Full-peripheral-side visual detection method, equipment and visual detection system

Abstract

The invention relates to the technical field of testing or analyzing materials by means of measuring chemical or physical properties of the materials, in particular to a full-peripheral visual inspection method, equipment and a visual inspection system. The full-peripheral-side visual inspection method comprises the following steps: dividing the peripheral side of a to-be-detected product into a first area and a second area which are distributed along the vertical direction; a first clamp, a second clamp and a peripheral visual detection unit are arranged; a first clamp is adopted to clamp the first area, so that the peripheral visual detection unit detects the exposed second area; and after detection is completed, the first clamp conveys the product to a handover position corresponding to the second clamp, and in the handover position, the second clamp clamps the second area, and the first clamp is synchronously separated from the first area, so that the first area is exposed to the detection area of the peripheral visual detection unit.

Description

Technical Field

[0001] This invention relates to the field of materials technology by measuring the chemical or physical properties of materials, and particularly to a full-circumference visual inspection method, equipment and visual inspection system. Background Technology

[0002] In industrial production, especially in precision manufacturing and assembly, comprehensive visual inspection of product surfaces is a crucial step in ensuring product quality. Existing visual inspection technologies typically rely on mechanical fixtures to hold products in place so that cameras can image the exposed areas. The most common practice is to use fixtures to hold portions of the product defined as "non-inspection areas" (such as the top, bottom, or cavities of the product), ensuring that the "inspection areas" to be inspected are fully exposed within the camera's field of view. Inspection is then performed by rotating the product or deploying multi-angle cameras.

[0003] However, with increasingly stringent product quality requirements, a large number of products have emerged whose entire peripheral surface is a critical inspection area. For example, high-gloss metal casings, high-end ceramic components, and medical implants—any scratches, dents, stains, or dimensional deviations on their 360° peripheral surfaces can affect functionality or aesthetics. For these products, traditional clamping inspection methods face a fundamental dilemma: clamping any peripheral portion inevitably obstructs that area, creating a blind spot; attempting to clamp the top or bottom may result in unstable fixation due to edgeless, fully curved product designs, or the clamping force may deform the product, affecting measurement accuracy. Therefore, how to achieve 100% unobstructed, high-precision visual inspection of the entire peripheral surface while ensuring stable product positioning has become a pressing technical challenge in this field. Summary of the Invention

[0004] The purpose of this invention is to provide a method, equipment, and system for full-circumference visual inspection, in order to solve the technical problem that there is a lack of methods and equipment for 100% unobstructed visual inspection of the entire circumference of a product in the prior art.

[0005] The technical solution of this invention is: a full-circumference visual detection method, comprising: The periphery of the product to be inspected is divided into a first region and a second region distributed vertically; and a first fixture, a second fixture, and a periphery vision inspection unit are configured thereto. The first region is held in place by a first clamp, allowing the peripheral vision detection unit to detect the exposed second region; After the inspection is completed, the first clamp sends the product to the handover position of the corresponding second clamp. In this position, the second clamp holds the second area, and the first clamp simultaneously disengages from the first area, so that the first area is exposed to the inspection area of ​​the peripheral visual inspection unit.

[0006] Preferably, the first or second clamp holding the product is driven to rotate together with the product around an axis perpendicular to the detection axis of the peripheral vision inspection unit, so that multiple sides of the product corresponding to the first or second region are continuously exposed to the detection area of ​​the peripheral vision inspection unit.

[0007] Preferably, positioning ends are configured for the first and second clamps based on the positioning references preset for the product in the first and second regions. The positioning ends can penetrate and abut against the corresponding positioning references, so that the product has a preset position on the first or second clamp connected to it.

[0008] A circumferential vision inspection device, comprising a first fixture, a second fixture, and a circumferential vision inspection unit; The clamping ends of the first clamp and the second clamp have openings facing each other. The first clamp is movably positioned relative to the second clamp, and at least within the detection area of ​​the corresponding peripheral visual detection unit, there is a moment when the first clamp and the second clamp are at different heights.

[0009] Preferably, both the first clamp and the second clamp are connected to a rotary driver, which can drive the corresponding first clamp and the second clamp to rotate around their own axis relative to the peripheral visual detection unit.

[0010] Preferably, both the first clamp and the second clamp are provided with a locator. The locator includes multiple positioning ends with heads formed in a conical shape, and the multiple positioning ends can penetrate and abut against multiple preset positioning references on the clamped product.

[0011] Preferably, the second clamp is fixedly set to the detection area of ​​the visual inspection unit; the first clamp is connected to a transfer drive mechanism, which can drive the first clamp to move vertically toward the second clamp, so that the non-clamping area on the clamped product enters the clamping end of the second clamp.

[0012] Preferably, the peripheral vision detection unit includes a peripheral vision camera, which is slidably connected to a compensation drive mechanism. The compensation drive mechanism includes a compensation track facing the second clamp, and the peripheral vision camera is slidably mounted on the compensation track under the drive of the compensation driver.

[0013] A visual inspection system includes a substrate on which a top inspection device, a bottom inspection device, and a transfer device are disposed; The transfer device includes a transfer track, which is fixed to a base plate adjacent to a bottom detection device and a full-circumference side detection device. A product carrier for carrying the product to be tested is slidably disposed on the transfer track; and when the product is carried on the product carrier, the top of the product is exposed. The bottom detection device includes a bottom detection camera and a third clamp, the third clamp being slidably mounted on a bottom detection truss spanning the transfer track and the bottom detection camera; The top detection device is slidably mounted on the bottom detection truss.

[0014] Preferably, the positioner is provided on both the product carrier and the third clamp; The end of the first clamp away from the second clamp is slidably mounted on a peripheral detection truss that spans the transfer track and the second clamp.

[0015] Compared with the prior art, the advantages of the present invention are: (1) This application creatively proposes a scheme that divides the periphery of the product into two areas and uses two sets of clamps for alternating clamping and handover. When the first clamp holds the first area, the second area is fully exposed for inspection; after inspection is completed, the second clamp holds the second area through a precise handover process, thereby fully exposing the previously obscured first area. This process removes the permanent obstruction caused by the fixed clamps, allowing the entire circumferential sidewall of the product to be presented to the visual inspection unit in stages and without omission.

[0016] (2) By driving the clamp holding the product to rotate, all sides of each area of ​​the product can continuously and orderly enter the field of view of the vision inspection unit. This not only achieves all-round coverage of the product's perimeter, but also significantly reduces the system cost and complexity compared to arranging a large number of fixed cameras, while ensuring the continuity and consistency of image acquisition, which is beneficial to subsequent image processing and analysis.

[0017] (3) By setting mutually cooperating positioning references and positioning ends on the product and the fixture, the precise positioning and repeated locking of the product's pose are achieved at the critical moment of clamping and handover. This measure effectively eliminates the detection error caused by product offset, tilting or rotation, and ensures that the spatial pose of the product is highly consistent in the two detections. This provides crucial accuracy assurance for subsequent image stitching, comparison or overall size measurement, and greatly improves the reliability and repeatability of the detection results. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a first schematic diagram of a full-circumference visual detection method according to the present invention; Figure 2 This is a second schematic diagram of a full-circumference visual detection method according to the present invention; Figure 3 This is a top view of the visual inspection system described in this invention; Figure 4 This is a first-view structural diagram of the visual inspection system described in this invention; Figure 5 This is a partial enlarged view of the visual inspection system described in this invention, used to show the positional relationship between the positioning end and the first fixture; Figure 6 This is a partial enlarged view of the visual inspection system described in this invention, used to show the first area where the first fixture holds the product; Figure 7 This is a structural diagram of the peripheral vision detection unit described in this invention; Figure 8 This is a second-view structural diagram of the visual inspection system described in this invention; Wherein: p1, first area; p2, second area; 1, first fixture; 2, second fixture; 3, peripheral vision inspection unit; 31, peripheral vision camera; 32, compensation drive mechanism; 321, compensation track; 322, compensation driver; 4, rotary driver; 5, locator; 51, positioning end; 6, handover drive mechanism; 100, substrate; 200, full peripheral vision inspection equipment; 210, peripheral inspection truss; 300, top inspection equipment; 400, bottom inspection equipment; 410, bottom inspection camera; 420, third fixture; 430, bottom inspection truss; 500, transfer equipment; 510, transfer track; 520, product carrier. Detailed Implementation

[0019] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0021] Existing technologies for visual inspection of a product's perimeter typically involve clamping the product's non-inspection area with a fixture, thereby exposing the inspection area. However, this method is unsuitable for products where the entire perimeter needs to be inspected, meaning there are no non-inspection areas on the perimeter.

[0022] Therefore, this application provides a full-circumference visual inspection method, the main purpose of which is to achieve visual inspection of the entire circumferential sidewall of a product, i.e., the full circumference side. Furthermore, it provides a full-circumference visual inspection device applying this method, and a visual inspection system including the device.

[0023] The present invention will be further described in detail below with reference to specific embodiments.

[0024] Example 1

[0025] A method for detecting full-circumference vision includes: like Figure 1 and Figure 2 As shown, the periphery of the product to be inspected is divided into a first region and a second region distributed along the vertical direction, and a periphery visual inspection unit 3 and a first fixture 1 and a second fixture 2 corresponding to the first region and the second region are configured.

[0026] First, the first clamp 1 holds the first area of ​​the product, while the second clamp 2 moves away from the product. At this time, the second area on the product is exposed to the detection area of ​​the peripheral vision detection unit 3, and the exposed second area is visually detected by the peripheral vision detection unit 3.

[0027] After the second area has been inspected, the first clamp 1 moves the product toward the second clamp 2, bringing the product into a junction position corresponding to the second clamp 2. In this junction position, the second clamp 2 holds the second area on the product, and simultaneously the first clamp 1 disengages from the first area, exposing the previously uninspected first area to the inspection area of ​​the peripheral visual inspection unit 3.

[0028] Based on the above steps, multiple peripheral vision inspection units 3 can be arranged around the first clamp 1 or the second clamp 2 to enable multiple sides of the product corresponding to the first and second regions to be exposed within the inspection area of ​​the peripheral vision inspection unit 3.

[0029] Alternatively, the method of arranging multiple peripheral visual detection units 3 can be replaced with: By driving the first clamp 1, which holds the product, to rotate together with the product around an axis perpendicular to the detection axis of the peripheral detection unit, multiple sides of the second region on the product are continuously exposed to the detection area of ​​the peripheral time detection unit. Similarly, by driving and clamping the second fixture 2, along with the product, to rotate around an axis perpendicular to the detection axis of the peripheral detection unit, multiple sides of the first region on the product are continuously exposed to the detection area of ​​the peripheral time detection unit. This enables visual inspection of multiple sides of the product corresponding to the first and second regions.

[0030] In this application, during the transfer of the product from the first clamp 1 to the second clamp 2, such as Figure 5 As shown, positioning ends 51 are configured for the first clamp 1 and the second clamp 2 based on the preset positioning reference of the product in the first and second regions. The purpose is to enable the first clamp 1 or the second clamp 2 to clamp the product while the positioning ends 51 and the positioning reference cooperate to make the product have a preset pose relative to the first clamp 1 or the second clamp 2, thereby avoiding inaccurate positioning during the handover process, which would prevent the first or second region from being fully exposed during the inspection.

[0031] The positioning reference can be a hole, and the positioning end 51 can be a columnar structure corresponding to the hole. When multiple positioning ends 51 penetrate the corresponding positioning reference and abut against the inner wall of the positioning reference, the relative position of the product on the first clamp 1 or the second clamp 2 connected to it can be positioned. When there are multiple positioning ends 51 and positioning references, the corner of the product relative to the first clamp 1 or the second clamp 2 can also be positioned.

[0032] Example 2

[0033] like Figure 3 - Figure 8 As shown, a circumferential vision inspection device 200 based on the above method includes a first clamp 1, a second clamp 2, and a circumferential vision inspection unit 3.

[0034] In this embodiment, the opening of the clamping end of the first clamp 1 faces downward, and the opening of the clamping end of the second clamp 2 faces upward. The first clamp 1 is movably disposed relative to the second clamp 2, and at least within the detection area of ​​the corresponding peripheral visual detection unit 3, there is a moment when the first clamp 1 is suspended above the second clamp 2, that is, the first clamp 1 and the second clamp 2 are distributed at different heights.

[0035] This configuration allows the first clamp 1 to move the product toward the second clamp 2 while holding the first area of ​​the product, thus allowing the second area of ​​the product to enter through the open clamping end of the second clamp 2. When the first clamp 1 is suspended above the second clamp 2, the second area of ​​the product falls precisely into the clamping end of the second clamp 2, thereby achieving the handover operation of the product from being held by the first clamp 1 to being held by the second clamp 2.

[0036] To achieve the detection of multiple sides on the first and second regions, in one embodiment, multiple visual detection units can be set up. In this embodiment, the first clamp 1 and the second clamp 2 are both connected to a rotary driver 4, which can drive the corresponding first clamp 1 and second clamp 2 to rotate around their own axis relative to the peripheral visual detection unit 3.

[0037] The rotary driver 4 includes a servo motor. The actuator end of the servo motor is connected to the end of the corresponding first clamp 1 or second clamp 2 away from the clamping end via a belt, thereby driving the corresponding first clamp 1 or second clamp 2 to rotate the clamped product around its respective axis.

[0038] Furthermore, to achieve stable and precise clamping of the product relative to the first clamp 1 and the second clamp 2, this application provides positioners 5 on both the first clamp 1 and the second clamp 2. Each positioner 5 includes at least two cone-shaped positioning ends 51. These positioning ends 51 are contoured to the first or second clamped area on the product, allowing them to penetrate the corresponding positioning reference and abut against its inner wall. This restricts the relative position and angle of the product relative to the clamping first clamp 1 or second clamp 2, resulting in a more stable clamping effect and facilitating subsequent handover or inspection.

[0039] The second clamp 2 is fixedly set in the detection area corresponding to the vision inspection unit. During the transfer of the product from the first clamp 1 to the second clamp 2, the first clamp 1 can send the product into the open clamping end of the second clamp 2 in a horizontal or vertical direction.

[0040] In this embodiment, the first clamp 1 is connected to a transfer drive mechanism 6, which drives the first clamp 1 to move vertically toward the second clamp 2, so that the second area on the clamped product enters the clamping end of the second clamp 2. The transfer drive mechanism 6 consists of a transfer drive cylinder and a transfer guide rod arranged vertically.

[0041] In this application, as Figure 7 As shown, the peripheral vision detection unit 3 includes a peripheral vision camera 31.

[0042] When the product to be inspected has an irregular structure, the first or second area on the product may not necessarily be on the rotation axis of the first or second clamp 1 or second clamp 2 during the product's rotation. For a peripheral vision inspection camera, the inspected area on the product moves closer and farther away during rotation, which may lead to loss of focus and thus affect the accuracy of the vision inspection.

[0043] Therefore, in the preferred embodiment of this application, the peripheral vision camera 31 is slidably connected to the compensation drive mechanism 32, the compensation drive mechanism 32 includes a compensation track 321 disposed toward the second clamp 2, and the peripheral vision camera 31 is slidably disposed on the compensation track 321 under the drive of the compensation driver 322.

[0044] When the distance between the area to be inspected on the product and the peripheral vision camera 31 exceeds its focusing range during rotation, the compensation driver 322 drives the vision inspection camera to move back and forth along the compensation track 321, thereby compensating for the offset of the area to be inspected when the product rotates.

[0045] Example 3

[0046] like Figure 3 , Figure 4 and Figure 8 As shown, a vision inspection system based on the above-mentioned full-circumference vision inspection device 200 includes a substrate 100, on which a top inspection device 300 for detecting defects at the top of a product, a bottom inspection device 400 for detecting defects at the bottom of a product, and a transfer device 500 for transferring the product between the bottom inspection device 400 and the full-circumference inspection device are disposed.

[0047] The transfer device 500 includes a transfer track 510, which is fixed on the base plate 100 adjacent to the bottom detection device 400 and the full-circumference side detection device. A product carrier 520 for carrying the product to be tested is slidably disposed on the transfer track 510.

[0048] The product carrier 520 has a vertically oriented mounting slot for accommodating the product, and is equipped with a positioner 5 to define the product's position within the mounting slot. When the product is placed in the mounting slot, its top end is exposed.

[0049] The bottom inspection device 400 includes a bottom inspection camera 410 and a third clamp 420. The clamping end of the third clamp 420 is also provided with a locator 5. The third clamp 420 is slidably disposed on a bottom inspection truss 430 that spans the transfer track 510 and the bottom inspection camera 410. When the product carrier 520 runs to the first inspection position on the transfer track 510 corresponding to the bottom inspection truss 430, the third clamp 420 can remove the product from the product carrier 520 and carry it to the position corresponding to the bottom inspection camera 410, so that the bottom of the product is exposed in the upward-facing inspection area of ​​the bottom inspection camera 410.

[0050] The top inspection device 300 slides synchronously on the bottom inspection truss 430 along with the third clamp 420, enabling visual inspection of the exposed top of the product carrier 520 that carries the product to the first inspection position.

[0051] Furthermore, the end of the first clamp 1 furthest from the second clamp 2 is slidably mounted on a circumferential inspection truss 210 spanning the transfer track 510 and the second clamp 2. This allows the first clamp 1 to move in a direction perpendicular to the transfer track 510, removing the product from the product carrier 520 that has carried the product to the second inspection position, and transferring it to the inspection area of ​​the full-circumferential visual inspection unit 3 for subsequent handover and inspection operations.

[0052] During work: The product is placed into the product carrier 520 by external equipment, and the product carrier 520 drives the product to move along the transfer track 510 to the first detection position; The third clamp 420 removes the product from the product carrier 520 and detects defects at the bottom of the product by the bottom inspection device 400. After the inspection, the product is put back into the product carrier 520, and then the top inspection device 300 inspects the top of the product in the product carrier 520. The product that has completed the top and bottom inspection is sent to the second inspection position by the product carrier 520; the first clamp 1 holds the first area of ​​the product and takes the product out of the product carrier 520 again into the inspection area of ​​the full-circumference visual inspection unit 3, and rotates itself to make the second area of ​​the product perform full-circumference visual inspection; After the second area completes the full-circumference visual inspection, the first clamp 1 sends the second area of ​​the product into the clamping end of the second clamp 2, and after the second clamp 2 clamps the second area of ​​the product, it withdraws, causing the second clamp 2 to rotate while clamping the product, thereby performing full-circumference visual inspection on the first area of ​​the product. After the entire perimeter of the product passes inspection, the first clamp 1 re-clamps the product and places it back into the product carrier 520 for unloading.

[0053] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A full circumference vision inspection method, characterized by, The application relates to a product peripheral side vision detection device. The peripheral side of a product to be detected is divided into a first region and a second region distributed along a vertical direction; A first clamp (1), a second clamp (2) and a peripheral side vision detection unit (3) are arranged; The first clamp (1) holds the first region so that the peripheral side vision detection unit (3) detects the exposed second region; After detection, the product is sent to a transfer position of the second clamp (2) by the first clamp (1), at which position the second clamp (2) holds the second region, the first clamp (1) is synchronously separated from the first region, and the first region is exposed to the detection area of the peripheral side vision detection unit (3).

2. The full-circumferential vision inspection method according to claim 1, characterized in that, The first clamp (1) or the second clamp (2) holding the product is driven to rotate around an axis perpendicular to the detection axis of the peripheral side vision detection unit (3) together with the product, so that multiple sides of the product corresponding to the first region or the second region are continuously exposed to the detection area of the peripheral side vision detection unit (3).

3. The full-circumferential vision inspection method according to claim 2, wherein Positioning ends (51) are arranged on the first clamp (1) and the second clamp (2) based on preset positioning references of the product in the first region and the second region, the positioning ends (51) can penetrate and abut the corresponding positioning references, so that the product has a preset pose on the first clamp (1) or the second clamp (2) connected thereto.

4. A full circumference vision inspection apparatus (200) characterized by, The application relates to a product peripheral side vision detection device. The holding ends of the first clamp (1) and the holding ends of the second clamp (2) have oppositely arranged openings; The first clamp (1) is movably arranged relative to the second clamp (2), and at least in the detection area of the peripheral side vision detection unit (3), there is a moment when the first clamp (1) and the second clamp (2) are distributed in a high-low manner.

5. The full circumference vision inspection apparatus (200) of claim 4, wherein, The first clamp (1) and the second clamp (2) are both connected with a rotary driver (4), the rotary driver (4) can drive the corresponding first clamp (1) and second clamp (2) to rotate around their own axes relative to the peripheral side vision detection unit (3).

6. The full-circumferential vision inspection apparatus (200) according to claim 5, characterized in that, The first clamp (1) and the second clamp (2) are both provided with a positioner (5), the positioner (5) comprises a plurality of positioning ends (51) with tapered heads, and the plurality of positioning ends (51) can penetrate and abut a plurality of preset positioning references on the clamped product.

7. The full-circumferential vision inspection apparatus (200) according to claim 6, characterized in that, The second clamp (2) is fixedly arranged corresponding to the detection area of the vision detection unit; the first clamp (1) is connected with a transfer driving mechanism (6), the transfer driving mechanism (6) can drive the first clamp (1) to move along the vertical direction towards the second clamp (2), so that a non-clamped area on the clamped product enters the holding end of the second clamp (2).

8. The full-circumferential vision inspection apparatus (200) according to claim 7, characterized in that, The peripheral side vision detection unit (3) comprises a peripheral side vision camera (31), the peripheral side vision camera (31) is slidably connected with a compensation driving mechanism (32), the compensation driving mechanism (32) comprises a compensation track (321) arranged towards the second clamp (2), and the peripheral side vision camera (31) is slidably arranged on the compensation track (321) under the driving of a compensation driver (322).

9. Visual inspection system employing a full circumference side visual inspection apparatus (200) as claimed in claim 8, characterized in that, The device comprises a substrate (100) on which a top detection device (300), a bottom detection device (400) and a transfer device (500) are arranged; The transfer device (500) comprises a transfer track (510) fixed on the substrate (100) adjacent to the bottom detection device (400) and the full-circumference side detection device, and a product carrier (520) for carrying a product to be detected is arranged on the transfer track (510) in a sliding manner; and when the product is carried on the product carrier (520), the top of the product is exposed; The bottom detection device (400) comprises a bottom detection camera (410) and a third clamp (420) arranged on a bottom detection truss (430) spanning the transfer track (510) and the bottom detection camera (410) in a sliding manner; The top detection device (300) is arranged on the bottom detection truss (430) in a sliding manner.

10. The vision inspection system of claim 9, wherein, The positioner (5) is arranged on both the product carrier (520) and the third clamp (420); The first clamp (1) is arranged on a side detection truss (210) spanning the transfer track (510) and the second clamp (2) in a sliding manner away from the second clamp (2).

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