the error report includes the image, coordinates and luminous pattern of the unclear part.

[0078] Specifically, after the processor 301 receives the motion video, it captures multiple video frame images from the motion video, and the multiple video frame images include video frame images of different surfaces of the product 103 to be detected under different luminous patterns, so as to determine whether the use of the luminous pattern is appropriate by detecting different video frame images. If it is appropriate, it is retained and directly called the next time the same product is detected, and the detection efficiency is high. And the appearance defects of the product 103 to be detected are detected from the appropriate video frame images. If there is a part that is blurred or cannot be photographed under the illumination of different luminous patterns, an error report is generated, and the error report is stored and sent to the technician's mailbox and the corresponding display interface to remind the technician to handle it in time. The error report includes the image of the unclear part, the specific coordinates and the luminous pattern used.

[0079] The implementation of the embodiments of the present invention includes the following beneficial effects: the embodiments of the present invention provide a multi-product compatible appearance defect detection method, including: grabbing the product to be detected 103 by a manipulator 101, and moving the product to be detected 103 to a preset position; obtaining the appearance size of the product to be detected 103 by a processor 301, and determining the movement path of the product to be detected 103 according to the appearance size; obtaining the surface illumination intensity of the first surface of the product to be detected 103 by the processor 301, and setting the luminous intensity and luminous pattern of the integrating sphere screen light source 204 according to the surface illumination intensity, and the integrating sphere screen light source 204 emits light to the product to be detected 103 through the luminous pattern; collecting the motion video of the product to be detected 103 on the motion path by a video acquisition device, and sending the motion video to the processor 301; and detecting the appearance defects of the product to be detected 103 after processing the motion video by the processor 301. By using the manipulator 101 to grab different products, the processor 301 sets different movements according to the appearance size of the product, and sets the luminous pattern and luminous intensity of the integrating sphere screen light source 204 according to the light intensity of the product detection surface, so as to clearly capture the surface of the product and then perform defect detection. It can detect the appearance defects of different products, has strong compatibility and low detection cost. Only by inputting the product size parameters, it can automatically plan the path, automatically shoot, and automatically determine the effect, saving manpower and improving product yield. The video recording mode is adopted to directly obtain the video image stream, avoiding the traditional imaging switching time. The six-axis manipulator can be used to adjust the spatial posture of the product. The six-axis manipulator adopts the suction cup 102 design at the grasping point, which can flexibly be compatible with a variety of products of different sizes. The screen display luminous pattern using the integrating sphere screen light source 204 can simulate the seamless switching between structured light and traditional lighting environments.

[0080] like Figure 3 As shown, in the second aspect, an embodiment of the present invention further provides a computer device, which can be a terminal. The computer device includes a processor, a memory, and a network interface connected via a system bus, wherein the memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, which, when executed, enable the processor to execute any one of the methods for visualizing management of industrial equipment. The processor is used to provide computing and control capabilities to support the operation of the entire computer device. The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium, which, when executed by the processor, enables the processor to execute any one of the methods for visualizing management of industrial equipment. The network interface is used for network communications, such as sending assigned tasks, etc. Those skilled in the art will appreciate that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present disclosure, and does not constitute a limitation on the computer device to which the solution of the present disclosure is applied. The specific computer device may include Figure 3 More or less components shown in, or some components are combined, or there are different component arrangements. It should be understood that the processor can be a central processing unit (CPU), and the processor can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In one embodiment, the processor is used to run a computer program stored in a memory to implement the following steps: grab the product to be inspected 103 through the manipulator 101, and move the product to be inspected 103 to a preset position; obtain the appearance size of the product to be inspected 103 through the processor 301, and determine the movement path of the product to be inspected 103 according to the appearance size; obtain the surface illumination intensity of the first surface of the product to be inspected 103 through the processor 301, and set the luminous intensity and luminous pattern of the integrating sphere screen light source 204 according to the surface illumination intensity, and the integrating sphere screen light source 204 emits light to the product to be inspected 103 through the luminous pattern; collect the movement video of the product to be inspected 103 on the movement path through the video acquisition device, and send the movement video to the processor 301; detect the appearance defects of the product to be inspected 103 after processing the movement video through the processor 301.

[0081] It can be seen that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0082] In addition, the embodiment of the present application also discloses a computer program product or a computer program, and the computer program product or the computer program is stored in a computer-readable storage medium. The processor of the computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device performs the above method. Similarly, the contents in the above method embodiment are all applicable to the storage medium embodiment, and the functions specifically implemented by the storage medium embodiment are the same as those in the above method embodiment, and the beneficial effects achieved are also the same as those achieved by the above method embodiment.

[0083] It is understood that all or some steps and systems in the disclosed method above can be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital information processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassette, magnetic tape, disk storage or other magnetic storage device, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media generally contain computer readable instructions, data structures, program modules, or other data in modulated data information such as carrier waves or other transport mechanisms, and may include any information delivery media.

[0084] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A multi-product compatible appearance defect detection method, characterized in that: Applied to a multi-product compatible appearance defect detection system, the multi-product compatible appearance defect detection system comprises a manipulator, a video acquisition device, an integrating sphere screen light source and a processor, and the multi-product compatible appearance defect detection method comprises: Grab the product to be inspected by the manipulator and move the product to be inspected to a preset position; Acquiring the appearance size of the product to be detected by the processor, and determining the movement path of the product to be detected according to the appearance size; The processor obtains the surface illumination intensity of the first surface of the product to be inspected, and sets the luminous intensity and luminous pattern of the integrating sphere screen light source according to the surface illumination intensity, and the integrating sphere screen light source emits light to the product to be inspected through the luminous pattern; Capturing a motion video of the product to be inspected on the motion path by the video acquisition device, and sending the motion video to the processor; After the motion video is processed by the processor, appearance defects of the product to be inspected are detected.

2. The method according to claim 1, characterized in that After the processor processes the motion video and detects the appearance defects of the product to be detected, the method includes: The processor selects shooting point coordinates that meet shooting requirements according to the motion video, and the shooting point coordinates represent the coordinates of the manipulator; The processor corrects the motion path according to the shooting point coordinates.

3. The method according to claim 1, characterized in that The method further comprises: The processor sets the moving speed of the manipulator according to the motion path and a pattern library, wherein the pattern library stores a plurality of the light-emitting patterns; The processor controls the integrating sphere screen light source to switch different luminous patterns at different shooting points, and the shooting points represent the coordinate interval of the manipulator; The processor obtains a plurality of video frame images of different shooting points from the motion video, and determines, based on the video frame images, whether to retain or switch the luminous patterns corresponding to the video frame images.

4. The method according to claim 3, characterized in that After the processor obtains the appearance size of the product to be detected, the process includes: Acquiring, by the processor, a newly added light-emitting pattern and / or a light-emitting pattern combination of different shooting points, wherein the light-emitting pattern combination represents a set of a plurality of the light-emitting patterns, and the plurality of light-emitting patterns of the set are switched in sequence at the corresponding shooting points; The processor controls the integrating sphere screen light source to randomly switch the newly added light-emitting pattern or sequentially switch a plurality of the light-emitting patterns in the light-emitting pattern combination corresponding to the shooting point when the manipulator is located at the shooting point.

5. The method according to claim 1, characterized in that The step of setting the luminous intensity and luminous pattern of the integrating sphere screen light source according to the surface illumination intensity comprises: Determine the clarity of the photographing surface of the product to be inspected according to the surface illumination intensity, wherein the photographing surface clarity represents the clarity of each part of the photographed surface of the product to be inspected after imaging; The light pattern of the integrating sphere screen light source and the light intensity of each part of the light pattern are set according to the clarity of the shooting surface, so that the light pattern illuminates the shooting surface of the product to be inspected after emitting light, and each part of the shooting surface has a preset light intensity.

6. The method according to claim 1, characterized in that After setting the luminous intensity and luminous pattern of the integrating sphere screen light source according to the surface illumination intensity, the method includes: When the manipulator moves a first preset distance, the processor controls the manipulator to rotate so that the second surface of the product to be inspected is opposite to the integrating sphere screen light source; The processor sets the light emitting pattern of the integrating sphere screen light source and the light emitting intensity of each location of the light emitting pattern according to the surface light intensity of the second surface of the product to be detected.

7. The method according to claim 6, characterized in that The manipulator comprises at least a first six-axis manipulator and a second six-axis manipulator, and the method further comprises: Grab the product to be inspected and move it along the motion path by the first six-axis manipulator; When the first six-axis manipulator moves the first preset distance, or rotates any surface of the product to be inspected except the grasping surface to face the integrating sphere screen light source, the second six-axis manipulator grasps the surface of the product to be inspected that faces the integrating sphere screen light source, and the grasping surface represents the surface of the product to be inspected that contacts the first six-axis manipulator; The second six-axis manipulator continues to move the product to be inspected on the remaining motion path, so that the grasping surface and other unphotographed surfaces of the product to be inspected are sequentially opposite to the integrating sphere screen light source, and the motion video is obtained by photographing through the video acquisition device.

8. The method according to claim 1, characterized in that The detecting the appearance defects of the product to be inspected after processing the motion video by the processor includes: The processor obtains video frame images of different surfaces of the product to be inspected under different luminous patterns; The processor detects appearance defects of the product to be inspected according to the video frame image; In the case that the same unclear part exists in all the video frame images of the same surface, an error report is generated, and the error report includes the image, coordinates and the light emitting pattern of the unclear part.

9. A computer device, wherein: The computer device comprises a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 8 when executed by the processor.

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