Product Testing Methods and Devices

Abstract

This invention discloses a product inspection method and apparatus, applied in the field of product inspection technology. The method includes using a robotic arm to grasp a product to be inspected. The robotic arm includes a robotic arm body and multiple joints rotatably connected to the robotic arm body in sequence. Among the multiple joints are rotary joints. Controlling the rotation of the rotary joints of the robotic arm causes the robotic arm to move along a movable trajectory to a target positioning point corresponding to the product inspection station for product inspection. The movable trajectory of the robotic arm is an arc with the center of the robotic arm as the center and a radius of a preset distance, and the movable trajectory includes multiple positioning points. This application reduces industrial robot noise by optimizing the movable trajectory of the robotic arm and controlling the movement path of the robotic arm.

Description

Technical Field

[0001] This invention relates to the field of product testing technology, and in particular to a product testing method and apparatus. Background Technology

[0002] This section is intended to provide background or context for the embodiments of this application set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section.

[0003] With the development of industrial robots, they are increasingly being used in the field of automation. Common industrial robots strive for maximum repeatability, speed, and load capacity, while neglecting their own noise, even though some applications have high requirements for noise reduction.

[0004] Common industrial robots have their robotic arm movements programmed according to the process flow, resulting in point-to-point movements and high noise levels. Summary of the Invention

[0005] One objective of this application is to provide a product inspection method that reduces industrial robot noise by optimizing the movable trajectory of the robotic arm and controlling its movement path. Another objective of this application is to provide a product inspection device.

[0006] To achieve the above objectives, this application discloses a product testing method, comprising:

[0007] The robotic arm grasps the product to be inspected. The robotic arm includes a robotic arm body and multiple joints that are rotatably connected to the robotic arm body in sequence. Among the multiple joints are rotary joints.

[0008] The robotic arm's rotary joints are controlled to rotate, causing the robotic arm to move along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. The movable trajectory of the robotic arm is an arc with the center of the robotic arm as the center and a radius of a preset distance, and the movable trajectory includes multiple positioning points.

[0009] Preferably, the movable trajectory includes a standby area, an operating area corresponding to each product inspection station, and an avoidance area to avoid the actions of the product inspection station.

[0010] Each area of ​​the movable trajectory is provided with at least one positioning point.

[0011] Preferably, the standby area includes a standby positioning point corresponding to the gripping position of the product to be tested;

[0012] The process of grasping the product to be inspected using a robotic arm includes:

[0013] If the robotic arm is not in the grasping position and the distance between the robotic arm and the standby positioning point is less than the distance between the robotic arm and the grasping position, then the robotic arm is positioned at the standby positioning point.

[0014] Control the robotic arm to move to the gripping position and grip the product to be inspected;

[0015] Control the robotic arm that grasps the product to be tested to move to the standby positioning point.

[0016] Preferably, the operating area includes detection positioning points corresponding to the product testing station;

[0017] The process of controlling the rotation of the robotic arm's joints to move the robotic arm along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection includes:

[0018] This puts the target product testing station corresponding to the product to be tested into a testing state.

[0019] Controlling the rotation of the robotic arm's joints causes the robotic arm to move along a movable trajectory to the detection positioning point of the target product detection station;

[0020] The robotic arm is controlled to move to the target product inspection station and place the product to be inspected for product inspection.

[0021] Preferably, the product inspection station includes multiple product inspection stations located on one side of the product transmission line, the interval area between the multiple product inspection stations forms the avoidance area, and the movable trajectory of the avoidance area is provided with avoidance positioning points.

[0022] The method further includes:

[0023] Before the target product inspection station corresponding to the product to be inspected is in the inspection state, the robotic arm moves to the avoidance positioning point or the preset standby positioning point to wait.

[0024] Preferably, it further includes:

[0025] When the robotic arm is moved to the target position, based on the current position of the robotic arm, the robotic arm is moved to the positioning point on the movable trajectory that is closest to the robotic arm;

[0026] Determine the target location point on the movable trajectory that is closest to the target location;

[0027] The robotic arm is controlled to move along the movable trajectory to the target positioning point, and then to the target position.

[0028] Preferably, the plurality of positioning points further includes a zero-return auxiliary positioning point, which is located in the avoidance area;

[0029] The method further includes:

[0030] If the robotic arm malfunctions, control the robotic arm to move to the nearest zero-return auxiliary positioning point.

[0031] Preferably, the rotary joint includes at least the first joint and the last joint among the plurality of joints arranged in the order of connection with the robotic arm body.

[0032] Preferably, each product inspection station is provided with a corresponding sensing area for the movement of the robotic arm, and the method further includes:

[0033] The operable product inspection stations are determined based on the current position of the robotic arm and the position range of the sensing area of ​​each product inspection station.

[0034] The target product testing station is controlled to be in the testing state based on the target product testing station corresponding to the product to be tested and whether the target product testing station is in an operable state.

[0035] Another aspect of this application discloses a product testing device, comprising:

[0036] The product pick-and-place module is used to pick up the product to be inspected by a robotic arm. The robotic arm includes a robotic arm body and multiple joints that are rotatably connected to the robotic arm body in sequence. Among the multiple joints, there are rotary joints.

[0037] The product inspection module is used to control the rotation of the robotic arm's joints so that the robotic arm moves along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. The movable trajectory of the robotic arm is an arc with the center of the robotic arm as the center and a radius of a preset distance. The movable trajectory includes multiple positioning points.

[0038] This application's product inspection method sets the movable trajectory of the robotic arm as an arc with the center of the robotic arm as the center and a radius of a preset distance. The movable trajectory includes multiple positioning points. Therefore, during product inspection, the robotic arm grasps the product to be inspected, and the rotational joints of the robotic arm are controlled to move the robotic arm along the movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. Thus, this application sets the movable trajectory of the robotic arm as an arc. During product inspection, the robotic arm moves to the product inspection station through the positioning points on the arc-shaped movable trajectory. In this movement process, only some of the rotational joints of the robotic arm need to be rotated to move the product to the product inspection station; the other joints of the robotic arm can remain stationary. By optimizing the robotic arm's movement trajectory, multi-segment movement of the robotic arm is controlled, and the operation of the robotic arm is smooth and without jamming, greatly reducing the movement noise of the robotic arm during product inspection. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0040] Figure 1 This is a flowchart illustrating a specific embodiment of the product testing method of this application;

[0041] Figure 2 This is a top view of a specific embodiment of the product testing method according to this application;

[0042] Figure 3 This is a schematic diagram of the structure of a specific embodiment 100 of the product testing method according to this application;

[0043] Figure 4 This is a front view of a specific embodiment of the product testing method according to this application.

[0044] Figure 5 This is a schematic diagram of the point structure for the movement of the robotic arm in a specific embodiment of the product testing method of this application.

[0045] Figure 6 This is a schematic diagram of the point structure of the sensing area in a specific embodiment of the product detection method of this application;

[0046] Figure 7 This is a flowchart illustrating a specific embodiment S100 of the product testing method according to an example of this application.

[0047] Figure 8 This is a flowchart illustrating a specific embodiment S200 of the product testing method according to this application.

[0048] Figure 9 This is a flowchart illustrating the target positioning point in a specific embodiment of the product testing method of this application.

[0049] Figure 10 This is a flowchart illustrating the sensing area of ​​a specific embodiment of the product testing method described in this application.

[0050] Figure 11 This is a schematic diagram of the product testing device according to an embodiment of this application;

[0051] Figure 12 A schematic diagram of a computer device suitable for implementing embodiments of the present invention is shown.

[0052] Figure label:

[0053] 100. Robotic arm; 200. Conveyor belt; 300. Robotic arm body. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0055] It should be understood that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0056] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0057] To address at least one of the problems existing in the prior art, according to one aspect of this application, this embodiment discloses a product testing method. For example... Figure 1 As shown, in this embodiment, the method includes:

[0058] S100: The robotic arm grasps the product to be inspected. The robotic arm includes a robotic arm body and multiple joints that are rotatably connected to the robotic arm body in sequence. Among the multiple joints, there are rotary joints.

[0059] Among them, such as Figure 3 As shown, the robotic arm body 300 is the fixed part of the industrial robot. The robotic arm body 300 is fixed on a fixed structure such as a workbench, providing stable support for the entire robotic arm and bearing the entire weight of the robotic arm as well as the forces and torques generated during operation.

[0060] The robotic arm body is connected to multiple joints via linkages, each joint equipped with a servo motor and a reducer. The joints are key components enabling the robotic arm's flexible movement. The motor drives the reducer, causing the joints to rotate. This rotation of the joints then moves the linkages, thus allowing the robotic arm's end effector to change position and orientation in three-dimensional space. Various tools and fixtures, such as grippers, welding guns, and spray guns, can be mounted on the end effector to meet different work requirements.

[0061] Preferably, the robotic arm is a 6-axis robotic arm, which is a serial robot structure with 6 independent joints connected in sequence. Each joint corresponds to a "degree of freedom". The 6 degrees of freedom can just meet the control requirements of any position in three-dimensional space, that is, the end of the robotic arm can reach any position in three-dimensional space.

[0062] S200: Control the rotation of the robotic arm's rotary joints to move the robotic arm along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. The movable trajectory of the robotic arm is centered on the robotic arm's center (e.g., ...). Figures 5-6 The movable trajectory includes multiple positioning points, with the point o shown as the center and an arc with a radius of a preset distance.

[0063] It should be noted that this application sets the movable trajectory of the robotic arm to an arc shape. Therefore, when the robotic arm rotates along the arc trajectory, not all joints need to participate in the rotation; movement along the arc trajectory can be achieved through the rotation of only some joints. Thus, one or more joints can be pre-selected from the multiple joints of the robotic arm as rotary joints, and the movement of the robotic arm along the arc movable trajectory can be achieved solely through the rotation of these rotary joints. The determination of the rotary joints can be set according to actual needs, and this application does not impose any limitations on this.

[0064] Furthermore, it should be noted that the center of the robotic arm is its rotation center, which can be determined based on the rotation center of the first joint connected to the robotic arm body. The preset distance between the arc-shaped movable trajectory and the center of the robotic arm can be determined based on the range of positions the robotic arm needs to move. By setting a reasonable preset distance, the working efficiency of the robotic arm can be effectively improved, noise reduced, and interference with other structures avoided.

[0065] This application's product inspection method sets the movable trajectory of the robotic arm as an arc with the center of the robotic arm as the center and a radius of a preset distance. The movable trajectory includes multiple positioning points. Therefore, during product inspection, the robotic arm grasps the product to be inspected, and the rotational joints of the robotic arm are controlled to move the robotic arm along the movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. Thus, this application sets the movable trajectory of the robotic arm as an arc. During product inspection, the robotic arm moves to the product inspection station through the positioning points on the arc-shaped movable trajectory. In this movement process, only some of the rotational joints of the robotic arm need to be rotated to move the product to the product inspection station; the other joints of the robotic arm can remain stationary. By optimizing the robotic arm's movement trajectory, multi-segment movement of the robotic arm is controlled, and the operation of the robotic arm is smooth and without jamming, greatly reducing the movement noise of the robotic arm during product inspection.

[0066] In an optional implementation, the movable trajectory includes a standby area, an operation area corresponding to each product inspection station, and an avoidance area for avoiding the actions of the product inspection station. Each area of ​​the movable trajectory is provided with at least one positioning point.

[0067] Specifically, and understandably, such as Figures 2-4 As shown, during product inspection, the product to be inspected is usually transported by a conveyor belt 200 or other conveying device. The robot controls its robotic arm 100 to grab the product to be inspected from the conveying device and moves the product to the product inspection station for inspection. The inspected product is then grabbed from the inspection station and returned to the conveying device.

[0068] The testing station is usually equipped with multiple testing boxes to form a closed testing space for product testing. When the robotic arm puts the product to be tested into the testing box of the product testing station, it needs to open the box door first, then put the product to be tested into the testing box, and then pick up the product that has been tested and put it back into the transmission device.

[0069] Therefore, when setting the movable trajectory of the robotic arm, the opening and closing operations of the inspection box door are considered. The movable trajectory of the robotic arm includes a standby area, an operating area corresponding to each product inspection station, and a avoidance area to avoid the actions of the product inspection station. The standby area can be set to be close to the product transfer device to facilitate quick grabbing and placement of products from the standby area, while simultaneously moving quickly along the movable trajectory to the product inspection station. The operating area of ​​the product inspection station is set to be close to the product inspection station, allowing the robotic arm to quickly move to the product inspection station to perform grabbing or placing actions. The range of the avoidance area can be determined based on the scope of the opening or closing of the inspection box door at the product inspection station, ensuring that the robotic arm, when located in the avoidance area, will not interfere with or collide with the inspection box door during opening or closing.

[0070] Each area within the mobile region is equipped with at least one positioning point. The robotic arm moves point-to-point between these positioning points to switch positions between different areas of the mobile trajectory. For example, one or more standby positioning points can be set in the standby area, one or more detection positioning points can be set in the operation area, and one or more avoidance positioning points can be set in the avoidance area.

[0071] In specific examples, such as Figure 5 As shown, the product inspection stations include a first product inspection station B1 and a second product inspection station B2 located on one side of the product transmission line, and a third product inspection station B3 and a fourth product inspection station B4 located on the other side of the product transmission line. The movable trajectory includes a standby area corresponding to the product transmission device, first to fourth operating areas corresponding to the first to fourth product inspection stations respectively, a first avoidance area located between the first product inspection station B1 and the second product inspection station B2, and a second avoidance area located between the third product inspection station B3 and the fourth product inspection station B4; the standby area is provided with a standby positioning point 0, the first to fourth operating areas are respectively provided with first to fourth operating positioning points 1 to 4, and the first avoidance area and the second avoidance area are respectively provided with a first avoidance positioning point 5 and a second avoidance positioning point 6.

[0072] In an optional implementation, the standby area includes a standby positioning point corresponding to the gripping position of the product to be tested, such as... Figure 7 As shown, the S100 process, which involves a robotic arm gripping the product to be inspected, includes:

[0073] S110: If the robotic arm is not in the gripping position and the distance between the robotic arm and the standby positioning point is less than the distance between the robotic arm and the gripping position, then position the robotic arm at the standby positioning point.

[0074] S120: Control the robotic arm to move to the gripping position to grip the product to be inspected.

[0075] S130: Control the robotic arm that is grasping the product to be tested to move to the standby positioning point.

[0076] Specifically, it is understandable that the robotic arm needs to pick up the product to be inspected from the product transfer device. If the robotic arm is located at the picking position of the product to be inspected, it can directly pick up the product. If the distance between the robotic arm and the standby positioning point is greater than or equal to the distance between the robotic arm and the picking position, the robotic arm can be directly moved to the picking position to pick up the product.

[0077] If the robotic arm is not in the gripping position and the distance between the robotic arm and the standby positioning point is less than the distance between the robotic arm and the gripping position, and the robotic arm is in the standby positioning point or other locations far from the gripping position, the robotic arm is kept at the standby positioning point or moved to the standby positioning point via a movable trajectory. That is, the robotic arm is first placed at the standby positioning point, and then the robotic arm is controlled to move to the gripping position to grip the product to be inspected. The robotic arm with the product to be inspected first moves to the standby positioning point, and then moves to the corresponding product inspection station via a movable trajectory. This product gripping path setting reduces the motion complexity of the robotic arm when moving the product and reduces the noise of the robotic arm.

[0078] For example, in Figure 5 In a specific example shown, positions 7 and 8 are the product gripping and placement positions, respectively. A standby positioning point 0 can be set in the standby area near positions 7 and 8. When the end position of the robotic arm is far away and a product needs to be gripped, the robotic arm is first moved to the standby positioning point 0, then moved from the positioning point 0 to the gripping position 7, gripped the product from the product transfer device at position 7, returned to the positioning point 0, and then moved from the positioning point 0 along an arc-shaped movable trajectory to other positioning points.

[0079] In an optional implementation, the operating area includes detection positioning points corresponding to the product inspection station, such as... Figure 8 As shown, the S200 control of the rotary joint of the robotic arm to rotate, causing the robotic arm to move along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection, includes:

[0080] S210: Put the target product testing station corresponding to the product to be tested into the testing state.

[0081] S220: Control the rotation of the robotic arm's joints to move the robotic arm along a movable trajectory to the detection positioning point of the target product detection station.

[0082] S230: Control the robotic arm to move to the target product inspection station, place the product to be inspected, and perform product inspection.

[0083] Specifically, before transporting products to the product inspection station for inspection, the inspection station is first put into inspection mode to avoid interference and collisions between the station's transition to inspection mode and the robotic arm's movement trajectory. For example, when using an inspection box to inspect products, the box door needs to be opened to place the product inside. Therefore, the box door must be opened before the robotic arm moves to the inspection positioning point. At the inspection positioning point, the robotic arm is controlled to place the gripped product into the opened inspection box for inspection. During this process, the robotic arm moves along its movable trajectory using only some rotary joints, without requiring all joints to participate in the execution, resulting in smooth operation and low robotic arm noise.

[0084] For example, for Figure 5 In the specific example shown, when the product to be tested, grasped by the robotic arm at the standby positioning point, needs to be placed in the testing box 2 on the second product testing station B2 for testing, the door of the testing box 2 needs to be opened before the robotic arm moves to the testing positioning point 2, so that the product testing station is in the testing state. The testing box 2 has a door on the side near the testing positioning point 2. This door can be rotated clockwise towards the testing positioning point 2 with side P as the pivot. If the robotic arm is located at the testing positioning point, the door will collide with the robotic arm. Therefore, before the robotic arm moves to the testing positioning point 2, the door of the testing box 2 needs to be opened first. The robotic arm puts the product to be tested into the testing box 2 for product testing and then returns to the testing positioning point 2. The robotic arm moves to the avoidance positioning point or the testing positioning point corresponding to another product testing station until the door closes and no longer interferes with the movement trajectory of the robotic arm. Then the door of the testing box 2 rotates and closes.

[0085] In an optional embodiment, the product inspection station includes multiple product inspection stations located on one side of the product conveyor line, the intervals between the multiple product inspection stations form the avoidance area, and avoidance positioning points are provided on the movable trajectory of the avoidance area; the method further includes:

[0086] S400: Before the target product inspection station corresponding to the product to be inspected is in the inspection state, the robotic arm moves to the avoidance positioning point or the preset standby positioning point to wait.

[0087] Specifically, multiple product inspection stations are typically set up. The target product inspection station for the robotic arm may be in the process of opening a box door or other robotic arms or other mechanisms are in operation. The robotic arm cannot currently move to its corresponding inspection positioning point. Therefore, in this embodiment, a clearance area is determined in the interval area between multiple product inspection stations, where the robotic arm can safely stop. In order to enable smooth movement of the robotic arm and reduce noise, a clearance positioning point is selected on the movable trajectory of the clearance area. This allows the robotic arm to stop at the clearance positioning point and wait when the target product inspection station is transitioning to the inspection state or when there are other problems that prevent the robotic arm from moving to the inspection positioning point of the target product inspection station.

[0088] For example, Figure 5 In the illustrated scheme, after the robotic arm places the product into the inspection box at product inspection station B2, it needs to move away from inspection positioning point 2 to close the door of inspection box 2 for product inspection. When the robotic arm needs to move to inspection positioning point 1 at product inspection station B1, the door of inspection box 1 at product inspection station B1 needs to be open and in inspection mode. Before the door of inspection box 1 opens, the robotic arm needs to wait at the avoidance positioning point 5 between product inspection station B1 and product inspection station B2 to prevent collision.

[0089] In a specific example, the robotic arm has a gripper at its end, which can simultaneously grasp two products. First, the door of inspection box 2 is opened, and the robotic arm moves to inspection positioning point 2. One product is placed into inspection box 2, and the inspected product is removed. If the door of inspection box 1 is already open, the robotic arm moves directly to inspection positioning point 1. If the door of inspection box 1 is not yet open or there is another problem, the robotic arm moves to avoidance positioning point 5 to wait. Once the door of inspection box 1 is open and in inspection mode, the robotic arm moves to inspection positioning point 1, places the other product to be inspected into the inspection box for inspection, removes the inspected product from inspection box 1, and then moves back to standby positioning point 0. From standby positioning point 0, the robotic arm moves to the product placement position and returns the inspected product to the product transfer device. Similarly, the product inspection and handling processes at product inspection stations B3 and B4 are similar and will not be repeated here.

[0090] In alternative implementations, such as Figure 9 As shown, the method further includes:

[0091] S510: When the robotic arm is moved to the target position, based on the current position of the robotic arm, the robotic arm is moved to the positioning point on the movable trajectory that is closest to the robotic arm.

[0092] S520: Determine the target location point on the movable trajectory that is closest to the target location.

[0093] S530: Control the robotic arm to move along the movable trajectory to the target positioning point, and then move to the target position.

[0094] Specifically, when the robotic arm needs to move to a designated target position, it first moves to the nearest positioning point on the movable trajectory, then moves along the movable trajectory to the target positioning point closest to the target position, and finally moves from the target positioning point to the target position. This robotic arm control method breaks down the potentially complex joint movements of the robotic arm moving to the target position into multiple segmented operations, ensuring that most of the movement trajectory during the robotic arm's movement to the target position lies on an arc-shaped movable trajectory. This reduces the complexity of the robotic arm's operation, makes the movement smoother with less jerking, and reduces the noise generated by the robotic arm's movement.

[0095] For example, in a specific case, a 6-axis spatial coordinate system is set for the robotic arm. The movement of the robotic arm joints can be described by spatial coordinates (x, y, z, A, B, C) formed by the coordinates of the 6 spatial coordinate systems, where A, B, and C are the rotation angles around the x, y, and z axes, respectively. When implementing the above scheme with a 6-axis robotic arm, the movement rules are set as follows: in the x-direction, only the first joint (the first joint) and the sixth joint (the last joint) rotate; when moving in the z-direction, x and y remain stationary; and in the C-direction, only the sixth joint rotates. Then, it is determined whether there exists a positioning point on a movable trajectory closest to the current position. If so, and the movements of x, z, and C are all below a set threshold, the robotic arm at the current position is moved to the nearest positioning point according to the above movement rules.

[0096] It should be noted that the position of the robotic arm described in this application is the end position of the robotic arm. The robotic arm grasps the product by using a grasping mechanism (e.g., a gripper) set at the end of the robotic arm.

[0097] In an optional implementation, the plurality of positioning points further includes a zero-return auxiliary positioning point, which is disposed in the avoidance area; the method further includes:

[0098] S600: If the robotic arm control malfunctions, the robotic arm moves to the nearest zero-return auxiliary positioning point.

[0099] Specifically, it is understandable that in existing technologies, the movement of a robotic arm is typically controlled by a host computer. However, during the host computer's control of the robotic arm's position, communication problems or other anomalies may occur, causing the host computer to lose the robotic arm's position. To ensure that the host computer can still accurately determine the robotic arm's position after the anomaly is resolved, a zero-return auxiliary positioning point is set on the movable trajectory. When a communication problem or other anomaly occurs, the robotic arm moves to the zero-return auxiliary positioning point, waits for the anomaly to be resolved, and then re-establishes positional communication with the host computer.

[0100] The zero-return auxiliary positioning point is set in the avoidance area. The robotic arm is safer when stopping at the zero-return auxiliary positioning point in the avoidance area, and only a portion of the joints need to be rotated when moving along the movable trajectory to the zero-return auxiliary positioning point, thus reducing the noise generated by the robotic arm.

[0101] In an optional implementation, the rotary joint includes at least the first and last joints of the plurality of joints arranged in the order of connection with the robotic arm body.

[0102] Specifically, since the movable trajectory is arc-shaped, the robotic arm's rotary joints can move along this trajectory by rotating. The first and last joints of the robotic arm can be selected as rotary joints. The first joint allows for rapid and large-scale adjustment of the rotation angle, while the last joint allows for small-scale and precise angle fine-tuning, achieving rapid and accurate positioning point movement of the robotic arm. For example, for a 6-axis robotic arm, when moving along the movable trajectory, only the first and sixth joints can be moved, while the other joints remain stationary, reducing noise while quickly completing the positioning point movement.

[0103] In an optional implementation, each product inspection station is respectively equipped with a sensing area for the movement of the robotic arm, such as... Figure 10 As shown, the method further includes:

[0104] S710: Determine the operable product inspection station based on the current position of the robotic arm and the position range of the sensing area of ​​each product inspection station.

[0105] S720: Control the target product testing station to be in the testing state according to the target product testing station corresponding to the product to be tested and whether the target product testing station is in an operable state.

[0106] Specifically, and understandably, the scope of operations at each product inspection station can be predetermined. If the robotic arm is within this scope, operations at the product inspection station require operational checks to prevent collisions. Simultaneously, operations at other product inspection stations are safe and will not collide with the robotic arm. Therefore, a sensing area can be set for each product inspection station. If the robotic arm is within the sensing area of ​​one product inspection station, operations at other product inspection stations can proceed normally without checks. Based on the sensing area where the robotic arm is located, the operable product inspection stations can be determined. Thus, when the robotic arm is within the sensing area of ​​another product inspection station, the opening of the inspection box door at that station can be performed in advance, reducing robotic arm waiting time, shortening the product inspection cycle (CT), and increasing production capacity.

[0107] Optionally, two sensing points can be set at both ends of the movable trajectory in the sensing area of ​​the product inspection station, close to the edge of the sensing area. If the robotic arm passes through one sensing point, it enters the sensing area; if the robotic arm passes through another sensing point, it leaves the sensing area. The sensing area where the robotic arm is located can be determined by the movement trajectory of the robotic arm through the sensing points, and thus the operable product inspection station can be determined.

[0108] For example, in a specific case, such as Figure 6 As shown, two sensing points A3 and A4 are set on the movable trajectory within the sensing area of ​​product inspection station B2, two sensing points A1 and A2 are set on the movable trajectory within the sensing area of ​​product inspection station B1, two sensing points A5 and A6 are set on the movable trajectory within the sensing area of ​​product inspection station B3, and two sensing points A7 and A8 are set on the movable trajectory within the sensing area of ​​product inspection station B4. The sensing area where the robotic arm is located can be determined by detecting the trajectory of the robotic arm passing through sensing points A1 to A8.

[0109] Optionally, sensing points can be set for other positioning points on the movable trajectory besides the detection positioning point to determine the product inspection stations that can be operated when the robotic arm is at these other positioning points. For example, sensing points A9 and A10 can be set to correspond to the avoidance positioning point. When the robotic arm is located at sensing points A9 and A10, product inspection stations B1 to B4 can all be operated.

[0110] According to another aspect of this application, this embodiment also discloses a product testing device, such as... Figure 11 As shown, the device includes a product handling module 11 and a product detection module 12:

[0111] Product pick-and-place module 11 is used to pick up products to be inspected by a robotic arm. The robotic arm includes a robotic arm body and multiple joints that are rotatably connected to the robotic arm body in sequence. Among the multiple joints are rotary joints.

[0112] Product inspection module 12 is used to control the rotation of the robotic arm's joints so that the robotic arm moves along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. The movable trajectory of the robotic arm is an arc with the center of the robotic arm as the center and a radius of a preset distance. The movable trajectory includes multiple positioning points.

[0113] Since the principle by which this device solves the problem is similar to the methods described above, the implementation of this device can be found in the implementation of the methods, and will not be repeated here.

[0114] This application also discloses a product inspection system, which includes a product inspection device and a robotic arm as described in this embodiment.

[0115] Optionally, the product testing system may also include structures such as a product testing station and a product transfer device.

[0116] Since the principle behind this system's problem-solving is similar to the methods described above, the implementation of this system can be found in the implementation of the methods, and will not be repeated here.

[0117] This application also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method.

[0118] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0119] Those skilled in the art will understand that the embodiments of this application can be provided as methods, systems, or computer programs, producing the systems, apparatuses, modules, or units described in the above embodiments. Specifically, they can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer device; specifically, a computer device can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0120] In a typical example, the computer device specifically includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the method executed by the client as described above, or the method executed by the server as described above.

[0121] The following is for reference. Figure 12 It shows a schematic diagram of the structure of a computer device 600 suitable for implementing the embodiments of this application.

[0122] like Figure 12 As shown, the computer device 600 includes a central processing unit (CPU) 601, which can perform various appropriate tasks and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage section 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the system 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0123] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal feedback (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 606 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed in storage section 608 as needed.

[0124] In particular, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program including program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611.

[0125] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0126] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0127] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0128] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0129] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0130] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0131] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0132] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0133] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0134] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A product testing method, characterized in that, include: The robotic arm grasps the product to be inspected. The robotic arm includes a robotic arm body and multiple joints that are rotatably connected to the robotic arm body in sequence. Among the multiple joints are rotary joints. The rotation of the robotic arm's joints is controlled to move the robotic arm along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. The movable trajectory of the robotic arm is an arc with the center of the robotic arm as the center and a radius of a preset distance. The movable trajectory includes multiple positioning points. The movable trajectory includes a standby area, an operating area corresponding to each product testing station, and an avoidance area to avoid the actions of the product testing station. Each area of ​​the movable trajectory is provided with at least one positioning point; The standby area includes a standby positioning point corresponding to the gripping position of the product to be tested; The process of grasping the product to be inspected using a robotic arm includes: If the robotic arm is not in the grasping position and the distance between the robotic arm and the standby positioning point is less than the distance between the robotic arm and the grasping position, then the robotic arm is positioned at the standby positioning point. Control the robotic arm to move to the gripping position and grip the product to be inspected; Control the robotic arm that grasps the product to be inspected to move to the standby positioning point; The operating area includes detection positioning points corresponding to the product testing station; The process of controlling the rotation of the robotic arm's joints to move the robotic arm along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection includes: This puts the target product testing station corresponding to the product to be tested into a testing state. Controlling the rotation of the robotic arm's joints causes the robotic arm to move along a movable trajectory to the detection positioning point of the target product detection station; The robotic arm is controlled to move to the target product inspection station, and the product to be inspected is placed there for product inspection. The product inspection station includes multiple product inspection stations located on one side of the product transmission line. The interval area between the multiple product inspection stations forms the avoidance area. Avoidance positioning points are set on the movable trajectory of the avoidance area. The method further includes: Before the target product inspection station corresponding to the product to be inspected is in the inspection state, the robotic arm moves to the avoidance positioning point or the preset standby positioning point to wait.

2. The product testing method according to claim 1, characterized in that, Also includes: When the robotic arm is moved to the target position, based on the current position of the robotic arm, the robotic arm is moved to the positioning point on the movable trajectory that is closest to the robotic arm; Determine the target location point on the movable trajectory that is closest to the target location; The robotic arm is controlled to move along the movable trajectory to the target positioning point, and then to the target position.

3. The product testing method according to claim 1, characterized in that, The plurality of positioning points also includes a zero-return auxiliary positioning point, which is located in the avoidance area; The method further includes: If the robotic arm malfunctions, control the robotic arm to move to the nearest zero-return auxiliary positioning point.

4. The product testing method according to claim 1, characterized in that, The rotary joint includes at least the first and last joints of the plurality of joints arranged in the order of connection with the robotic arm body.

5. The product testing method according to claim 1, characterized in that, Each product inspection station is equipped with a corresponding sensing area for the movement of the robotic arm. The method further includes: The operable product inspection stations are determined based on the current position of the robotic arm and the position range of the sensing area of ​​each product inspection station. The target product testing station is controlled to be in the testing state based on the target product testing station corresponding to the product to be tested and whether the target product testing station is in an operable state.

6. The product testing method according to claim 5, characterized in that, Two sensing points are set at the two ends of the movable trajectory in the sensing area of ​​the product inspection station, respectively, close to the edge of the sensing area. If the robotic arm passes through a sensing point, it enters the sensing area. If the robotic arm passes through a sensing point again, it leaves the sensing area. The sensing area where the robotic arm is located is determined by the movement trajectory of the robotic arm through the sensing points, and thus the operable product inspection station is determined.

7. The product testing method according to claim 1, characterized in that, The product inspection station includes a first product inspection station and a second product inspection station located on one side of the product transport line, and a third product inspection station and a fourth product inspection station located on the other side of the product transport line. The multiple fixed points laid out on the arc-shaped movable trajectory include a standby positioning point, four detection positioning points corresponding to the four product detection stations, and two avoidance positioning points.

8. The product testing method according to claim 7, characterized in that, The movable trajectory includes a standby area corresponding to the product transmission device, first to fourth operation areas corresponding to the first to fourth product inspection stations respectively, a first avoidance area located between the first product inspection station and the second product inspection station, and a second avoidance area located between the third product inspection station and the fourth product inspection station; the standby area is provided with a standby positioning point, the first to fourth operation areas are respectively provided with first to fourth operation positioning points, and the first avoidance area and the second avoidance area are respectively provided with a first avoidance positioning point and a second avoidance positioning point.

9. The product testing method according to claim 1, characterized in that, The robotic arm is a 6-axis robotic arm.

10. A product testing device, characterized in that, The apparatus for performing the product testing method as described in any one of claims 1-9 includes: The product pick-and-place module is used to pick up the product to be inspected by a robotic arm. The robotic arm includes a robotic arm body and multiple joints that are rotatably connected to the robotic arm body in sequence. Among the multiple joints, there are rotary joints. The product inspection module is used to control the rotation of the robotic arm's joints so that the robotic arm moves along a movable trajectory to the target positioning point corresponding to the product inspection station for product inspection. The movable trajectory of the robotic arm is an arc with the center of the robotic arm as the center and a radius of a preset distance. The movable trajectory includes multiple positioning points.

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