Visual inspection configuration method and device and visual inspection system

Abstract

The embodiment of the invention provides a visual inspection configuration method and device and a visual inspection system, and relates to the technical field of machine vision, and the method comprises the steps: receiving a visual inspection configuration request; in response to the received visual detection configuration request, outputting a first interface; the first interface comprises a product sub-interface, a region sub-interface and a point position sub-interface; the product sub-interface is used for displaying product information of each to-be-detected product; the area sub-interface is used for displaying detection area information of each detection area in the target product; the point position sub-interface is used for displaying point position information of each point position in the target detection area, the target product is a product to which the selected product information belongs, and the target detection area is a detection area to which the selected detection area information belongs. By applying the embodiment of the invention, when a user configures a certain to-be-detected product, the user can refer to the configuration conditions of other to-be-detected products according to the first interface, so that the user can accurately configure the to-be-detected product.

Description

Technical Field

[0001] The present application relates to the field of machine vision technology, and in particular to a visual inspection configuration method, device and visual inspection system. Background Art

[0002] Visual inspection is a technology that uses machines instead of human eyes to make measurements and judgments, also known as machine vision inspection. Machine vision inspection is widely used in various automation fields and manufacturing industries, such as medicine, spare parts, packaging industry, etc. Specific application scenarios include but are not limited to component appearance size inspection, component defect inspection, assembly inspection, quality inspection, flatness measurement, weld inspection, precision machined parts size measurement, etc.

[0003] In the related art, the machine vision inspection system includes a light source, a lens, and a camera. In the field of industrial manufacturing, the machine vision inspection system is equipped with multiple cameras to capture the products to be inspected from different perspectives, which can expand the field of view and achieve comprehensive inspection of the products to be inspected. However, due to the large number of product models to be inspected, different models of products may require different inspection areas and different inspection points. Therefore, users are required to configure machine vision inspection for different models of products to be inspected.

[0004] In the related art, users often configure different models of products to be detected separately and independently, which makes it difficult for users to configure other models of products to be detected at the same time when configuring a certain model of products to be detected. It is understandable that users may refer to each other when configuring different models of products to be detected. In the case where multiple models of products to be detected cannot be configured at the same time, it is difficult for users to refer to each other when configuring, which makes it difficult for users to accurately configure multiple different models of products to be detected. For example, when configuring the frame of model A, the user may miss a point on the A column due to negligence, and later when configuring the frame of model B, it is found that the point on the A column needs to be configured, but since the frame of model A cannot be configured at the same time at this time, the user can only suspend the configuration of the frame of model B and reconfigure the frame of model A, or reconfigure the frame of model A after completing the configuration of the frame of model B. The former may cause the user to forget to continue to configure the frame of model B, while the latter may cause the user to forget to reconfigure the frame of model A. That is, both situations may cause the user to be unable to configure the frame of model A or model B. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a visual inspection configuration method, device and visual inspection system to efficiently display the configuration status of each product to be inspected to the user so that the user can accurately configure the product to be inspected. The specific technical solution is as follows:

[0006] In a first aspect of an embodiment of the present application, a visual detection configuration method is provided, the method comprising:

[0007] receiving a visual inspection configuration request;

[0008] In response to receiving the visual inspection configuration request, a first interface is output; the first interface includes a product sub-interface, an area sub-interface and a point sub-interface; the product sub-interface is used to display product information of each product to be inspected; the area sub-interface is used to display the inspection area information of each inspection area in the target product; the point sub-interface is used to display the point information of each point in the target inspection area, wherein the target product is the product to which the selected product information belongs, and the target inspection area is the inspection area to which the selected inspection area information belongs.

[0009] In a possible implementation, the generating the target algorithm parameter value of the point in response to the configuration instruction for each parameter to be configured includes:

[0010] In response to a product adding instruction inputted into the product sub-interface, product information of the product to be inspected indicated by the product adding instruction is displayed on the product sub-interface.

[0011] In a possible implementation, in response to an area adding instruction input to the area sub-interface, a detection area indicated by the area adding instruction is determined as the detection area of ​​the target product.

[0012] In a possible implementation, in response to a point adding instruction input to the point sub-interface, the point indicated by the point adding instruction is determined in a view of a target detection area of ​​a target product, and a robotic arm indicated by the point adding instruction and a camera on the robotic arm are determined; the point is determined as a point of the target detection area, and the determined point, robotic arm, and camera are associated;

[0013] The point information includes: the camera and the robotic arm associated with the point and the area to which the view based on which the point is determined belongs.

[0014] In a possible implementation, in response to a point adding instruction input to the point sub-interface, determining the point indicated by the point adding instruction in the view of the target detection area of ​​the target product, and determining the robotic arm indicated by the point adding instruction and the camera on the robotic arm, includes:

[0015] In response to a point adding instruction input to the point sub-interface, displaying a second interface including a robot selection sub-interface, a camera selection sub-interface, and a point selection sub-interface, wherein the point selection sub-interface is used to display a view of a target detection area of ​​a target product;

[0016] In response to a robot arm selection instruction input into the robot arm selection sub-interface, determining the robot arm indicated by the robot arm selection instruction as the robot arm indicated by the point adding instruction;

[0017] In response to a camera selection instruction inputted into the camera selection sub-interface, determining the camera indicated by the camera selection instruction as the camera indicated by the point adding instruction;

[0018] In response to a point selection instruction input for a view displayed in the point selection sub-interface, a point indicated by the point selection instruction is determined in the view as the point indicated by the point adding instruction.

[0019] In one possible implementation, in response to a view switching instruction input into the point selection sub-interface, the target view indicated by the view switching instruction is determined in the respective views of each inspection area of ​​the target product, the view displayed in the point selection sub-interface is switched to the target view, and the target inspection area is switched to the inspection area to which the target view belongs.

[0020] In a possible implementation, the method further includes:

[0021] In response to a parameter configuration instruction input for any point information, a third interface is displayed, wherein the third interface includes a parameter configuration sub-interface corresponding to each camera associated with the target point, and the target point is the point to which the point information targeted by the parameter configuration instruction belongs;

[0022] In response to a parameter selection instruction input to any parameter configuration sub-interface, the parameters indicated by the parameter selection instruction are determined, and a target camera is associated with the determined parameters, wherein the target camera is the camera corresponding to the camera parameter configuration sub-interface targeted by the parameter selection instruction.

[0023] In a possible implementation, the parameter includes at least one of a photographing mode, highlight, exposure, gain, gamma, light source brightness, and a machine vision algorithm parameter.

[0024] In one possible implementation, the parameters include machine vision algorithm parameters;

[0025] The determining the parameter indicated by the parameter selection instruction comprises:

[0026] Displays the parameter types of all algorithm parameters used in the visual inspection process;

[0027] In response to a type selection instruction input for a displayed parameter type, determining a parameter type to be configured indicated by the type selection instruction;

[0028] Displaying a fourth interface including algorithm parameter configuration sub-interfaces corresponding to each of the parameter types to be configured;

[0029] In response to an algorithm parameter configuration instruction input into any algorithm parameter configuration sub-interface, the parameter value indicated by the algorithm parameter configuration instruction is determined, and a machine vision parameter whose value is the determined parameter value and whose type is a target parameter type is used as the machine vision algorithm parameter indicated by the parameter selection instruction, wherein the target parameter type is the parameter type to be configured corresponding to the algorithm parameter configuration sub-interface targeted by the algorithm parameter configuration instruction.

[0030] In a possible implementation manner, the fourth interface further includes a preview sub-interface;

[0031] The method further comprises:

[0032] After the machine vision parameters whose values ​​are the determined parameter values ​​and whose types are the target parameter types are used as the machine vision algorithm parameters indicated by the parameter selection instruction, machine vision simulation is performed according to the existing machine vision algorithm parameters indicated by the parameter selection instruction, and the simulation results are obtained and displayed on the preview sub-interface.

[0033] In a possible implementation, the method further includes:

[0034] In response to a grouping instruction input for a parameter type to be configured, dividing the parameter type to be configured into a plurality of parameter groups;

[0035] The fourth interface includes sub-interfaces corresponding to each of the parameter groups, and the sub-interface corresponding to each parameter group includes an algorithm parameter configuration sub-interface corresponding to each parameter type to be configured in the parameter group.

[0036] In a possible implementation, the product information includes: a product identification, a number of configured points, and a total number of points preset for the product to be detected, wherein the number of configured points is the number of points associated with the product to be detected;

[0037] The detection area information includes a view of the detection area.

[0038] A second aspect of the embodiments of the present application provides a visual detection configuration device, the device comprising:

[0039] An input module, used for receiving a visual inspection configuration request;

[0040] A configuration module, used to output a first interface in response to receiving the visual inspection configuration request; the first interface includes a product sub-interface, an area sub-interface and a point sub-interface; the product sub-interface is used to display product information; the area sub-interface is used to display the inspection area information of each inspection area in the target product; the point sub-interface is used to display the point information of each point in the target inspection area, wherein the target product is the product to which the selected product information belongs, and the target inspection area is the inspection area to which the selected inspection area information belongs.

[0041] According to a third aspect of the embodiments of the present application, a visual inspection system is provided, the system comprising a terminal device, a controller, and a mechanical arm, wherein the mechanical arm is provided with a camera;

[0042] The terminal device is used to execute any of the visual inspection configuration methods described in the first aspect above, and send the point position of each inspection area of ​​each product to be inspected to the controller;

[0043] The controller is used to control the robot arm to move the camera to capture images of each point in each inspection area of ​​the product to be inspected, respectively for each product to be inspected, and perform visual inspection on the product to be inspected based on the captured images.

[0044] Beneficial effects of the embodiments of the present application:

[0045] A visual inspection configuration method, device and visual inspection system provided in an embodiment of the present application, after receiving a visual inspection configuration request, outputs a first interface in response to the received visual inspection configuration request, wherein the first interface includes a product sub-interface, a region sub-interface and a point sub-interface, wherein the product information of each product to be inspected is displayed in the product sub-interface, the detection area information of each detection area in the product to which the selected product information belongs is displayed in the region sub-interface, and the point information of each point in the detection area to which the selected detection area information belongs is displayed in the point sub-interface. The configuration of each product to be inspected is efficiently displayed to the user through the first interface, and when the user configures a product to be inspected, the configuration of other products to be inspected can be referred to based on the product information of each product to be inspected displayed in the product sub-interface in the first interface, the detection area information of each detection area in the target product displayed in the region sub-interface, and the point information of each point in the target detection area displayed in the point sub-interface, so that the user can accurately configure the product to be inspected.

[0046] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0048] Figure 1 A schematic diagram of a visual inspection scenario provided in an embodiment of the present application;

[0049] Figure 2 A first flow chart of the visual detection configuration method provided in an embodiment of the present application;

[0050] Figure 3 A second flow chart of the visual detection configuration method provided in an embodiment of the present application;

[0051] Figure 4 An example diagram of a visual inspection configuration interface provided in an embodiment of the present application;

[0052] Figure 5 A third flow chart of the visual detection configuration method provided in an embodiment of the present application;

[0053] Figure 6 An example diagram of a regional sub-interface provided in an embodiment of the present application;

[0054] Figure 7 A fourth flow chart of the visual detection configuration method provided in an embodiment of the present application;

[0055] Figure 8 for Figure 7 A detailed schematic diagram of step S500 in the illustrated embodiment;

[0056] Fig. 9 This is an example diagram of the point configuration interface provided in the embodiment of the present application;

[0057] Fig.10 A fifth flow chart of the visual detection configuration method provided in an embodiment of the present application;

[0058] Fig.11 An example diagram of a camera parameter configuration interface provided in an embodiment of the present application;

[0059] Fig.12 for Fig.10 A detailed schematic diagram of step S700 in the illustrated embodiment;

[0060] Fig.13 An example diagram of the algorithm parameter configuration interface provided in the embodiment of the present application;

[0061] Fig.14An example diagram showing the algorithm parameter configuration and simulation results provided in the embodiments of the present application;

[0062] Fig.15 A schematic diagram of the structure of a visual detection configuration device provided in an embodiment of the present application;

[0063] Fig.16 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0065] In order to more clearly illustrate the visual detection configuration method, device and visual detection system provided by the present application, a possible application scenario of the visual detection configuration method provided by the present application will be exemplified below. It can be understood that the following example is only one possible application scenario of the visual detection configuration method provided by the present application. In other possible embodiments, the visual detection configuration method provided by the present application can also be applied to other possible application scenarios, and the following examples do not impose any limitations on this.

[0066] Taking the automobile production line as an example, workpiece defect detection is an important link in the automobile production line. Figure 1 , Figure 1 The schematic diagram of the scene of workpiece defect detection provided in the embodiment of the present application uses an infrared camera and a visible light camera to cooperate with each other to detect whether there are defects in the automobile frame. During the configuration process, in the related art, users often configure different models of products to be detected separately and independently, for example, first configure the frame of model A, and then configure the frame of model B, and when configuring the frame of model B, the configuration of the frame of model A is invisible. When users configure different models of products to be detected, there may be mutual reference. When it is impossible to configure multiple models of products to be detected at the same time, it is difficult for users to refer to each other when configuring, which makes it difficult for users to achieve accurate configuration when configuring multiple different models of products to be detected.

[0067] In order to efficiently display the configuration of each product to be detected to the user so that the user can accurately configure the product to be detected, a first aspect of the embodiment of the present application provides a visual detection configuration method, which is applied to an electronic device, see Figure 2 , Figure 2A first flow chart of a visual detection configuration method provided in an embodiment of the present application, the method comprising:

[0068] Step S100, receiving a visual inspection configuration request;

[0069] Step S200, in response to receiving the visual inspection configuration request, outputting a first interface; the first interface includes a product sub-interface, an area sub-interface, and a point sub-interface; the product sub-interface is used to display product information of each product to be inspected; the area sub-interface is used to display the inspection area information of each inspection area in the target product; the point sub-interface is used to display the point information of each point in the target inspection area;

[0070] The target product is the product to which the selected product information belongs, and the target detection area is the detection area to which the selected detection area information belongs.

[0071] Through the embodiment of the present application, after receiving the visual detection configuration request, in response to the received visual detection configuration request, the first interface is output, the first interface includes a product sub-interface, an area sub-interface and a point sub-interface, the product sub-interface displays the product information of each product to be detected, the area sub-interface displays the detection area information of each detection area in the product to which the selected product information belongs, and the point sub-interface displays the point information of each point in the detection area to which the selected detection area information belongs. The configuration of each product to be detected is efficiently displayed to the user through the first interface. When the user configures a product to be detected, the configuration of other products to be detected can be referred to according to the product information of each product to be detected displayed in the product sub-interface in the first interface, the detection area information of each detection area in the target product displayed in the area sub-interface, and the point information of each point in the target detection area displayed in the point sub-interface, so that the user can accurately configure the product to be detected.

[0072] For example, suppose that when configuring the frame of model A, the user neglected to configure a certain point on the A-pillar. When configuring the frame of model B, it is found that the point on the A-pillar needs to be configured. The user only needs to reselect the frame of model A in the product sub-area in the first interface, configure the point on the A-pillar on the frame of model A, and then reselect the frame of model B in the first interface to continue configuration. Since the configuration of each product to be tested is displayed in the first interface, the user cannot forget to configure the frame of model A or the frame of model B. In addition, when configuring the frame of model A, the user can refer to the configuration of the frame of model B, which is convenient for the user to accurately configure the product to be tested.

[0073] Points refer to the locations on the surface of the product to be inspected where visual inspection is required. For example, to inspect all connector defects on a car frame, each point refers to the location of each connector on the product to be inspected. For another example, to inspect the A-pillar of a car frame for defects, each point refers to multiple locations on the surface of the A-pillar of the car frame facing the camera.

[0074] The number of points can be pre-set by the user based on actual experience, or can be set by the user during the configuration process. It is understandable that in order to ensure comprehensive visual inspection of the product to be inspected and thus improve the accuracy of visual inspection, the number of points for visual inspection should not be less than the preset point threshold. The number of points of different products to be inspected is different, and the preset point threshold may also be different.

[0075] The visual inspection configuration request in the above step S100 may be input by the user during the first configuration, or may be input by the user when modifying the target inspection area and / or points in the target inspection area of ​​a target product that has been configured, or may be input when the user has completed the configuration of the product to be inspected and needs to configure a new product to be inspected, or needs to configure a new target area for the target product, or needs to configure new points in the target area.

[0076] Exemplarily, assuming that the products to be inspected are frame A, frame B, and frame C, and the user has not configured any of the frames A to C, if the user wants to configure frame A, then the visual inspection request is input by the user during the first configuration. In response to the visual inspection request, the product sub-interface is displayed in the first interface. After the user selects frame A in the product sub-interface, the user can sequentially select the target inspection area in the area sub-interface and configure the points in the selected target inspection area in the point sub-interface, thereby completing the configuration of frame A. If the user has completed the configuration of frame A and frame B and needs to configure frame C, in response to the visual inspection request, the user can select the target inspection area in the area sub-interface and configure the points in the selected target inspection area in the point sub-interface. In response to the visual inspection request, the product sub-interface is displayed in the first interface, and after the user selects frame C in the product sub-interface, the user can select the target detection area in the area sub-interface in turn and configure the points in the selected target detection area in the point sub-interface, thereby completing the configuration of frame C; when the user has completed the configuration of frames A to C and needs to modify the points in target detection area b of frame C, in response to the visual inspection request, the product sub-interface is displayed in the first interface, and the user selects frame C in the product sub-interface in turn. After selecting detection area b in the area sub-interface, the user can modify the point information of each point in each target detection area b in the point sub-interface.

[0077] The following is a detailed description of the configuration process in each sub-interface:

[0078] First, when the visual inspection configuration request is input by the user for the first configuration, or when the user has completed the configuration of the product to be inspected and needs to configure a new product to be inspected, the product information of each product to be inspected that has been configured will be displayed in the product sub-interface, and the product information of the product to be inspected that the user has not configured or the product information of the product to be inspected that the user has added needs to be configured. Based on this, in a possible implementation, Figure 3 As shown, the visual detection configuration method provided in the embodiment of the present application also includes:

[0079] Step S300, in response to a product adding instruction inputted into the product sub-interface, product information of the product to be tested indicated by the product adding instruction is displayed on the product sub-interface.

[0080] For example, assuming that it is necessary to configure frames A to C, but the user has not configured any of the frames A to C, if the user wants to configure frame A first, the user inputs a product add instruction for frame A, and in response to the product add instruction, the product information of frame A is displayed on the product sub-interface; for another example, the configuration of frames A and B has been completed, if the user wants to configure frame C, the user inputs a product add instruction for frame C, and in response to the product add instruction, the product information of frame C is displayed on the product sub-interface.

[0081] like Figure 4 The following is an example of the visual inspection configuration interface provided by the embodiment of the present application. The user can add products to be inspected by clicking the "+" next to the "Product List", and the product information of the added products to be inspected will be displayed in the "Product List". The product information includes but is not limited to the product identification, the number of configured points, the total number of preset points, the inspection area, etc.

[0082] By adopting the method of the embodiment of the present application, users can add products to be inspected according to their own needs without being limited to the preset inspection range, thereby expanding the application scope of visual inspection.

[0083] During the user configuration process, the product sub-interface will display the area information of each configured detection area. For the detection area that the user has not configured or if the user has added a new detection area, it is necessary to configure it. Based on this, in a possible implementation, Figure 5 As shown, the visual detection configuration method provided in the embodiment of the present application also includes:

[0084] Step S400, in response to an area adding instruction inputted to the area sub-interface, determining the detection area indicated by the area adding instruction as the detection area of ​​the target product.

[0085] For example, assuming that the detection areas 1 to 3 of the frame A need to be configured, but the user has not yet configured the detection area 3 of the frame A, the user inputs an area adding instruction for the detection area 3 of the frame A, and in response to the area adding instruction, the area information of the detection area 3 of the frame A is displayed in the area sub-interface. Figure 4 As shown, the detection area includes top view and left view. If the user wants to add other detection areas, he can add target detection areas by clicking the "+" on the right of "Detection Area".

[0086] By adopting the method of the embodiment of the present application, the user can select the area to be inspected of the product to be inspected according to his / her own needs, thereby reducing unnecessary visual inspections of the area to be inspected and saving computing resources.

[0087] During the user configuration process, for a target detection area, the point sub-interface will display the point information of the points that have been configured in the target detection area. For the points that the user has not configured or if the user has added new points, they need to be configured.

[0088] It is understandable that in order to facilitate the user to determine whether the selected target detection area is correct, in a possible implementation manner, a view corresponding to the target detection area of ​​the target product is also displayed in the area sub-interface of the first interface, such as Figure 6 The example diagram of the regional sub-interface provided in the embodiment of the present application is shown. The user can determine whether the selected target detection area is correct according to the view corresponding to the detection area of ​​the target product displayed in the regional sub-interface. Among them, the view corresponding to the target detection area of ​​the target product is uploaded in advance by the user. For example, if the user selects the top view, the frame schematic diagram corresponding to the top view is displayed. If the user selects the left view, the frame schematic diagram corresponding to the left view is displayed.

[0089] It is understandable that if the user needs to conduct a comprehensive visual inspection of the product to be inspected, the user needs to upload six views of the product to be inspected; if the user only needs to conduct a visual inspection on one side of the product to be inspected, then only the image containing the target inspection area of ​​the target product to be visually inspected needs to be uploaded. Exemplarily, if the product to be inspected is a plate-like material and a visual inspection is required on the upper surface of the plate-like material, the view is a top view of the plate-like material; when the product to be inspected is the top of a frame and a comprehensive visual inspection is required on the top of the frame, the view includes a left view, a right view, a top view, a front view, and a rear view of the top of the frame.

[0090] It is understandable that when uploading a picture, the user can mark which part of the product to be inspected the component contained in the picture is. For example, the marked input picture is a top view of the frame, or a left view of the door outer panel, etc., so that the user can select the target detection area based on the view corresponding to the part of the product to be inspected, and then configure the points in the target detection area.

[0091] In order to ensure visual inspection of all points of the product to be inspected, in a possible implementation, this can be achieved by controlling the robotic arm to move the camera to respectively capture images of each point in each inspection area. Specifically, there are at least the following two methods.

[0092] In the first method, Figure 1 As shown, at least one infrared camera 2 and at least one visible light camera 3 are installed on the robotic arm 1, the product 4 to be inspected is placed on the work assembly line 5, and a robotic arm 1 is set for the same product 4 to be inspected. The distance between the installation position of the robotic arm 1 and the product 4 to be inspected should be less than the preset working radius of the robotic arm 1.

[0093] In the second method, multiple robotic arms can be set up for the same product to be inspected, and each robotic arm can be installed with an infrared camera and a visible light camera at the same time, or some robotic arms can be installed with infrared cameras and some robotic arms can be installed with visible light cameras. The points that can be reached by multiple robotic arms cover all points of the product to be inspected.

[0094] It is understandable that no matter one or more robotic arms are set for the same product to be inspected, different cameras may need to be controlled to shoot images at different points. For example, when shooting at position A, it is necessary to drive the robotic arm equipped with infrared camera 2 and shoot the image of position A through infrared camera 2. When shooting at position B, it is necessary to drive the robotic arm equipped with infrared camera 2 and shoot the image of position B through infrared camera 2. Moreover, when multiple robotic arms are set for the same product to be inspected, different robotic arms may need to be driven to shoot images at different points.

[0095] Based on this, in order to accurately drive the target robot and control the camera to shoot the corresponding points, it is necessary to establish the association between the points, the camera and the robot when configuring the points. Based on this, in a possible implementation, Figure 7 As shown, the visual detection configuration method provided in the embodiment of the present application also includes:

[0096] Step S500, in response to a point adding instruction input into the point sub-interface, determining the point indicated by the point adding instruction in the view of the target detection area of ​​the target product, and determining the robot arm and the camera on the robot arm indicated by the point adding instruction; determining the point as the point of the target detection area, and associating the determined point, the robot arm and the camera;

[0097] The point information includes: the camera and robotic arm associated with the point, and the area of ​​the view based on which the point is determined.

[0098] For example, assuming that points 1 to 5 in target detection area a need to be configured, if the position currently to be configured is point 1, the user inputs a point adding instruction, determines the area to which point 1 belongs in the view of the target detection area a of the target product, and determines the robotic arm and the camera on the robotic arm indicated by the point adding instruction, and then associates point 1 with the robotic arm and the camera on the robotic arm indicated by the point adding instruction, thereby completing the configuration of point 1.

[0099] Specifically, Figure 4 As shown, if you need to add a new point, the user can add a new point by clicking the "+" on the right side of the "Point List".

[0100] By adopting the method of the embodiment of the present application, the user can select points in the target detection area according to his or her own needs, and configure the point information, thereby establishing an association between the points and the robotic arm and the camera. During the visual inspection process, the robotic arm and the camera can be accurately driven to shoot the points specified by the user, thereby improving the accuracy of visual inspection.

[0101] In the above embodiment, the camera on the robot arm can be an infrared camera or a visible light camera. Since the infrared camera is used to detect defects such as cracks, bubbles or looseness on the surface of the product to be inspected, the visible light camera is used to detect defects such as scratches, size, shape, etc. on the surface of the product to be inspected. Therefore, in order to make the visual inspection more comprehensive, in a possible implementation, an infrared camera and a visible light camera are set on the same target robot arm at the same time.

[0102] The robot arm may be a multi-joint robot arm, a rectangular coordinate robot arm, or other mechanical devices that can accurately locate a certain point in space for operation, and this application does not limit this. In order to improve the positioning accuracy of the robot arm, in a possible implementation, a six-axis robot arm may be used as the target robot arm.

[0103] In a possible implementation, Figure 8 As shown, Figure 8 for Figure 7The detailed schematic diagram of step S500 in the embodiment shown in the figure, the above step S500 may include the following steps:

[0104] Step S501, in response to a point adding instruction input into the point sub-interface, displaying a second interface including a robot arm selection sub-interface, a camera selection sub-interface, and a point selection sub-interface;

[0105] Among them, the point selection sub-interface is used to display the view of the target detection area of ​​the target product;

[0106] Step S502, in response to a robot arm selection instruction inputted into the robot arm selection sub-interface, determining the robot arm indicated by the robot arm selection instruction as the robot arm indicated by the point adding instruction;

[0107] Step S503, in response to a camera selection instruction inputted into the camera selection sub-interface, determining the camera indicated by the camera selection instruction as the camera indicated by the point adding instruction;

[0108] Step S504, in response to a point selection instruction input for a view displayed in the point selection sub-interface, determining the point indicated by the point selection instruction in the view as the point indicated by the point adding instruction.

[0109] For example, taking the product to be inspected as a car frame as an example, after the user enters the point adding instruction, the second interface is displayed as follows: Fig. 9 As shown, Fig. 9 An example diagram of the second interface provided in an embodiment of the present application. Assuming that the point name of the point indicated by the point adding instruction input by the user is "Point 1", when configuring Point 1 in the second interface, the user can select the communication robot arm as "No Robot Arm" as the robot arm indicated by the point adding instruction, and select the camera as "Camera 1, Camera 2, Camera 4" as the camera indicated by the point adding instruction. The user can also select the point of interest to the user in the frame schematic diagram in the second interface as the point indicated by the point adding instruction, or can also select the area of ​​interest as the point indicated by the point adding instruction by boxing the area around the point of interest.

[0110] By adopting the method of the embodiment of the present application, the user can determine the point according to his or her own needs, and determine the target robot arm and camera corresponding to the point to complete the configuration of the point, so as to facilitate the accurate driving of the target robot arm and control the camera to shoot the corresponding point during the visual inspection process.

[0111] It is understandable that there may be multiple detection areas for the same target product. When configuring the points in the target detection area, if you want to change the target detection area, you can return to the first interface and reselect the target detection area in the first interface, or you can directly change the points in the second interface.

[0112] Based on this, in a possible implementation, during the process of displaying the second interface, if a view switching instruction is received for the point selection sub-interface input, then in response to the instruction, the target view indicated by the view switching instruction is determined in the respective views of each inspection area of ​​the target product, the view displayed in the point selection sub-interface is switched to the target view, and the target inspection area is switched to the inspection area to which the target view belongs.

[0113] For example, Fig. 9 As shown, assuming that the target detection area is a top view, the top view is currently displayed in the point selection sub-interface of the second interface. If the user wants to switch the view displayed in the point sub-interface to a left view, the user can input a view switching instruction by clicking on the "left side" above the frame schematic diagram. In response to the instruction, it is determined whether there is a "left view" in the respective views of each detection area. If so, the view displayed in the point selection sub-interface is switched to the left view, and the "top view" of the target detection area is switched to the "left side".

[0114] By adopting the method of the embodiment of the present application, the user can directly switch the target detection area through the second interface without returning to the first interface to reselect, thereby improving the convenience of operation.

[0115] It is understandable that different products to be inspected are configured with different inspection algorithms, and different inspection points of the same product to be inspected, the parameter values ​​of the robot and camera, and the algorithm parameter values ​​are also different. Therefore, when configuring the points in the first interface, it is also necessary to configure the parameters of the camera and robot associated with each point.

[0116] Based on this, in a possible implementation manner, Fig.10 As shown, the visual detection configuration method provided in the embodiment of the present application also includes the following steps:

[0117] Step S600, in response to a parameter configuration instruction input for any point information, displaying a third interface;

[0118] The third interface includes parameter configuration sub-interfaces corresponding to each camera associated with the target point, and the target point is the point to which the point information targeted by the parameter configuration instruction belongs;

[0119] Step S700, in response to a parameter selection instruction inputted into any parameter configuration sub-interface, determining the parameters indicated by the parameter selection instruction, and associating the target camera with the determined parameters;

[0120] The target camera is the camera corresponding to the camera parameter configuration sub-interface targeted by the parameter selection instruction.

[0121] In a possible implementation, the parameter includes at least one of a photographing mode, highlight, exposure, gain, gamma, light source brightness, and a machine vision algorithm parameter.

[0122] In a specific embodiment, assuming that the user wants to configure the parameters of the camera associated with point 1, the user enters a parameter configuration instruction for point 1 in the first interface, for example, Figure 3 The user can enter the parameter configuration instruction by clicking "Configure" in point 1. The third interface displayed in response to the parameter configuration instruction is as follows: Fig.11 As shown, the display interface includes various parameters of the camera, such as highlight, exposure, gain, gamma, CH1 brightness, CH2 brightness, associated image acquisition parameters and associated detection parameters.

[0123] Among them, exposure, gain, and gamma are image parameters, CH1 brightness and CH2 brightness are light source parameters, associated image acquisition parameters and associated detection parameters are process parameters, associated image acquisition parameters are other imaging-related parameters except exposure, gain, and gamma as image parameters, such as digital amplifier, digital gain, etc., and associated monitoring parameters are algorithm configuration parameters other than imaging.

[0124] Users can set the value of each parameter, such as Fig.11 The values ​​of exposure, gain, gamma, CH1 parameter and CH2 parameter are all 100. Users can adjust the values ​​of each parameter by entering or clicking the buttons in the box. Users can also click the "Quick Configuration" button to quickly configure the associated color image parameters and associated detection parameters. In addition, users can also click the buttons corresponding to the cameras associated with the point to configure the parameters of each camera respectively. For example, click "Camera 2" to configure the parameters of Camera 2.

[0125] Since the defect detection algorithm used for each point of the same product to be inspected is the same, that is, the full algorithm parameters used in the process of defect detection of each point using the target defect detection algorithm are also the same, the difference is that some parameter values ​​in the full algorithm parameters may be different. If the full algorithm parameters are configured one by one for each point, the configuration process is cumbersome and time-consuming. Based on this, in another possible implementation, the parameters include machine vision algorithm parameters.

[0126] In this embodiment, if Fig.12 As shown, Fig.12 for Fig.10The detailed schematic diagram of step S700 in FIG. 1 , wherein the step S700 specifically includes:

[0127] Step S701, displaying the parameter types of all algorithm parameters used in the visual inspection process;

[0128] Step S702, in response to a type selection instruction input for a displayed parameter type, determining a parameter type to be configured indicated by the type selection instruction;

[0129] Step S703, displaying a fourth interface including algorithm parameter configuration sub-interfaces corresponding to each parameter type to be configured;

[0130] Step S704, in response to an algorithm parameter configuration instruction input into any algorithm parameter configuration sub-interface, determining a parameter value indicated by the algorithm parameter configuration instruction, and using a machine vision parameter having the determined parameter value and a target parameter type as a machine vision algorithm parameter indicated by the parameter selection instruction;

[0131] The target parameter type is the parameter type to be configured corresponding to the algorithm parameter configuration sub-interface targeted by the algorithm parameter configuration instruction.

[0132] For example, Fig.13 As shown in the figure, when testing the machine vision detection parameters, the user will first be shown the parameter types of all algorithm parameters used in the visual detection process, such as process parameters, contour matching, image source, etc. Each parameter type includes at least one parameter. For example, contour matching includes contour matching 1, and basic parameters include output mask, region type, creation, shape, inheritance mode, region, center point X, center point Y, width, height, angle, shielding area, position correction and other parameters. After the user selects the type of parameter to be configured, Fig.13 The "Measurement Parameters" on the right side displays the parameters to be configured selected by the user. Then, the algorithm parameter configuration sub-interface corresponding to each parameter type to be configured is displayed in the fourth interface. Fig.14 The figure shows an example of the fourth interface provided in the embodiment of the present application. Fig.14 As shown, the user can configure the parameter value of the configuration parameter in the fourth interface.

[0133] It can be understood that the parameters to be configured in the embodiments of the present application can be algorithm parameters that need to be configured in the visual detection algorithm, or they can be algorithm parameters that need to be configured in the user-defined algorithm, that is, custom parameters; or some of the parameters to be configured can be algorithm parameters that need to be configured in the visual detection algorithm, and some of the parameters to be configured can be custom parameters.

[0134] For example, Fig.14As shown, users can configure the algorithm parameters that need to be configured by themselves in the selected visual inspection algorithm, such as template serial number, straight line search, shielding area, filter size, and the adopted value of the camera-data queue, and configure the custom parameters such as script name, branch name, hole number, hole area, etc.

[0135] By adopting the method of the embodiment of the present application, for each point, the user only needs to configure the configuration parameters, without having to configure the full set of algorithm parameters for each point, thereby reducing the complexity of the algorithm configuration and improving the configuration efficiency.

[0136] It is understandable that in order to make the set parameter values ​​more in line with user needs, in the process of configuring the parameters to be configured, the parameter values ​​of the parameters to be configured can be determined according to the configuration effects.

[0137] Based on this, in a possible implementation manner, the visual detection configuration method provided in the embodiment of the present application further includes:

[0138] After the machine vision parameters whose values ​​are the determined parameter values ​​and whose types are the target parameter types are used as the machine vision algorithm parameters indicated by the parameter selection instructions, machine vision simulation is performed according to the machine vision algorithm parameters indicated by the existing parameter selection instructions, and the simulation results are obtained and displayed on the preview sub-interface.

[0139] For example, Fig.14 As shown, Fig.14 The right side shows the simulation results of the machine vision simulation according to the machine vision algorithm parameters indicated by the existing parameter selection instructions. Fig.14 When you modify the parameter values ​​of the parameters to be configured on the left, the simulation results on the right will also change accordingly. Users can set the algorithm parameter values ​​that meet their needs based on the simulation results.

[0140] After the user adjusts the parameter values ​​of the parameters to be configured, if the user believes that the simulation results currently displayed meet the requirements, he can click Fig.14 Click the "OK" button to confirm that the currently set algorithm parameter values ​​meet the requirements. In this way, users can adjust the algorithm parameter values ​​according to the simulation results, which helps users better understand the impact of different parameters and make the set parameter values ​​more in line with user needs.

[0141] It is understandable that there may be certain correlations between the parameters to be configured selected by the user, for example, parameters 1 to 5 are mutually related, and parameters 6 to 10 are mutually related. In order to facilitate the user to understand the correlations between the parameters, in a possible implementation, the user can group the configuration parameters and display the sub-interfaces corresponding to each group in the fourth interface.

[0142] Based on this, in a possible implementation manner, the visual detection method provided in the embodiment of the present application further includes:

[0143] In response to a grouping instruction input for a parameter type to be configured, dividing the parameter type to be configured into a plurality of parameter groups;

[0144] The fourth interface includes sub-interfaces corresponding to each parameter group, and the sub-interface corresponding to each parameter group includes an algorithm parameter configuration sub-interface corresponding to each parameter type to be configured in the parameter group.

[0145] It can be understood that in the above embodiment, after the point configuration is completed, there is no order between the camera parameter configuration process and the algorithm parameter configuration process. The camera parameters can be configured first, or the algorithm parameters can be configured first. This application does not limit this.

[0146] Based on the above, in the process of configuring the target product, it is necessary to configure the target detection area of ​​the target product and the points in the target detection area, and there may be multiple target detection areas and points in the target detection area for each target product. Therefore, in order to facilitate the user to understand the point configuration process and then complete the configuration of all points, in a possible implementation mode, product information such as product identification, the number of configured points and the total number of points preset for the product to be detected can be displayed in the product sub-interface in the first interface, where the number of configured points is the number of points associated with the product to be detected, and the detection area information includes a view of the detection area.

[0147] For example, Figure 4 As shown, after one point of the A-type frame is configured, the number of points that have been configured and the total number of preset points are displayed to the user in the number of points "20 / 20", where "20" represents the number of points that have been configured and "20" represents the total number of preset points.

[0148] It is understandable that when all points of the product to be detected have been configured or not configured, the number of points can be displayed in different styles so that the user can notice the information at the first time and understand the progress of point configuration. Exemplarily, when the points of the product to be detected are not fully configured, the number of points, i.e., the number of points that have been configured and the total number of preset points, are displayed in a first style. After all points of the product to be detected are configured, the number of points that have been configured and the total number of preset points are displayed in a second style. The first style and the second style are different.

[0149] In order to more clearly illustrate the visual detection configuration method of the embodiment of the present application, a specific description is given below with reference to the accompanying drawings.

[0150] It is understandable that there may be multiple products to be tested. Therefore, before configuring the points of the products to be tested, it is necessary to first configure the models of the products to be tested and the detection areas of the products to be tested in the product list. For example, product 1 to be tested is a type A frame, product 2 to be tested is a type B frame, and product 3 to be tested is a type C frame.

[0151] like Figure 4 As shown, when configuring the model of the product to be tested in the product list, it is necessary to configure the model, identification number (code), and number of preset points on the product to be tested. For example, the code of the A-type frame can be set to "A123456" and the number of preset points can be set to 20 in the product list.

[0152] After the user selects the target product that needs to be configured, select the target inspection area that needs to be visually inspected in the target product, and then Figure 4 The target detection area of ​​the target product uploaded by the user in advance is displayed in the detection area of ​​the target product. For example, if the target product is an A-type frame and the target detection area is the top of the A-type frame, then Figure 4 The corresponding frame schematic diagram is displayed in the detection area.

[0153] For the image displayed in the detection area, the points can be configured according to the preset number of points in the image. Figure 4 As shown, click the configuration button corresponding to point 1 to display the following Fig. 9 The interface shown in the figure shows a view of the target detection area. The user can select a point of interest or a frame around the point of interest in the view of the target detection area as point 1. Then, an association relationship between the point and the robot arm and the camera is established, that is, the communication robot arm and the bound camera corresponding to the point are determined. For example, Fig. 9 As shown, after the user determines point 1 in the image to be inspected, it is determined that this point does not require a robot arm to drive the camera to take pictures. Therefore, the communication robot arm of point 1 is selected as "no robot arm", and camera 1, camera 2, and camera 4 are bound to point 1. When performing defect detection, cameras 1, 2, and 4 take pictures of point 1 of the product to be inspected. After completing the point selection and binding of the robot arm and camera, click the "OK" button to complete the configuration of the point.

[0154] Then configure the parameters corresponding to the point. Fig.11 As shown in the figure, after the point configuration is completed, the parameter values ​​of the camera parameters such as highlight, exposure, gain, gamma, CH1 brightness, and CH2 brightness are configured. Users can modify the parameter values ​​of each camera parameter according to their needs to obtain the camera parameters corresponding to the point.

[0155] like Figure 4 As shown in the figure, after configuring a point, you can also click the "View Detection Area" button to view the position of the point in the target detection area.

[0156] Then set the process parameters of the visual inspection algorithm, such as the image acquisition process parameters and the inspection process parameters. Fig.13 As shown in the figure, all algorithm parameters used in the process of executing the visual detection algorithm are displayed to the user. The user can select the configuration parameters that need to be modified and reorganize them. Fig.13 The interface shown shows the parameters to be configured selected by the user, and the simulation results obtained by performing machine vision simulation according to the machine vision algorithm parameters indicated by the existing parameter selection instructions. The user can adjust the algorithm parameter values ​​according to the simulation results to determine the target algorithm parameter values ​​corresponding to the point, thereby completing the complete configuration process of a point.

[0157] During the visual inspection process, if you need to set the parameters corresponding to a certain point, you only need to set the parameters to be configured corresponding to the point without setting the full algorithm parameters. This will complete the parameter correction of the point and quickly enter the visual inspection process.

[0158] Corresponding to the aforementioned first aspect, the second aspect of the embodiment of the present application provides a visual detection configuration device, such as Fig.15 As shown, the device comprises:

[0159] Input module 1501, used for receiving visual inspection configuration request;

[0160] Configuration module 1502 is used to output a first interface in response to receiving a visual inspection configuration request; the first interface includes a product sub-interface, an area sub-interface and a point sub-interface; the product sub-interface is used to display product information; the area sub-interface is used to display the inspection area information of each inspection area in the target product; the point sub-interface is used to display the point information of each point in the target inspection area, wherein the target product is the product to which the selected product information belongs, and the target inspection area is the inspection area to which the selected inspection area information belongs.

[0161] Through the embodiment of the present application, after receiving the visual detection configuration request, in response to the received visual detection configuration request, the first interface is output, the first interface includes a product sub-interface, an area sub-interface and a point sub-interface, the product sub-interface displays the product information of each product to be detected, the area sub-interface displays the detection area information of each detection area in the product to which the selected product information belongs, and the point sub-interface displays the point information of each point in the detection area to which the selected detection area information belongs. The configuration of each product to be detected is efficiently displayed to the user through the first interface. When the user configures a product to be detected, the configuration of other products to be detected can be referred to according to the product information of each product to be detected displayed in the product sub-interface in the first interface, the detection area information of each detection area in the target product displayed in the area sub-interface, and the point information of each point in the target detection area displayed in the point sub-interface, so that the user can accurately configure the product to be detected.

[0162] According to a third aspect of the embodiments of the present application, a visual inspection system is provided, the system comprising a terminal device, a controller, and a mechanical arm, wherein a camera is arranged on the mechanical arm;

[0163] A terminal device, used to execute any of the visual inspection configuration methods of the first aspect above, and send the position of each inspection area of ​​each product to be inspected to the controller;

[0164] The controller is used to control the robot arm to move the camera to capture images of each point in each inspection area of ​​the product to be inspected, and perform visual inspection on the product to be inspected based on the captured images.

[0165] Through the embodiment of the present application, after receiving the visual detection configuration request, in response to the received visual detection configuration request, the first interface is output, the first interface includes a product sub-interface, an area sub-interface and a point sub-interface, the product sub-interface displays the product information of each product to be detected, the area sub-interface displays the detection area information of each detection area in the product to which the selected product information belongs, and the point sub-interface displays the point information of each point in the detection area to which the selected detection area information belongs. The configuration of each product to be detected is efficiently displayed to the user through the first interface. When the user configures a product to be detected, the configuration of other products to be detected can be referred to according to the product information of each product to be detected displayed in the product sub-interface in the first interface, the detection area information of each detection area in the target product displayed in the area sub-interface, and the point information of each point in the target detection area displayed in the point sub-interface, so that the user can accurately configure the product to be detected.

[0166] The present application also provides an electronic device, such as Fig.16 As shown, including:

[0167] Memory 1601, used for storing computer programs;

[0168] The processor 1602 is used to implement the following steps when executing the program stored in the memory 1601:

[0169] receiving a visual inspection configuration request;

[0170] In response to receiving the visual inspection configuration request, a first interface is output; the first interface includes a product sub-interface, an area sub-interface and a point sub-interface; the product sub-interface is used to display product information of each product to be inspected; the area sub-interface is used to display the inspection area information of each inspection area in the target product; the point sub-interface is used to display the point information of each point in the target inspection area, wherein the target product is the product to which the selected product information belongs, and the target inspection area is the inspection area to which the selected inspection area information belongs.

[0171] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0172] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0173] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned visual detection configuration methods are implemented.

[0174] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the visual detection configuration methods in the above embodiments.

[0175] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0176] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0177] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0178] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A visual inspection configuration method, characterized in that: The method comprises: receiving a visual inspection configuration request; In response to receiving the visual inspection configuration request, a first interface is output; the first interface includes a product sub-interface, an area sub-interface and a point sub-interface; the product sub-interface is used to display product information of each product to be inspected; the area sub-interface is used to display the inspection area information of each inspection area in the target product; the point sub-interface is used to display the point information of each point in the target inspection area, wherein the target product is the product to which the selected product information belongs, and the target inspection area is the inspection area to which the selected inspection area information belongs.

2. The method according to claim 1, characterized in that The method further comprises: In response to a product adding instruction inputted into the product sub-interface, product information of the product to be inspected indicated by the product adding instruction is displayed on the product sub-interface.

3. The method according to claim 1, characterized in that The method further comprises: In response to an area adding instruction input to the area sub-interface, a detection area indicated by the area adding instruction is determined as a detection area for a target product.

4. The method according to claim 1, characterized in that The method further comprises: In response to a point adding instruction inputted into the point sub-interface, determining the point indicated by the point adding instruction in the view of the target detection area of ​​the target product, and determining the robot arm indicated by the point adding instruction and the camera on the robot arm; determining the point as the point of the target detection area, and associating the determined point, robot arm and camera; The point information includes: the camera and the robotic arm associated with the point and the area to which the view based on which the point is determined belongs.

5. The method according to claim 4, characterized in that In response to the point adding instruction inputted into the point sub-interface, determining the point indicated by the point adding instruction in the view of the target detection area of ​​the target product, and determining the robot arm indicated by the point adding instruction and the camera on the robot arm, including: In response to a point adding instruction input to the point sub-interface, displaying a second interface including a robot selection sub-interface, a camera selection sub-interface, and a point selection sub-interface, wherein the point selection sub-interface is used to display a view of a target detection area of ​​a target product; In response to a robot arm selection instruction input into the robot arm selection sub-interface, determining the robot arm indicated by the robot arm selection instruction as the robot arm indicated by the point adding instruction; In response to a camera selection instruction inputted into the camera selection sub-interface, determining the camera indicated by the camera selection instruction as the camera indicated by the point adding instruction; In response to a point selection instruction input for a view displayed in the point selection sub-interface, a point indicated by the point selection instruction is determined in the view as the point indicated by the point adding instruction.

6. The method according to claim 5, characterized in that The method further comprises: In response to a view switching instruction input into the point selection sub-interface, the target view indicated by the view switching instruction is determined in the respective views of each inspection area of ​​the target product, the view displayed in the point selection sub-interface is switched to the target view, and the target inspection area is switched to the inspection area to which the target view belongs.

7. The method according to claim 4, characterized in that The method further comprises: In response to a parameter configuration instruction input for any point information, a third interface is displayed, wherein the third interface includes a parameter configuration sub-interface corresponding to each camera associated with the target point, and the target point is the point to which the point information targeted by the parameter configuration instruction belongs; In response to a parameter selection instruction input to any parameter configuration sub-interface, the parameters indicated by the parameter selection instruction are determined, and a target camera is associated with the determined parameters, wherein the target camera is the camera corresponding to the camera parameter configuration sub-interface targeted by the parameter selection instruction.

8. The method according to claim 7, characterized in that The parameters include at least one of a photographing mode, highlight, exposure, gain, gamma, light source brightness, and a machine vision algorithm parameter.

9. The method according to claim 7, characterized in that: The parameters include machine vision algorithm parameters; The determining the parameter indicated by the parameter selection instruction comprises: Displays the parameter types of all algorithm parameters used in the visual inspection process; In response to a type selection instruction input for a displayed parameter type, determining a parameter type to be configured indicated by the type selection instruction; Displaying a fourth interface including algorithm parameter configuration sub-interfaces corresponding to each of the parameter types to be configured; In response to an algorithm parameter configuration instruction input into any algorithm parameter configuration sub-interface, the parameter value indicated by the algorithm parameter configuration instruction is determined, and a machine vision parameter whose value is the determined parameter value and whose type is a target parameter type is used as the machine vision algorithm parameter indicated by the parameter selection instruction, wherein the target parameter type is the parameter type to be configured corresponding to the algorithm parameter configuration sub-interface targeted by the algorithm parameter configuration instruction.

10. The method according to claim 9, characterized in that The fourth interface also includes a preview sub-interface; The method further comprises: After the machine vision parameters whose values ​​are the determined parameter values ​​and whose types are the target parameter types are used as the machine vision algorithm parameters indicated by the parameter selection instruction, machine vision simulation is performed according to the existing machine vision algorithm parameters indicated by the parameter selection instruction, and the simulation results are obtained and displayed on the preview sub-interface.

11. The method according to claim 9, characterized in that The method further comprises: In response to a grouping instruction input for a parameter type to be configured, dividing the parameter type to be configured into a plurality of parameter groups; The fourth interface includes sub-interfaces corresponding to each of the parameter groups, and the sub-interface corresponding to each parameter group includes an algorithm parameter configuration sub-interface corresponding to each parameter type to be configured in the parameter group.

12. The method according to claim 1, characterized in that The product information includes: product identification, the number of configured points, and the total number of points preset for the product to be detected, wherein the number of configured points is the number of points associated with the product to be detected; The detection area information includes a view of the detection area.

13. A visual inspection configuration device, characterized in that: The device comprises: An input module, used for receiving a visual inspection configuration request; A configuration module, used to output a first interface in response to receiving the visual inspection configuration request; the first interface includes a product sub-interface, an area sub-interface and a point sub-interface; the product sub-interface is used to display product information; the area sub-interface is used to display the inspection area information of each inspection area in the target product; the point sub-interface is used to display the point information of each point in the target inspection area, wherein the target product is the product to which the selected product information belongs, and the target inspection area is the inspection area to which the selected inspection area information belongs.

14. A visual inspection system, characterized in that: The system includes a terminal device, a controller, and a mechanical arm, wherein the mechanical arm is provided with a camera; The terminal device is used to execute the visual inspection configuration method according to any one of claims 1 to 12, and send the point position of each inspection area of ​​each product to be inspected to the controller; The controller is used to control the robot arm to move the camera to capture images of each point in each inspection area of ​​the product to be inspected, respectively for each product to be inspected, and perform visual inspection on the product to be inspected based on the captured images.

Images