Optical detection device and optical detection method

Abstract

The invention provides an optical detection device with an optical detection module and an optical detection method. The optical detection module comprises a 3D optical detector which is arranged along a central axis parallel to the first direction and is provided with a 3D detection lens, and the lens direction of the 3D detection lens faces a predetermined block aligned with the central axis so as to detect 3D information of the predetermined block; the illumination module is arranged between the 3D detection lens and the preset block around the middle shaft and provides illumination light for the preset block; and the 2D detection module comprises a plurality of 2D optical detectors with 2D detection lenses, and the 2D optical detectors are arranged around the middle shaft. The lens direction of each 2D detection lens deviates from the central axis, and a 2D image of the predetermined block is obtained based on the preset optical path. The preset optical path at least has a first optical path, and the first optical path has at least one inclination angle relative to the first direction.

Description

Technical Field

[0001] The present invention relates to an optical detection device and an optical detection method. Specifically, the present invention relates to an optical detection device and an optical detection method having a plurality of 2D optical detectors arranged around a central axis. Background Art

[0002] In modern industrial processes, the inspection process for testing the quality of the final product is a key step in ensuring product yield. However, as the diversity of products that can be produced by modern technology increases, the challenges of automating the inspection process of these products have also increased. In particular, the inspection of objects of specific shapes, such as irregular shapes or curved surfaces, is often difficult to automate. This is because the defects of the object may require observation from a specific perspective in a specific configuration, and it is particularly difficult to detect defects that can only be found from these perspectives based on instruments on large-sized products with irregular shapes or curved surfaces. In addition, there are many types of defects that may appear on the object, which also increases the complexity of inspection. Therefore, modern optical instruments such as 3D inspection instruments inevitably have their limitations and obstacles in detecting these defects.

[0003] As mentioned above, the detection of complex defects often needs to rely on manual operation and visual identification. This obviously increases the inconvenience of detection and the complexity of operation. In addition, manual visual inspection is extremely dependent on the experience of the inspector, and it is difficult to accurately and stably maintain the inspection quality. Therefore, in order to reduce the inspection time and inspection cost, and improve the reliability and reproducibility of the inspection process, it is necessary to develop optical inspection instruments or optical inspection methods that can imitate vision to detect complex defects of various products. Summary of the invention

[0004] To solve the above problems, an optical detection device is proposed according to one embodiment of the present invention, which includes an optical detection module, and the optical detection module includes: a 3D optical detector, which is arranged along a central axis parallel to a first direction and has a 3D detection lens, wherein the lens direction of the 3D detection lens is toward a predetermined block separated from the 3D detection lens to detect 3D information of the predetermined block, and the predetermined block is aligned with the central axis; an illumination module, which is arranged around the central axis between the 3D detection lens and the predetermined block, and is configured to provide illumination light to the predetermined block; and a 2D detection module, which includes a plurality of 2D optical detectors arranged around the central axis, wherein each 2D optical detector has a 2D detection lens, the lens direction of the 2D detection lens is offset from the central axis, and is configured to obtain a 2D image of the predetermined block based on a default optical path, and wherein the preset optical path has at least a first optical path, and the first optical path has at least one inclination angle relative to the first direction.

[0005] In one embodiment of the optical inspection device, the optical inspection module further includes a line scanning laser device that is disposed offset from the central axis and is configured to detect the 3D information of the predetermined block by line scanning laser.

[0006] In one embodiment of the optical inspection device, the optical inspection module further includes a telecentric lens disposed away from the central axis and facing the predetermined block, and configured to obtain the size and 2D image profile of the predetermined block.

[0007] In an embodiment of the optical inspection device, the lens directions of the plurality of 2D inspection lenses are directly directed toward the predetermined block, and the first light path is directly directed from the predetermined block to each of the 2D inspection lenses.

[0008] In one embodiment of the optical detection device, the 2D detection module further comprises a reflector set arranged around the central axis, wherein the reflector set has a first reflector corresponding to each of the 2D detection lenses, and the reflective surface of the first reflector faces the predetermined block, and

[0009] The first light path is directed from the predetermined area to the reflective surface of the first reflector.

[0010] In an embodiment of the optical detection device, a reflective surface of the first reflector is inclined toward the central axis relative to the first direction.

[0011] In one embodiment of the optical detection device, the plurality of 2D detection lenses extend radially outward from an end relatively close to the central axis in a radiating direction and are disposed between the plurality of first reflectors and the central axis, so that the lens ends of the plurality of 2D detection lenses relatively close to the predetermined block in a vertical distance in the first direction are farther away from the central axis than the back ends of the plurality of 2D detection lenses relatively far from the predetermined block in a vertical distance in the first direction, and

[0012] Wherein, the lens direction of each of the 2D detection lenses is toward the reflective surface of the first reflector.

[0013] In an embodiment of the optical inspection device, the lens direction of each of the 2D inspection lenses has at least one tilt angle relative to the first direction.

[0014] In one embodiment of the optical detection device, corresponding to each of the 2D detection lenses, the reflector assembly further has a second reflector corresponding to each of the first reflectors, and the second reflector is disposed between the corresponding first reflector and the central axis and between the corresponding 2D detection lens and the preset block, and the reflective surface of the second reflector faces away from the preset block, and

[0015] The plurality of 2D detection lenses are disposed between the plurality of first reflectors and the central axis, and

[0016] The lens direction of each of the 2D detection lenses faces the reflection surface of the second reflection mirror, and the reflection surface of the first reflection mirror faces the predetermined block and the reflection surface of the second reflection mirror.

[0017] In one embodiment of the optical detection device, the multiple 2D detection lenses and the 3D detection lens extend along the first direction and are integrated into an optical lens holder extending along the central axis and toward the predetermined block, and the multiple 2D detection lenses are distributed around the 3D detection lens.

[0018] In an embodiment of the optical inspection device, the optical inspection device further comprises a movable mechanical arm, and the optical inspection module is installed on the mechanical arm.

[0019] In one embodiment of the optical detection device, the lighting module includes a plurality of light bars extending along directions perpendicular to the first direction, and

[0020] Each of the plurality of light bars has an illuminating surface, and the illuminating surface is relatively oriented toward the central axis.

[0021] In an embodiment of the optical detection device, at least one of the plurality of light bars has a degree of freedom of displacement back and forth along the first direction.

[0022] In an embodiment of the optical detection device, the illumination surface of at least one of the plurality of light bars has a degree of freedom of rotation to change an inclination angle of the illumination surface relative to the first direction.

[0023] In one embodiment of the optical detection device, a control module is further included, which controls the moving trajectory and detection stop point of the optical detection module to detect based on different positions of an object to be detected as the predetermined block.

[0024] In one embodiment of the optical detection device, an analysis module is further included. The analysis module is configured to analyze the 3D information for the same predetermined block and the 2D images of different viewing angles obtained by the optical detection module.

[0025] Another embodiment of the present invention provides an optical inspection method using the optical inspection device as described above, which includes the following steps: aligning the central axis with the position to be inspected of the object to be inspected as the predetermined block; obtaining 3D information of the predetermined block by the 3D optical detector; providing the illumination light to the predetermined block by the illumination module; and obtaining 2D images of the predetermined block from different perspectives by the multiple 2D optical detectors.

[0026] In one embodiment of the optical detection method of the optical detection device as described above, the optical detection method is configured to detect a plurality of the objects to be detected, and the plurality of objects to be detected have the same configuration, and the optical detection method further comprises:

[0027] Based on one of the multiple objects to be inspected, the 3D optical detector is used to inspect and correspondingly splice and model to form a standard 3D model, and before performing optical inspection on the other multiple objects to be inspected:

[0028] Using the 3D optical detector to obtain 3D information of local blocks of the object to be inspected;

[0029] Based on the comparison of the 3D information of the local block with the standard 3D model, the objects to be detected are spatially aligned; and

[0030] Based on the result of spatial alignment, an adaptive path is planned so that the optical detection module changes multiple positions according to the adaptive path to obtain 3D information of different positions of the predetermined block and 2D images of different viewing angles of each object to be detected.

[0031] According to the optical detection device and the optical detection method using the same provided by the embodiments of the present invention, the predetermined block can be detected in 3D and 2D modes from different directions in imitation of human vision, and images of the same location observed from different perspectives can be obtained, thereby improving the accuracy and efficiency of the detection process. Therefore, according to the optical detection device and the optical detection method using the same provided by the embodiments of the present invention, the process that needs to rely on artificial vision for detection can be reduced, and the cost and time of the detection process can be reduced, and the reliability and reproducibility of the detection process can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 and Figure 2 FIG. 1 is a schematic three-dimensional diagram of an optical detection device according to a first embodiment of the present invention.

[0033] Figure 3 FIG. 1 is a schematic diagram of a configuration of an optical detection device according to a first embodiment of the present invention.

[0034] Figure 4 and Figure 5 FIG. 4 is a schematic three-dimensional diagram of an optical detection device according to a second embodiment of the present invention.

[0035] Figure 6 FIG. 1 is a schematic diagram of a configuration of an optical detection device according to a second embodiment of the present invention.

[0036] Figure 7 FIG. 4 is a schematic diagram of a configuration of an optical detection device according to a third embodiment of the present invention.

[0037] Figure 8 According to one embodiment of the present invention, Figure 7 A simple schematic diagram of a nine-square grid image detected by an optical detection device.

[0038] Fig. 9 FIG. 1 is a simple schematic diagram of an optical detection device detecting different positions according to an embodiment of the present invention.

[0039] Fig.10 FIG. 4 is a flow chart of an optical detection method according to an embodiment of the present invention.

[0040] Fig.11 FIG. 4 is a flow chart of an optical detection method according to yet another embodiment of the present invention.

[0041] Wherein, the reference numerals are:

[0042] 10, 20, 30: Optical detection module

[0043] 50: Reserved block

[0044] 100: Lighting module

[0045] 110: Light bar

[0046] 120: Bracket

[0047] 140: Rotational Movement

[0048] 200: 2D optical detector

[0049] 210: 2D detection lens

[0050] 300: 3D optical detector

[0051] 310: 3D detection lens

[0052] 400: 2D optical detector

[0053] 410: 2D detection lens

[0054] 500: Line scanning laser

[0055] 510: Reflector

[0056] 600: Telecentric lens

[0057] 800: Control module

[0058] 900: Analysis module

[0059] 1000: Optical detection device

[0060] AM: Robotic Arm

[0061] D1: First direction

[0062] DP: Object to be detected

[0063] e: Lens end

[0064] E2: Lens Direction

[0065] E3: Lens Direction

[0066] E4: Lens Direction

[0067] f: back end

[0068] F1: Reflective surface

[0069] F2: Reflective surface

[0070] FM: Reflector Group

[0071] K1: Tilt angle

[0072] L0: Light

[0073] M1: First reflector

[0074] M2: Second reflector

[0075] M10: Optical detection method

[0076] M10': Optical detection method

[0077] N: Optical lens mount

[0078] O: Center axis

[0079] P: Preset light path

[0080] P1: First light path

[0081] P2: Second light path

[0082] P3: The third light path

[0083] Q1: Irradiation surface

[0084] R2: Tilt Angle

[0085] RD: 2D detection module

[0086] S10, S20, S30, S40, S100, S200, S300, S400: Steps

[0087] T1, T2: Location

[0088] W0: 3D image

[0089] W1, W2, W3, W4: 2D images DETAILED DESCRIPTION

[0090] Various embodiments will be described below, and those with ordinary knowledge in the art should be able to easily understand the spirit and principles of the present invention by referring to the description with the accompanying drawings. However, although some specific embodiments will be specifically described in the text, these embodiments are only illustrative and are not considered to be limiting or exhaustive in all aspects. Therefore, for those with ordinary knowledge in the art, various changes and modifications to the present invention should be obvious and easily achievable without departing from the spirit and principles of the present invention.

[0091] According to various embodiments of the present invention, an optical detection device including an optical detection module is provided. For example, according to one embodiment, the optical detection module may be as follows: Figure 1 and Figure 2 The optical detection module 10 shown includes an illumination module 100, a 2D detection module RD and a 3D optical detector 300. Figure 2 As shown, the optical detection module 10 can be further connected with other components (not shown) to form an optical detection device 1000. Figure 1 and Figure 2 Referring to the simple schematic diagram of the optical path configuration of the corresponding optical module 10 Figure 3 , the 3D optical detector 300 may be arranged along a central axis O parallel to the first direction D1 and have a 3D detection lens 310. Among them, the lens direction E3 of the 3D detection lens 310 may be oriented toward a predetermined block 50 separated from the 3D detection lens 310, so that the 3D information of the predetermined block 50 can be detected. Specifically, the predetermined block 50 may be aligned with the central axis O, and thus correspondingly aligned with the direction of the 3D detection lens 310. In this way, the 3D optical detector 300 can obtain the 3D information of the predetermined block 50. For example, the 3D detection lens 310 of the 3D optical detector 300 may emit a 3D point cloud of RGB array structured light, and a 3D image of an object placed in the predetermined block 50 may be established by the structured light. Alternatively, the 3D detection lens 310 of the 3D optical detector 300 may also emit uniform coaxial light for 3D detection, or may be other optical instruments that can construct color 3D images. As mentioned above, according to various embodiments of the present invention, the applicable 3D optical detector 300 may have many variations.

[0092] As described above, the optical detection module 10 according to the present embodiment can obtain 3D information of the predetermined block 50. In addition, according to the present embodiment, the lighting module 100 can be arranged around the central axis O between the 3D detection lens 310 and the predetermined block 50, and is configured to provide the predetermined block 50 with an illumination light L0, so that the detection effect of the predetermined block 50 is clearer. For example, according to some embodiments, the lighting module 100 may, for example, include a plurality of light bars 110 supported by a bracket 120, and the plurality of light bars 110 may, for example, extend laterally along a direction perpendicular to the first direction D1. Each of the plurality of light bars 110 around the central axis O may have an illumination surface Q1, and the illumination surface Q1 may emit light relatively obliquely toward the central axis O and the predetermined block 50.

[0093] As described above, according to some embodiments of the present invention, the lighting module 100 can adjust or mix the light for the object to be detected in the predetermined block 50, so as to irradiate light of different colors accordingly. In this way, it is easier for other optical instruments to obtain clearer image information. For example, a reddish band of light can be irradiated for a white metal object to be detected, so that the shaping effect is more obvious.

[0094] In addition, according to some embodiments, at least one of the plurality of light bars 110 of the lighting module 100 may further have the freedom to move back and forth along the first direction D1, for example, along the bracket 120. In addition, according to some other embodiments, the irradiation surface Q1 of at least one of the plurality of light bars 110 may also have the freedom to perform a rotational motion 140 based on the bracket 120 to change the inclination angle of the irradiation surface Q1 relative to the first direction D1, so as to illuminate the predetermined block 50 with a larger area or brighter brightness. Continuing from the above, according to this embodiment, the irradiation range and irradiation angle of the plurality of light bars 110 arranged around the central axis O may overlap or expand, so that the predetermined block 50 has no shadow, so that the image can be captured more clearly.

[0095] Further, continue to refer to Figures 1 to 3According to the present embodiment, the optical detection module 10 may further include a 2D detection module RD, which may include a plurality of 2D optical detectors such as 2D optical detectors 200 and 400. As mentioned above, these 2D optical detectors 200 and 400 may be arranged around the central axis O, and thus may be distributed at intervals at different positions. Among them, each 2D optical detector 200 and 400 may have a 2D detection lens 210 and 410, and the lens directions E2 and E4 of the 2D detection lens 210 and 410 may be offset from the central axis O without overlapping with the central axis O. In addition, according to the present embodiment, the lens directions E2 and E4 of each 2D detection lens 210 and 410 may have at least one tilt angle R2 relative to the first direction D1. Thereby, each 2D detection lens 210 and 410 may be configured to obtain a 2D image of a predetermined block 50 based on a default optical path P. The preset optical path P may at least include a first optical path P1 , and the first optical path P1 may have at least an inclination angle K1 relative to the first direction D1 .

[0096] For example, if you refer to Figures 1 to 3 As shown in the optical detection module 10 of the present embodiment, the multiple 2D detection lenses 210, 410 can be arranged around the central axis O and separated from the 3D detection lens 310 located on the central axis O. As described above, the multiple 2D detection lenses 210, 410 extend obliquely from the periphery toward the central axis O inward, and gradually approach the predetermined block 50 below, and the lens directions E2, E4 and the first direction D1 are formed at an inclination angle R2, so that the lens directions E2, E4 are directed toward the central axis O and directly face the predetermined block 50. In this way, the 2D detection lenses 210, 410 can be configured to directly obtain the reflected light of the predetermined block 50 based on the first optical path P1 having an inclination angle K1 relative to the first direction D1, so as to obtain the corresponding 2D image of the predetermined block 50.

[0097] As described above, since different 2D detection lenses 210, 410, etc. distributed at different positions around the central axis O perform 2D imaging, according to this embodiment, 2D images of different viewing angles can be obtained for the same predetermined block 50. Therefore, by combining the 2D images from different viewing angles with reference to the above 3D information, more abundant image information and details for the same predetermined block 50 can be obtained, thereby achieving image detection with improved accuracy.

[0098] Furthermore, the optical inspection module 10 may also include a high-precision line scanning laser 500 disposed away from the central axis O and configured to detect 3D information of the predetermined block 50 with a line scanning laser. For example, the line scanning laser 500 may be used to obtain the interval or depth of the object in the predetermined block 50. In addition, the optical inspection module 10 may further include a high-precision telecentric lens 600 disposed away from the central axis O and facing the predetermined block 50, and configured to obtain the size and 2D image profile of the predetermined block 50. Therefore, according to the optical inspection module 10 of this embodiment, various oriented image information can be obtained, and can be used to detect various details on the predetermined object placed in the predetermined block 50.

[0099] As mentioned above, according to Figures 1 to 3 In the embodiment shown, the lens directions E2 and E4 of the plurality of 2D detection lenses 210 and 410 may be directed directly toward the predetermined block 50, and the first optical path P1 may be directed directly from the predetermined block 50 to the respective 2D detection lenses 210 and 410. However, other embodiments of the present invention may not be limited thereto. For example, referring to Figure 4 , Figure 5 The three-dimensional structure shown and Figure 6 As shown is a simple schematic diagram of the optical path configuration, in the optical detection module 20 according to another embodiment of the present invention, the 2D detection module RD may further include a reflector group FM arranged around the central axis O, and 2D imaging may be implemented based on the reflector group FM.

[0100] Specifically, according to the present embodiment, corresponding to each 2D detection lens 210, 410, the reflector set FM may have a first reflector M1, and the reflective surface F1 of the first reflector M1 may be inclined relative to the first direction D1 toward the central axis O and the predetermined block 50. Therefore, the first light path P1 may be directed from the predetermined block 50 to the reflective surface F1 of the first reflector M1. As described above, according to the present embodiment, the first light path P1 may not be directly directed to each 2D detection lens 210, 410, and the light is emitted from the predetermined block 50 to the reflective surface F1 of the first reflector M1, and then reflected to each 2D detection lens 210, 410. As described above, the plurality of 2D detection lenses 210, 410 may be disposed between the plurality of first reflectors M1 and the central axis O, and extend radially outward from an end relatively close to the central axis O in a radiating direction. Based on this configuration, the lens ends e of the plurality of 2D detection lenses 210, 410 that are relatively close to the predetermined block 50 in the vertical distance in the first direction D1 are farther away from the central axis O than the back ends f of the plurality of 2D detection lenses 210, 410 that are relatively far away from the predetermined block 50 in the vertical distance in the first direction D1. Thus, the lens directions E2, E4 of the respective 2D detection lenses 210, 410 can be directed toward the reflection surface F1 of the first reflection mirror M1, and the light from the predetermined block 50 can be reflected by the reflection surface F1 of the first reflection mirror M1 after passing through the first optical path P1 and enter the plurality of 2D detection lenses 210, 410 along the second optical path P2, thereby realizing 2D imaging of the predetermined block 50 by the plurality of 2D detection lenses 210, 410.

[0101] As mentioned above, since the lens directions E2 and E4 of the multiple 2D detection lenses 210 and 410 are relatively away from the central axis O, and the 2D image of the predetermined block 50 located on the central axis O is obtained by reflection through the first reflector M1, the multiple 2D detection lenses 210 and 410 can be more concentratedly stored close to the central axis according to this embodiment. Therefore, according to this embodiment, the volume of the optical detection module 20 can be reduced, and the output lines can be more concentrated on the central axis O, rather than being scattered around the optical detection module 20, so that the overall optical detection module 20 is more concise and easy to configure and operate.

[0102] In addition to providing the first reflector M1 for the 2D detection lenses 210 and 410, according to some embodiments, in order to detect three-dimensional information such as depth or interval at different angles and positions, Figure 6 As shown, the reflector 510 is arranged corresponding to the line scanning laser 500, so that the target of the line scanning laser is adjusted accordingly.

[0103] As mentioned above, according to Figures 4 to 6The optical inspection module 20 of the embodiment can further utilize a reflector set FM including a first reflector M1 to integrate the multiple 2D inspection lenses 210 and 410 for inspecting and capturing images of the predetermined block 50 at different viewing angles, so as to be closer to the central axis O. Further, according to another embodiment of the present invention, referring to Figure 7 In the optical inspection module 30 shown, the reflector set FM may further include a second reflector M2 , so as to further integrate the 2D inspection lenses 210 , 410 .

[0104] For details, refer to Figure 7 According to another embodiment of the optical detection module 30 of the present invention, the main difference between it and the above-mentioned optical detection modules 10 and 20 is that, corresponding to the respective 2D detection lenses 210 and 410, the reflector group FM may further have a second reflector M2 corresponding to the respective first reflector M1. Based on the above, the second reflector M2 may be arranged between the corresponding first reflector M1 and the central axis O and between the corresponding 2D detection lenses 210 and 410 and the preset block 50, and the reflection surface F2 of the second reflector M2 faces away from the preset block 50 and the central axis O. In addition, according to this embodiment, the multiple 2D detection lenses 210 and 410 may extend along the first direction D1 together with the 3D detection lens 310. Specifically, the lens directions E2 and E4 of the multiple 2D detection lenses 210 and 410 and the lens direction E3 of the 3D detection lens 310 may substantially be along the first direction D1 toward the predetermined block 50. Therefore, the multiple 2D detection lenses 210 , 410 and the 3D detection lens 310 can be integrated into an optical lens holder N extending along the central axis O and capturing images toward the predetermined block 50 , and configured so that the multiple 2D detection lenses 210 , 410 are distributed around the 3D detection lens 310 . As described above, based on this structure, the lens directions E2 and E4 of the respective 2D detection lenses 210 and 410 can be directed toward the reflection surface F2 of the second reflector M2, and the reflection surface F1 of the first reflector M1 can be directed toward the predetermined block 50 and the reflection surface F2 of the second reflector M2, so that the light from the predetermined block 50 can be sequentially detected by the multiple 2D detection lenses 210 and 410 along the first light path P1 (from the predetermined block 50 to the reflection surface F1 of the first reflector M1), the second light path P2 (from the reflection surface F1 of the first reflector M1 to the reflection surface F2 of the second reflector M2) and the third light path P3 (from the reflection surface F2 of the second reflector M2 to the multiple 2D detection lenses 210 and 410), so that under the highly integrated and concentrated multiple 2D detection lenses 210 and 410, 2D images of different perspectives can still be obtained for the same predetermined block 50.

[0105] According to some embodiments, the image of the predetermined block 50 obtained by the optical detection module 30 may be as follows: Figure 8The 3D information of the predetermined block 50 and the 2D information of the predetermined block 50 can be displayed in a nine-square grid pattern as shown. Specifically, the 3D detection lens 310 can obtain the 3D information of the predetermined block 50 such as the 3D image W0 according to the lens direction E3, and the multiple 2D detection lenses 210 and 410 arranged in the optical lens holder N around the 3D detection lens 310 can correspondingly inspect and capture the 2D images W1, W2, W3, W4, etc. of the same predetermined block 50 at different angles. Therefore, according to this embodiment, the 3D information representing the same predetermined block 50 and the 2D information of different angles can be integrated to obtain, which can be more convenient for output display and analysis. In addition, although two or four 2D detection lenses and the corresponding number of 2D images presented are exemplarily shown in this specification and the accompanying drawings, this number is only for example, and other embodiments of the present invention are not limited thereto. For example, according to some embodiments, eight 2D detection lenses can also be set, and eight 2D images listed around the 3D image can be presented accordingly.

[0106] As described above, according to this embodiment, the lens directions E2 and E4 of the respective 2D detection lenses 210 and 410 may have no tilt angle with the first direction D1 or reduce the tilt angle with the first direction D1, so that the multiple 2D detection lenses 210 and 410 are disposed between the multiple first reflection mirrors M1 and the central axis O, thereby the multiple 2D detection lenses 210 and 410 can be further concentrated and integrated relative to the central axis O. Furthermore, the 2D detection lenses 210 and 410 concentrated and integrated relative to the central axis O can also be integrated with the 3D detection lens 310 disposed along the central axis O. Therefore, according to this embodiment, the volume and space occupied by multiple 2D detection lenses 210, 410 that are set up to detect the same predetermined block 50 with different viewing angles can be further reduced, and the power lines and other lines for these 2D detection lenses 210, 410 can be stored and connected more centrally, so that the size of the optical detection module 30 can be reduced and maintenance becomes simpler, and it is more convenient to capture the default block 50 at more locations.

[0107] Reference Fig. 9 According to some embodiments of the present invention, the optical detection device 1000 may further include a movable robotic arm AM, and the optical detection modules 10, 20, 30 according to different embodiments of the present invention may be installed on the robotic arm AM. Thereby, the robotic arm AM can move at different angles and positions, and detect different positions of the predetermined object DP to be detected, such as different positions T1 and T2, as the predetermined block 50. As mentioned above, according to this embodiment, a 3D image of any position of the object DP to be detected and a 2D image of different viewing angles can be obtained, thereby improving the richness and refinement of the image information that can be obtained, and the instrument can be used to simulate the effect of human vision for detection and further analysis.

[0108] Then, together with Figure 7 , Figure 8 and Fig. 9 Implementation of the reference Fig.10 , the optical detection method performed by the optical detection device according to the present invention will be specifically and illustratively described below.

[0109] Based on the above, according to one embodiment of the present invention, Figure 7 As illustrated, the optical detection device may further include a control module 800, which can control the moving trajectory and detection stop point of the optical detection module 30. In addition, the optical detection device may further include an analysis module 900, which can be configured to analyze the 3D information obtained by the optical detection module 30 for the same predetermined block 50 and 2D images of different viewing angles. Thus, according to this embodiment, an optical detection method M10 using an optical detection device may include the following steps: step S100, aligning the central axis O with the position to be detected of the object to be detected DP as the predetermined block 50; step S200, obtaining the 3D information of the predetermined block 50 by means of a 3D optical detector 300; step S300, providing the predetermined block 50 with an illumination light L0 by means of an illumination module 100; step S400, obtaining 2D images of different viewing angles of the predetermined block 50 by means of a plurality of 2D optical detectors 200, 400. As described above, according to this embodiment, any position of the object to be detected DP can be detected and imaged to obtain 3D information of the predetermined block 50 and 2D images of different viewing angles. In addition, without hindering the image acquisition, the above steps S200, S300, and S400 can be substantially changed in order or performed simultaneously, thereby speeding up or improving the detection process.

[0110] In addition, continue with Figure 7 , Figure 8 and Fig. 9 Implementation of the reference Fig.11The optical detection method M10' shown may further include other steps before executing the above-mentioned steps S100, S200, S300, and S400. Specifically, the optical detection method M10' may be configured to detect multiple objects DP to be detected, and the multiple objects DP to be detected may have the same configuration. Therefore, the optical detection method M10' may further include the following before executing the above-mentioned steps S100, S200, S300, and S400: Step S10, based on one of the multiple objects DP to be detected, using a 3D optical detector 300 to detect and obtain 3D images at different positions, and correspondingly splicing and modeling to form a standard 3D model. As described above, before performing optical inspection on the other multiple objects to be inspected DP, the optical inspection method M10' may further include: step S20, using the 3D optical detector 300 to obtain 3D information of a local block of each object to be inspected DP; step S30, based on the comparison of the 3D information of the local block with the standard 3D model, to spatially align the setting state and setting position of each object to be inspected DP; and step S40, based on the result of the spatial alignment, planning an adaptive path, so that the optical inspection module 30 can change multiple positions according to the adaptive path, so as to obtain the 3D information of each object to be inspected DP at different positions of the predetermined block 50 and 2D images of different perspectives.

[0111] As mentioned above, the adaptive path can be a path that passes through all preset locations to be inspected (such as but not limited to locations where defects are likely to occur), or a path that can capture the entire global image of the entire predetermined object to be inspected DP, and other variations of the present invention are not limited thereto. Fig.10 After the optical inspection method M10 is performed, the optical inspection of the object DP to be inspected can be completed. As mentioned above, this can be used to detect defects commonly found in products during various processing processes, such as burrs, scratches, protrusions, thinning and whitening, improper or incomplete screw locking, skewed or uneven labels, depth deviation of fasteners, impurity inclusion, misalignment, assembly angle deviation and other defects.

[0112] As mentioned above, according to the optical detection methods M10 and M10' of the present embodiment, human-eye-simulated visual detection of a large number of objects to be detected DP can be realized, thereby improving the quality, efficiency and reliability of the detection process. In particular, according to the optical detection methods M10 and M10' of the present embodiment, different image information of the same block can be obtained for specific positions of individual objects to be detected DP, so that objects to be detected DP with specific irregular shapes, curved surfaces and / or large sizes can be detected, so that human-eye-simulated visual detection can be performed in an automated manner. Therefore, it can be used to detect a wide variety of defects that may need to be detected from different viewing angles, thereby simplifying and reducing the manpower required for detection, and improving the accuracy and reliability of detection.

[0113] In summary, the optical detection module and the optical detection method according to the embodiments of the present invention can realize 3D detection and 2D detection of different viewing angles for any predetermined block, so as to complete more layered and delicate multi-angle imaging with an integrated optical device architecture. Therefore, various imaging that simulates human vision can be performed, and can be further combined with AOI image processing technology or AI artificial intelligence technology for subsequent analysis, so as to achieve more complex and more sophisticated detection and analysis.

[0114] The above descriptions are only some preferred embodiments of the present invention. It should be noted that the present invention can be subjected to various changes and modifications without departing from the spirit and principles of the present invention. It should be understood by those with ordinary knowledge in the art that the present invention is defined by the scope of the attached patent application, and that various possible substitutions, combinations, modifications and conversions do not exceed the scope of the present invention defined by the scope of the attached patent application in accordance with the intent of the present invention.

Claims

1. An optical detection device, characterized in that: An optical detection module is included, and the optical detection module includes: A 3D optical detector is arranged along a central axis parallel to a first direction and has a 3D detection lens, wherein the lens direction of the 3D detection lens is toward a predetermined block spaced apart from the 3D detection lens to detect 3D information of the predetermined block, and the predetermined block is aligned with the central axis; an illumination module, disposed around the central axis between the 3D detection lens and the predetermined block, and configured to provide illumination light to the predetermined block; and a 2D detection module, comprising a plurality of 2D optical detectors arranged around the central axis, wherein each of the 2D optical detectors has a 2D detection lens, the lens direction of the 2D detection lens is offset from the central axis, and is configured to obtain a 2D image of the predetermined block based on a default optical path, and The preset light path at least has a first light path, and the first light path has at least one inclination angle relative to the first direction.

2. The optical detection device according to claim 1, characterized in that: The optical detection module further includes a line scanning laser device which is offset from the central axis and configured to detect the 3D information of the predetermined block by line scanning laser.

3. The optical detection device according to claim 1, characterized in that: The optical detection module further includes a telecentric lens that is disposed away from the central axis and toward the predetermined block, and is configured to obtain the size and 2D image profile of the predetermined block.

4. The optical detection device according to claim 1, characterized in that: The lens directions of the plurality of 2D detection lenses are directly directed toward the predetermined block, and the first light path is directly directed from the predetermined block to each of the 2D detection lenses.

5. The optical detection device according to claim 1, characterized in that: The 2D detection module further comprises a reflector set arranged around the central axis, wherein the reflector set has a first reflector corresponding to each of the 2D detection lenses, and the reflective surface of the first reflector faces the predetermined block, and The first light path is directed from the predetermined area to the reflective surface of the first reflector.

6. The optical detection device according to claim 5, characterized in that: The reflecting surface of the first reflecting mirror is inclined toward the central axis relative to the first direction.

7. The optical detection device according to claim 5, characterized in that: The plurality of 2D detection lenses extend radially outward from one end relatively close to the central axis in a radiating direction and are disposed between the plurality of first reflectors and the central axis, so that the lens ends of the plurality of 2D detection lenses relatively close to the predetermined block in a vertical distance in the first direction are farther away from the central axis than the back ends of the plurality of 2D detection lenses relatively far from the predetermined block in a vertical distance in the first direction, and Wherein, the lens direction of each of the 2D detection lenses is toward the reflective surface of the first reflector.

8. The optical detection device according to claim 7, characterized in that: The lens direction of each of the 2D detection lenses has at least one tilt angle relative to the first direction.

9. The optical detection device according to claim 5, characterized in that: Corresponding to each of the 2D detection lenses, the reflector assembly further has a second reflector corresponding to each of the first reflectors, and the second reflector is disposed between the corresponding first reflector and the central axis and between the corresponding 2D detection lens and the preset block, and the reflective surface of the second reflector faces away from the preset block, and The plurality of 2D detection lenses are disposed between the plurality of first reflectors and the central axis, and The lens direction of each of the 2D detection lenses faces the reflection surface of the second reflection mirror, and the reflection surface of the first reflection mirror faces the predetermined block and the reflection surface of the second reflection mirror.

10. The optical detection device according to claim 9, characterized in that: The plurality of 2D detection lenses and the 3D detection lens extend along the first direction and are integrated into an optical lens holder extending along the central axis and facing the predetermined block, and the plurality of 2D detection lenses are distributed around the 3D detection lens.

11. The optical detection device according to claim 1, characterized in that: The optical detection device further comprises a movable mechanical arm, and the optical detection module is installed on the mechanical arm.

12. The optical detection device according to claim 1, characterized in that: The lighting module comprises a plurality of light strips extending along directions perpendicular to the first direction, and Each of the plurality of light bars has an illumination surface, and the illumination surface is relatively oriented toward the central axis.

13. The optical detection device according to claim 12, characterized in that: At least one of the plurality of light bars has the freedom to move back and forth along the first direction.

14. The optical detection device according to claim 12, characterized in that: The irradiation surface of at least one of the plurality of light bars has a degree of freedom of rotation to change an inclination angle of the irradiation surface relative to the first direction.

15. The optical detection device according to claim 1, characterized in that: It further comprises a control module, which controls the moving track and the detection stop point of the optical detection module, so as to detect based on different positions of an object to be detected as the predetermined block.

16. The optical detection device according to claim 1, characterized in that: The system further comprises an analysis module, which is configured to analyze the 3D information and the 2D images of different viewing angles for the same predetermined block obtained by the optical detection module.

17. An optical detection method using the optical detection device according to claim 1, characterized in that: It includes the following steps: Align the central axis with a position to be detected of an object to be detected to serve as the predetermined block; Acquiring 3D information of the predetermined block by using the 3D optical detector; Using the lighting module to provide the lighting light to the predetermined area; as well as The 2D images of the predetermined block at different viewing angles are obtained by using the multiple 2D optical detectors.

18. The optical detection method according to claim 17, characterized in that: The optical detection method is configured to detect a plurality of the objects to be detected, and the plurality of objects to be detected have the same configuration, and the optical detection method further comprises: Based on one of the multiple objects to be inspected, the 3D optical detector is used to inspect and correspondingly splice and model to form a standard 3D model, and before performing optical inspection on the other multiple objects to be inspected: Using the 3D optical detector to obtain 3D information of local blocks of each object to be inspected; Based on the comparison of the 3D information of the local block with the standard 3D model, the objects to be detected are spatially aligned; as well as Based on the result of spatial alignment, an adaptive path is planned so that the optical detection module changes multiple positions according to the adaptive path to obtain 3D information of different positions of the predetermined block and 2D images of different viewing angles of each object to be detected.

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