Transparent bottle visual inspection method and all-purpose machine vision inspection equipment

Abstract

The present application belongs to the technical field of visual detection equipment, and particularly relates to a transparent bottle visual detection method and an all-purpose machine visual detection equipment; the present application separates and positions the bottle body through a marshalling mechanism, performs a humanized bottle overturning action to reduce impact, stirs the liquid at a low speed, irradiates and collects images through a three-way light source, tracks the bottle body through a synchronous detection module, and combines a classification and rejection mechanism to solve the problem of low detection accuracy caused by bubble interference and disordered liquid movement in the prior art, effectively reduce liquid oscillation and bubble generation in the bottle through the humanized bottle overturning action and low-speed rotation, avoid detection interference, significantly improve the accuracy and stability of special-shaped bottle detection, and reduce the misjudgment rate.

Description

Technical Field

[0001] This invention belongs to the field of visual inspection equipment technology, specifically relating to a visual inspection method for transparent bottles and an all-in-one machine vision inspection device for irregularly shaped bottles. Background Technology

[0002] After liquid products are filled into transparent bottles, foreign objects such as hair, suspended matter, and glass fragments may be present in the filled liquid products due to poor filtration or unclean containers, which seriously affects the quality of the products. In order to ensure product quality, it is necessary to perform light inspection on the liquid to remove transparent bottled liquids containing foreign objects.

[0003] The principles of automatic light inspection equipment can be broadly divided into two categories: one is the flipping method, which evolved from manual light inspection habits, and the other is the rotation method, which evolved from pharmaceutical light inspection machines. The flipping method has the advantages of simple structure and low cost, but its disadvantages are unstable detection performance and the introduction of a large number of air bubbles and other interferences, making it unsuitable for automated inspection. On the other hand, the rotation method has the advantages of high detection accuracy and high detection rate, but with traditional rotary light inspection, the movement trajectory of internal liquids and impurities in non-cylindrical bottles is chaotic and random, making it difficult for vision to effectively capture and analyze them. In addition, traditional rotary light inspection generates a large number of air bubbles in non-cylindrical bottles than in cylindrical bottles, which greatly interferes with visual inspection. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, the present invention provides a visual inspection method for transparent bottles and an all-in-one machine vision inspection device to solve the problem that the existing automatic light inspection equipment easily generates a large number of air bubbles when inspecting irregularly shaped bottles, which interferes with the visual recognition effect and leads to a decrease in the detection accuracy.

[0005] One aspect of this invention provides a visual inspection method for transparent bottles, comprising the following steps: Step S1: The continuously input bottles are separated and positioned according to a preset interval by the grouping mechanism to form a feeding group; Step S2: Grab the grouped bottles, perform an anthropomorphic bottle-flipping action to flip the bottles and simultaneously transport them to the first inspection station; Step S3: During the rotation and settling of the bottles in the independent rotating bottle group, the first camera continuously captures motion images of the liquid inside the bottle to complete the initial detection based on the sediment. Step S4: Send the bottles that have completed the initial inspection to the second inspection station.

[0006] Furthermore, the anthropomorphic bottle-flipping action in step S2 is as follows: the robot grips the grouped bottles and flips them in segments at varying speeds, specifically including: Step S21: Using the axis of the grouped bottle arrangement direction as the central axis, flip the bottle by the first preset angle in the first time. Step S22: During the process of transporting the bottle to the first inspection station, the bottle is flipped to a second preset angle within a second time period; Wherein, the first preset angle is greater than the second preset angle, and the first time is less than the second time.

[0007] Furthermore, in step S3, when capturing the image of the liquid movement inside the bottle to be inspected, a three-way light source is used for illumination. The three-way light source includes a top light source, a first back light source, and a second back light source, which illuminate the bottle simultaneously from three directions: the top of the bottle, above the backlit side of the bottle, and below the backlit side of the bottle.

[0008] Furthermore, the inspection at the second inspection station includes: Step S5: The bottle body after the initial inspection is received by the main turntable that rotates at a constant speed, and the bottle body is driven to rotate at a low speed by the bottle rotating base on the main turntable. Step S6: The bottle is imaged by a follow-up detection module that moves synchronously with the bottle on the main turntable, thus completing the secondary detection based on suspended matter. Step S7: Bottles that are deemed unqualified after the second inspection are classified and removed according to the defect type, and qualified bottles are output as qualified products.

[0009] Furthermore, the follow-up detection module reciprocates around the center of the main turntable; during detection, the follow-up detection module moves synchronously with the current multiple bottles to acquire images, and after acquisition, the follow-up detection module swings in the opposite direction to reset in order to detect the next group of bottles.

[0010] Furthermore, a versatile machine vision inspection device for implementing the above-mentioned inspection process includes components arranged in the process sequence: A feeding conveyor mechanism for continuously conveying bottles; A grouping mechanism is located at the tail of the feeding conveyor mechanism and is used for spacing positioning of the bottles; The anthropomorphic hand flipping unit includes a multi-axis robot and a gripper mechanism mounted at its end, the gripper mechanism having a rotating pneumatic gripper for gripping the bottle and a rotary motor for driving the rotating pneumatic gripper to rotate; The first detection unit is located at the first detection station and includes a first camera and a three-way light source; An intermediate conveyor mechanism is used to receive bottles after the initial inspection. The second detection unit is set at the second detection station and includes a feeding star wheel, a main turntable, a discharging star wheel and a follow-up detection module. The feeding star wheel is used to connect the intermediate conveying mechanism and the main turntable. The main turntable is provided with a bottle-rotating base around its periphery for driving the bottle to rotate. The follow-up detection module is oscillating and is used to synchronously track and detect the bottles on the main turntable. The rejection mechanism, connected to the discharge star wheel, is used to classify and reject defective products according to the type of defect. The discharge conveyor mechanism is connected to the discharge star wheel and is used to output qualified products.

[0011] Furthermore, the grouping mechanism includes a grouping conveyor belt, a spiral conveyor assembly, and a bottle inlet overload protection device. The spiral conveyor assembly is located above the grouping conveyor belt and is configured to transport bottles at intervals and position the bottles through the gaps between the spiral blades. A photoelectric sensor is provided at the end of the spiral conveyor assembly. When the photoelectric sensor detects that a bottle has arrived in place, the operation of the spiral conveyor assembly is paused.

[0012] Furthermore, two multi-axis robots are symmetrically arranged, and the two multi-axis robots are configured to alternately grasp the bottle for initial inspection; The intermediate conveying mechanism includes two diversion flexible chain plates, a swing merging assembly, and a merging flexible chain plate. The diversion flexible chain plates respectively receive two bottles grasped by the multi-axis robot. The swing merging assembly is connected to the two diversion flexible chain plates and is configured to merge and convey the bottles to the merging flexible chain plate.

[0013] Furthermore, the rejection mechanism includes a first rejection star wheel and a second rejection star wheel, which are used to guide non-conforming products with different types of defects to the corresponding rejection collection boxes.

[0014] Furthermore, the top of the rotating gripper is provided with a gripper drive wheel, which is connected to the gripper block of the rotating gripper. The rotary motor drives several gripper drive wheels through belt drive so that the gripper block and the bottle being gripped rotate together. And / or, the follow-up detection module includes a second camera and a follow-up light source that rotate synchronously. The second camera is located inside the main turntable, and the follow-up light source is located outside the main turntable. The swing centers of the second camera and the follow-up light source are coaxial with the center of the main turntable.

[0015] As can be seen from the above, the visual inspection method and all-around machine vision inspection equipment for transparent bottles provided in this application solve the problems of low detection accuracy caused by bubble interference and disordered liquid movement in the prior art by using a grouping mechanism to separate and position the bottle, performing anthropomorphic bottle-flipping actions to reduce impact, rotating and stirring the liquid at low speed, illuminating and acquiring images with three-way light sources, and synchronously detecting the bottle with a detection module. Combined with a classification and rejection mechanism, it effectively reduces the oscillation of liquid and the generation of bubbles in the bottle through anthropomorphic bottle-flipping actions and low-speed rotation, thus avoiding detection interference; combined with three-way light source illumination and synchronous detection, it achieves efficient identification of sediment and suspended matter, significantly improves the accuracy and stability of irregular bottle detection, and reduces the false judgment rate. Attached Figure Description

[0016] 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 the structures shown in these drawings without creative effort.

[0017] Figure 1 A schematic diagram showing the structure of the all-in-one machine vision inspection device of the present invention; Figure 2 This is a schematic diagram showing the structure of the train assembly mechanism of the present invention; Figure 3 This is a schematic diagram showing the structure of the intermediate conveying mechanism of the present invention; Figure 4 express Figure 3 A magnified schematic diagram of the first rejection device at point A in the middle; Figure 5 A schematic diagram showing the layout of the first detection station of the present invention; Figure 6 This is a schematic diagram showing the structure of the anthropomorphic hand flipping unit of the present invention; Figure 7 This is a schematic diagram showing the layout of the second detection station of the present invention.

[0018] The symbols in the attached image are explained as follows: 1-Feeding conveyor mechanism; 2-Grouping mechanism; 21-Grouping conveyor belt; 22-Screw conveyor assembly; 23-Bottle inlet overload protection device; 24-Inductive photoelectric sensor; 3- Multi-axis robot; 4-Gripper mechanism; 41-Rotary pneumatic gripper; 42-Pneumatic gripper drive wheel; 43-Pneumatic gripper block; 44-Rotary motor; 5-First detection unit; 51-First camera; 52-Top light source; 53-First backlight source; 54-Second backlight source; 6-Intermediate conveyor mechanism; 61-Diverting flexible chain plate; 62-Oscillating merging assembly; 63-Merging flexible chain plate; 64-Feed screw; 7-Feed star wheel; 8-Main turntable; 81-Spinning bottle base; 9-Discharge star wheel; 10-Follow-up detection module; 101-Second camera; 102-Follow-up light source; 11-First removal star wheel; 12-Second removal star wheel; 13-Discharge conveying mechanism; 14 - Remove the collection box; 15-Control cabinet. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] For ease of understanding, the following explains some key terms in this embodiment: The bottle in this application is a colored or colorless transparent bottle-shaped packaging container for holding transparent liquids, such as eye drop bottles, medicine bottles, etc.; and, this application is directed to square packaging container bottles or irregularly shaped packaging container bottles.

[0021] Example 1 One aspect of this invention provides a visual inspection method for transparent bottles, comprising the following steps: Step S1: The continuously input bottles are separated and positioned at a preset interval by the grouping mechanism to form a feeding group; the grouping mechanism consists of a grouping conveyor belt, a spiral conveyor assembly and a bottle overload protection device. The spiral conveyor assembly receives the bottles and positions the bottles at equal intervals through the gaps between the spiral blades, thereby forming an equally spaced bottle queue on the conveyor belt. Step S2: Grab the grouped bottles and perform an anthropomorphic bottle-flipping action to flip the bottles and transport them to the first inspection station at the same time; the grasping and flipping actions are performed by a robotic arm, which is equipped with a fixed clamp at the end of the arm. The robotic arm grasps the bottles in one or more actions and flips them to the target posture, and then transports the bottles to the first inspection station through linear motion. Step S3: During the rotation and stillness of the bottles in the independent rotating bottle group, the first camera continuously captures motion images of the liquid inside the bottle to complete the initial detection based on the sediment; during the shooting process, the bottle is illuminated from different angles; the first camera continuously or intermittently captures image data of the bottle when it rotates and is illuminated by the light source, and transmits it to the control cabinet for analysis. Step S4: Send the bottles that have completed the initial inspection to the second inspection station.

[0022] The visual inspection method for transparent bottles in this application effectively avoids the problems of air bubbles and unstable detection that are easily introduced in the detection of irregularly shaped bottles by introducing anthropomorphic bottle-flipping actions. Simultaneously, by combining low-speed rotation to agitate the liquid 81, three-dimensional light source illumination, and staged initial sediment detection and secondary suspended matter detection, it can optimize the complex movement trajectory of liquid and impurities inside irregularly shaped bottles, ensuring the effective capture and analysis of various foreign objects by the vision system, thereby improving the accuracy of irregularly shaped bottle detection. Furthermore, the low-speed rotation in this embodiment is 100-300 rpm, which can reduce the generation of air bubbles in the liquid within the irregularly shaped bottle during rotation.

[0023] There are two common methods for flipping bottles. One is to move the bottle along a spiral track on the flipping module, and use the limiting guide of the spiral track to flip the bottle 180 degrees. However, irregularly shaped bottles will continuously collide with the spiral track during the flipping process, causing the liquid inside the bottle to collide with the inner wall of the bottle and generate a lot of bubbles, which interferes with normal foreign object detection. The second method is to use a robotic arm to grab the bottle and flip it 180 degrees with the joint of the robotic arm as the central axis. In this case, the bottle will flip a large angle and move a long distance in a short time. The liquid inside the irregularly shaped bottle will be strongly disturbed and collide violently with the inner wall of the bottle, generating a lot of bubbles, which also interferes with normal foreign object detection.

[0024] Therefore, in this embodiment, the anthropomorphic bottle-flipping action in step S2 is proposed as follows: the robot 3 grips the grouped bottles and flips them in segments at varying speeds, specifically including: Step S21: Using the axis of the grouped bottle arrangement direction as the central axis, flip the bottle by the first preset angle in the first time. Step S22: During the process of transporting the bottle to the first inspection station, the bottle is flipped to a second preset angle within a second time period; Wherein, the first preset angle is greater than the second preset angle, and the first time is less than the second time.

[0025] Understandably, the "segmented, variable-speed flipping" refers to breaking down the entire bottle-flipping action into at least two consecutive sub-stages, each with a specific motion trajectory and speed parameters. "Variable speed" means that the flipping speed of the robot 3 holding the bottle is different in different flipping stages. In step S21 of the first stage, after the robot 3 clamps the bottle from the conveyor belt to a predetermined height, it uses the axis of the grouped bottle arrangement direction as its central axis of rotation, completing the flipping of the "first preset angle" within a "first time (e.g., 1-3 seconds)". The purpose of this stage is to quickly initiate the bottle flipping and reduce the time required during the bottle flipping process. The displacement distance is such that the liquid does not collide violently with the bottle wall, causing a large number of bubbles. At the same time, the bottle is flipped from an upright position to an initial tilt angle to start agitating the liquid inside. In step S22 of the second stage, the robot 3 not only continues to flip the bottle, but also transports it from the gripping position to the first inspection station. During the transport, the bottle completes the remaining "second preset angle" flip within a relatively long "second time (e.g., 2-4s)". The characteristic of this stage is that the flipping and transport are carried out simultaneously, and the flipping speed is relatively slow to ensure that the liquid inside the bottle is fully agitated and does not generate too many bubbles, while ensuring the stability of the bottle during the movement.

[0026] Therefore, please refer to Figure 6 In this embodiment, a three-way light source is used to illuminate the bottle when capturing the image of the liquid movement inside the bottle in step S3. The three-way light source includes a top light source 52, a first back light source 53, and a second back light source 54, which illuminate the bottle from three directions simultaneously: the top of the bottle, the upper part of the backlit side of the bottle, and the lower part of the backlit side of the bottle.

[0027] Understandably, the top light source 52 is typically positioned directly above or diagonally above the bottle to be inspected. Its main function is to provide downward-facing light, effectively illuminating the liquid surface, upper area, and any sediment that may be floating or near the surface. The light from the top light source 52 can penetrate the liquid, helping the first camera 51 capture details within the liquid and reducing shadows caused by the bottle opening or shoulder structure. Both the first backlight source 53 and the second backlight source 54 are positioned on the backlit side of the bottle, meaning they are located behind the bottle relative to the first camera 51. The backlight illumination works by using light to penetrate the bottle and liquid, causing sediment to appear as dark outlines in the image, creating a strong contrast with the bright background and making it easier to identify. Furthermore, the first backlight source 53 is positioned above the backlit side of the bottle, primarily illuminating the upper-middle area of ​​the liquid inside; the second backlight source 54 is positioned below the backlit side of the bottle, primarily illuminating the lower-middle area and bottom of the liquid inside. By placing two backlights above and below the backlit side of the bottle, it can be ensured that the sediment in the entire area of ​​the liquid inside the bottle is fully illuminated from top to bottom, avoiding the blind spots that may exist with a single backlight.

[0028] In this embodiment, through the above-described technical solution, during the rotation and stillness of the bottle, the top light source 52 can effectively illuminate the upper area and surface of the liquid inside the bottle, while the first backlight source 53 and the second backlight source 54 provide transmitted light from above and below the backlight side of the bottle, respectively. This allows the sediment in the liquid inside the bottle to form a clear outline and contrast regardless of its position or movement, greatly improving the accuracy and sensitivity of the first camera 51 in capturing images of sediment movement. This significantly enhances the reliability of the initial detection based on sediment and effectively avoids missed detections and misjudgments.

[0029] Example 2 Please refer to Figure 7 This application further proposes a detection method for a second detection station, which includes: Step S5: The bottle body after the initial inspection is received by the main turntable 8 which rotates at a constant speed, and the bottle body is driven to rotate at a low speed by the rotating bottle base 81 on the main turntable 8. Step S6: The follow-up detection module 10, which moves synchronously with the bottle on the main turntable 8, acquires images of the bottle to complete the secondary detection based on suspended matter. Step S7: Bottles that are deemed unqualified after the second inspection are classified and removed according to the defect type, and qualified bottles are output as qualified products.

[0030] This embodiment introduces a second inspection station, further enhancing the initial inspection by utilizing a uniformly rotating main turntable 8 and a rotating bottle base 81 to achieve low-speed rotation of the bottle. This allows for comprehensive, unobstructed observation of the bottle within the inspection area. The follow-up inspection module 10 moves synchronously with the bottle to acquire images, ensuring clear and stable image data even during bottle movement. This enables efficient and accurate secondary inspection based on suspended matter. This refined secondary inspection compensates for the initial inspection's focus on sediment, significantly improving the ability to identify subtle defects such as suspended matter within the bottle. Simultaneously, defective products from the secondary inspection are categorized and removed, while qualified products are output, effectively improving the comprehensiveness, accuracy, and production efficiency of the inspection.

[0031] Therefore, in this embodiment, the follow-up detection module 10 is proposed to swing back and forth around the center of the main turntable 8. During detection, the follow-up detection module 10 moves synchronously with the current corresponding multiple bottles to acquire images. After the acquisition is completed, the follow-up detection module 10 swings back to reset in order to detect the next group of bottles.

[0032] In this embodiment, the follow-up detection module 10 dynamically tracks the moving bottles on the main turntable 8 by reciprocating around the center of the turntable 8. During the detection phase, the module 10 moves synchronously with the bottles, ensuring the stability and accuracy of image acquisition and effectively avoiding image blurring or missed detections caused by the high-speed movement of the bottles. After completing the detection of a set of bottles, the module 10 quickly reverses its swing to reset, preparing for the detection of the next set of bottles, thus achieving continuous and efficient detection. This overcomes the limitations of traditional fixed or simple moving detection modules in high-speed, multi-bottle detection scenarios, significantly improving detection efficiency and accuracy, reducing detection blind spots, and ensuring continuous operation of the production line. It enables the processing of higher throughput bottles without compromising detection quality, thereby improving the automation level and production efficiency of the entire transparent bottle visual inspection method.

[0033] Example 3 Please refer to Figures 1-7 This embodiment provides a versatile machine vision inspection device for implementing the above-described inspection process, which includes the following components arranged in the process sequence: Feeding and conveying mechanism 1 is used for continuous conveying of bottles; Grouping mechanism 2 is located at the tail of the feeding conveying mechanism 1 and is used for spacing positioning of the bottles; The anthropomorphic hand flipping unit includes a multi-axis robot 3 and a gripper mechanism 4 installed at its end. The gripper mechanism 4 has a rotating pneumatic gripper 41 for gripping the bottle and a rotary motor 44 for driving the rotating pneumatic gripper 41 to rotate. The first detection unit 5 is located at the first detection station and includes a first camera 51 and a three-way light source; The intermediate conveying mechanism 6 is used to receive the bottles after the initial inspection; The second detection unit, located at the second detection station, includes a feeding star wheel 7, a main turntable 8, a discharging star wheel 9, and a follow-up detection module 10. The feeding star wheel 7 is used to connect the intermediate conveying mechanism 6 and the main turntable 8. The main turntable 8 is provided with a bottle-rotating base 81 around its periphery for driving the bottle to rotate. The follow-up detection module 10 is oscillatingly set to synchronously track and detect the bottles on the main turntable 8. The rejection mechanism, connected to the discharge star wheel 9, is used to classify and reject defective products according to the type of defect. The discharge conveying mechanism 13 is connected to the discharge star wheel 9 and is used to output qualified products.

[0034] This embodiment achieves efficient and accurate detection of non-cylindrical transparent bottles through the above-described technical solution. The anthropomorphic hand-turning unit effectively controls bubble generation through segmented variable-speed turning, the three-way light source system provides omnidirectional uniform illumination to enhance image contrast, and the synchronous tracking mechanism of the follow-up detection module 10 solves the problem of capturing the trajectory of impurities when the non-cylindrical bottle rotates. The overall technical concept, through process optimization and the coordinated cooperation of key components, significantly improves detection accuracy and reliability, meeting the detection needs of automated production lines for various types of bottles.

[0035] Therefore, please refer to Figure 2 In this embodiment, the grouping mechanism 2 includes a grouping conveyor belt 21, a spiral conveyor assembly 22, and a bottle inlet overload protection device 23. The spiral conveyor assembly 22 is disposed above the grouping conveyor belt 21. The spiral conveyor assembly 22 is configured to transport bottles at intervals and position the bottles through the gaps between the spiral blades. The end of the spiral conveyor assembly 22 is provided with a photoelectric sensor 24. When the photoelectric sensor 24 detects that a bottle has arrived in place, it controls the bottle inlet overload protection device 23 to block the bottle from entering the spiral conveyor assembly 22 through a bottle-blocking cylinder and suspends the operation of the spiral conveyor assembly 22.

[0036] Understandably, the grouping mechanism 2 is mainly responsible for effectively separating and accurately positioning the continuously input bottles to ensure that the bottles are arranged at a preset equal interval, providing stable input for subsequent gripping and detection operations. In this embodiment, the spiral conveyor assembly 22 is arranged along the conveying direction of the bottles. The spiral blades in the spiral conveyor assembly 22 can be used to block the bottles and accommodate them in the gaps between the spiral blades to control the forward movement of the bottles. By setting a photoelectric sensor 24 at the end of the spiral conveyor assembly 22, the photoelectric sensor 24 is a photoelectric sensor that detects the presence or arrival of bottles at a specific position by emitting and receiving light signals. Since the bottles enter the spiral conveyor assembly 22 sequentially, the photoelectric sensor 24 can be used to monitor in real time whether a preset number of bottles has been grouped. When the photoelectric sensor 24 detects that the bottles have been accurately positioned, the operation of the feeding conveyor mechanism 1 and the spiral conveyor assembly 22 is paused, which ensures that the bottles entering the spiral conveyor assembly 22 form a uniform and preset interval, thereby completing the equal-interval grouping and preventing too many bottles from being sent into the spiral conveyor assembly 22.

[0037] The above technical solution overcomes the problem of uneven bottle spacing or collisions during continuous conveying, ensuring that the bottles can enter the subsequent processes with a stable and equal spacing. It not only improves the accuracy and stability of grouping, but also provides reliable bottle positioning for subsequent robot 3 grasping, bottle flipping, and image acquisition at the first inspection station, thereby significantly improving the automation level and inspection efficiency of the entire inspection process.

[0038] Therefore, this embodiment proposes that two multi-axis robots 3 are symmetrically arranged, and the two multi-axis robots 3 are configured to alternately grasp bottles for initial inspection. Specifically, while one multi-axis robot 3 is performing the tasks of grasping, flipping, and transporting the bottle to the first inspection station, the other multi-axis robot 3 can simultaneously prepare to grasp the next bottle, or has already completed its task and is waiting for the next bottle. This parallel working mode significantly improves the processing efficiency of bottles in the initial inspection stage.

[0039] Please refer to Figure 3 , Figure 4The intermediate conveying mechanism 6 includes two diverting flexible chain plates 61, a swing merging assembly 62, and a merging flexible chain plate 63. The diverting flexible chain plates 61 respectively receive bottles grasped by the two multi-axis robots 3. The swing merging assembly 62 is connected to the two diverting flexible chain plates 61 and is configured to merge and convey the bottles to the merging flexible chain plate 63. The diverting flexible chain plates 61 are flexible chain conveyor belts used for conveying bottles, characterized by smooth conveying and minimal damage to the bottles. The two diverting flexible chain plates 61 are respectively connected to the discharge ends of the two multi-axis robots 3 to receive bottles released after their respective robots complete their initial inspection. This design ensures that bottles from different robots can enter the intermediate conveying mechanism 6 independently and smoothly. The swing merging assembly 62 is used to guide bottles from the two diverting flexible chain plates 61 alternately or continuously onto a single merging flexible chain plate 63 according to a preset timing and sequence. For example, when a bottle arrives at the left diversion flexible chain plate 61, the swing merging assembly 62 swings to the left, guiding the bottle into the merging flexible chain plate 63; when a bottle arrives at the right diversion flexible chain plate 61, the swing merging assembly 62 swings to the right, guiding the bottle into the merging flexible chain plate 63. This swing merging mechanism ensures that the bottles do not collide, accumulate, or block during the merging process, maintaining the continuity and order of bottle transport.

[0040] In this embodiment, through the above-described technical solution, the all-around machine vision inspection equipment can effectively solve the efficiency bottleneck problem that may occur when a single anthropomorphic hand flipping unit processes high-volume bottles, thereby improving the overall inspection efficiency of the equipment. Simultaneously, by introducing the intermediate conveying mechanism 6, which consists of two diversion flexible chain plates 61, a swing merging assembly 62, and a merging flexible chain plate 63, bottles from two parallel working robots can be orderly and smoothly converged, avoiding congestion and chaos during the conveying process and ensuring the continuity and stability of the bottle flow.

[0041] Please refer to Figure 7 The rejection mechanism includes a first rejection star wheel 11 and a second rejection star wheel 12, which are used to guide non-conforming products with different types of defects to the corresponding rejection collection box 14.

[0042] Understandably, when the detection system determines that the bottle has a specific type of defect, such as when scratches or suspected impurities are found on the bottle body during the initial or secondary inspection, the bottle is marked according to the defect type. When the first unqualified bottle passes through the discharge star wheel 9 on the main turntable 8, the control cabinet 15 will issue an instruction to the corresponding rejection star wheel according to the preset mapping relationship between defect type and rejection path. For example, the grooves or finger-like structures of the rejection star wheel are all provided with adsorption ports for adsorbing bottles. Each groove or finger-like structure of the rejection star wheel passes through a rejection collection channel. When a defective bottle (with scratches on the bottle body) passes through the corresponding rejection collection channel (such as the first rejection star wheel 11), the adsorption of the corresponding bottle is released, allowing it to enter the rejection collection channel, thereby guiding the defective bottle type into the rejection collection frame 14 corresponding to the first rejection star wheel 11; or, when a defective bottle (with impurities / foreign objects in the liquid inside the bottle) passes through the corresponding rejection collection channel (such as the second rejection star wheel 12), the adsorption of the corresponding bottle is released, allowing it to enter the rejection collection channel, thereby guiding the defective bottle type into the rejection collection frame 14 corresponding to the second rejection star wheel 12; and the rotation and sorting action of the star wheel are synchronized with the conveying speed of the bottle to ensure accurate rejection.

[0043] In this embodiment, through the above technical solution, this application can achieve refined classification and rejection of non-conforming products based on the detected bottle defect type. This not only avoids the mixing of non-conforming products with different defect types, but also facilitates subsequent targeted statistical analysis, cause tracing and processing of various defects, and the destruction of severely defective products, thereby significantly improving the quality management level and efficiency of the production process. At the same time, this classification and rejection mechanism also provides more accurate basic data for the data-driven management of the production line, which helps to continuously optimize the production process.

[0044] Please refer to Figure 5 Therefore, in this embodiment, it is proposed that the top of the rotating gripper 41 is provided with a gripper drive wheel 42, the gripper drive wheel 42 is connected to the gripper block 43 of the rotating gripper 41, and the rotating motor 44 drives several gripper drive wheels 42 through belt drive so that the gripper block 43 and the bottle being gripped rotate together. Understandably, the pneumatic gripper drive wheel 42 is located on top of the rotating pneumatic gripper 41. Its main function is to serve as a power input end, receiving the driving force from the rotary motor 44 and transmitting this force to the gripper block 43 of the rotating pneumatic gripper 41. The drive wheel 42 can be in the form of a gear, pulley, or friction wheel. When the rotary motor 44 is working, the pneumatic gripper drive wheel 42 is driven to rotate synchronously through the friction or meshing force of the belt (such as a timing belt). This method is particularly suitable for scenarios that require simultaneous driving of multiple rotating pneumatic grippers 41, which can effectively simplify the mechanical structure and ensure the synchronization between each pneumatic gripper drive wheel 42. The ultimate goal is to make the gripper block 43 and the bottle it grips rotate together.

[0045] In this embodiment, by setting a gripper drive wheel 42 on the top of the rotating gripper 41 and connecting it to the gripper block 43, and using a rotary motor 44 to drive several gripper drive wheels 42 via belt drive, the technical problem of needing to efficiently, stably, and synchronously drive multiple rotating grippers 41 to achieve precise rotation of the bottle in the all-around machine vision inspection equipment is effectively solved. The belt drive method is not only relatively compact and easy to lay out, but also enables synchronous driving of multiple gripper drive wheels 42, ensuring the consistency of the gripped bottle during the rotation process. This allows for stable and comprehensive rotation of irregularly shaped bottles during the bottle pretreatment stage before the initial inspection.

[0046] The follow-up detection module 10 includes a second camera 101 and a follow-up light source 102 that rotate synchronously. The second camera 101 is located inside the main turntable 8, and the follow-up light source 102 is located outside the main turntable 8. The swing centers of the second camera 101 and the follow-up light source 102 are coaxial with the center of the main turntable 8.

[0047] In this embodiment, the specific configuration of the second camera 101 and the follow-up light source 102 in the follow-up detection module 10 can significantly improve the accuracy and stability of secondary detection of irregularly shaped bottles. Specifically, the second camera 101 is set inside the main turntable 8, and the follow-up light source 102 is set outside the main turntable 8, forming a highly efficient transmission or side illumination detection optical path. When the bottle rotates slowly on the main turntable 8 and moves at a constant speed with the main turntable 8, the light emitted by the outer light source 102 can penetrate the bottle, and suspended matter, impurities, or defects inside or on the bottle wall will produce clear shadows or scattering. These signals can be accurately captured by the inner second camera 101. At the same time, the synchronization of the second camera 101 and the follow-up light source 102... The rotation, and the coaxial design of its swing center with the center of the main turntable 8, ensures that the relative positions and illumination angles between the camera 101 and the bottle, and between the light source 102 and the bottle, remain consistent throughout the entire process of image acquisition by the follow-up detection module 10 tracking the bottle. This consistency greatly avoids image distortion, uneven illumination, or detection blind spots caused by motion, thus ensuring the stability and high quality of image acquisition. Combined with the rotation of the bottle driven by the main turntable 8 and the synchronous tracking and detection by the follow-up detection module 10, this solution can perform a comprehensive and blind-spot-free scan of the bottle from multiple angles, effectively overcoming the detection challenges brought by the complex shape of irregularly shaped bottles, and significantly improving the accuracy and reliability of secondary detection based on suspended matter.

[0048] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A visual inspection method for transparent bottles, characterized in that, Includes the following steps: Step S1: The continuously input bottles are separated and positioned according to a preset interval by the grouping mechanism to form a feeding group; Step S2: Grab the grouped bottles, perform an anthropomorphic bottle-flipping action to flip the bottles and simultaneously transport them to the first inspection station; Step S3: During the rotation and settling of the bottles in the independent rotating bottle group, the first camera continuously captures motion images of the liquid inside the bottle to complete the initial detection based on the sediment. Step S4: Send the bottles that have completed the initial inspection to the second inspection station.

2. The visual inspection method for transparent bottles according to claim 1, characterized in that, The anthropomorphic bottle-flipping action in step S2 is as follows: the robot grips the grouped bottles and flips them in segments at varying speeds, specifically including: Step S21: Using the axis of the grouped bottle arrangement direction as the central axis, flip the bottle by the first preset angle in the first time. Step S22: During the process of transporting the bottle to the first inspection station, the bottle is flipped to a second preset angle within a second time period; Wherein, the first preset angle is greater than the second preset angle, and the first time is less than the second time.

3. The visual inspection method for transparent bottles according to claim 1, characterized in that, In step S3, when capturing the image of the liquid movement inside the bottle to be inspected, a three-way light source is used for illumination. The three-way light source includes a top light source, a first back light source, and a second back light source, which illuminate the bottle simultaneously from three directions: the top of the bottle, the upper part of the backlit side of the bottle, and the lower part of the backlit side of the bottle.

4. The visual inspection method for transparent bottles according to any one of claims 1-3, characterized in that, The second inspection station includes the following: Step S5: The bottle after the initial inspection is received by the main turntable, which rotates at a constant speed, and the bottle rotates slowly by the bottle-spinning base on the main turntable. Step S6: The bottle is image acquired by the follow-up detection module that moves synchronously with the bottle on the main turntable, and the secondary detection based on suspended matter is completed. Step S7: Bottles that are deemed unqualified after the second inspection are classified and removed according to the defect type, and qualified bottles are output as qualified products.

5. The visual inspection method for transparent bottles according to claim 4, characterized in that, The follow-up detection module reciprocates around the center of the main turntable. During detection, the follow-up detection module moves synchronously with the current multiple bottles to acquire images. After acquisition, the follow-up detection module swings in the opposite direction to reset and detect the next group of bottles.

6. A versatile machine vision inspection device for implementing the visual inspection method for transparent bottles as described in any one of claims 1-5, characterized in that, Including those set along the process sequence: A feeding conveyor mechanism for continuously conveying bottles; A grouping mechanism is located at the tail of the feeding conveyor mechanism and is used to position the bottles at intervals. The anthropomorphic hand flipping unit includes a multi-axis robot and a gripper mechanism mounted at its end, the gripper mechanism having a rotating pneumatic gripper for gripping the bottle and a rotary motor for driving the rotating pneumatic gripper to rotate; The first detection unit is located at the first detection station and includes a first camera and a three-way light source; An intermediate conveyor mechanism is used to receive bottles after the initial inspection. The second detection unit is set at the second detection station and includes a feeding star wheel, a main turntable, a discharging star wheel and a follow-up detection module. The feeding star wheel is used to connect the intermediate conveying mechanism and the main turntable. The main turntable is provided with a bottle-rotating base around its periphery for driving the bottle to rotate. The follow-up detection module is oscillating and is used to synchronously track and detect the bottles on the main turntable. The rejection mechanism, connected to the discharge star wheel, is used to classify and reject defective products according to the type of defect. The discharge conveyor mechanism is connected to the discharge star wheel and is used to output qualified products.

7. The all-in-one machine vision inspection device according to claim 6, characterized in that, The grouping mechanism includes a grouping conveyor belt, a spiral conveyor assembly, and a bottle inlet overload protection device. The spiral conveyor assembly is located above the grouping conveyor belt and is configured to transport bottles at intervals and position the bottles through the gaps between the spiral blades. A photoelectric sensor is provided at the end of the spiral conveyor assembly. When the photoelectric sensor detects that a bottle has arrived in place, the operation of the spiral conveyor assembly is paused.

8. The all-in-one machine vision inspection device according to claim 6, characterized in that, Two multi-axis robots are symmetrically arranged, and the two multi-axis robots are configured to alternately grasp the bottle for initial inspection; The intermediate conveying mechanism includes two diversion flexible chain plates, a swing merging assembly, and a merging flexible chain plate. The diversion flexible chain plates respectively receive two bottles grasped by the multi-axis robot. The swing merging assembly is connected to the two diversion flexible chain plates and is configured to merge and convey the bottles to the merging flexible chain plate.

9. The all-in-one machine vision inspection device according to claim 7, characterized in that, The rejection mechanism includes a first rejection star wheel and a second rejection star wheel, which are used to guide non-conforming products with different types of defects to the corresponding rejection collection box.

10. The all-in-one machine vision inspection device according to claim 6, characterized in that, The top of the rotating gripper is provided with a gripper drive wheel, which is connected to the gripper block of the rotating gripper. A rotary motor drives several gripper drive wheels through belt drive so that the gripper block and the bottle being gripped rotate together. And / or, the follow-up detection module includes a second camera and a follow-up light source that rotate synchronously. The second camera is located inside the main turntable, and the follow-up light source is located outside the main turntable. The swing centers of the second camera and the follow-up light source are coaxial with the center of the main turntable.

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