Inspection system, inspection method, and robotic system

Abstract

An inspection system (100) includes a processing unit (61) that performs the following processing: inspecting workpieces (200) by moving inspection units (20) respectively disposed on multiple robots (10), thereby acquiring inspection images (21) of multiple workpieces (200); and integrating the positions of objects (201) detected from the multiple inspection images (21) into data (62a).

Description

Technical Field

[0001] This disclosure relates to inspection systems, inspection methods, and robotic systems. Background Technology

[0002] Inspection systems are known in the past. For example, Japanese Patent Application Publication No. 2004-125407 discloses a defect marking device for vehicle paint surfaces, which includes two robots, a camera device disposed on the two robots, an image processing device, and a plotter. In this vehicle paint surface defect marking device, the camera device disposed on one of the two robots captures an image of the upper surface of the vehicle, and the camera device disposed on the other of the two robots captures an image of the side of the vehicle. The image processing device detects defects in the vehicle based on the captured images. Furthermore, the image processing device projects the defects detected on the upper surface of the vehicle onto a horizontal two-dimensional projection plane and stores them as two-dimensional positions in a storage unit. In addition, the image processing device projects the defects detected on the side of the vehicle onto a vertical two-dimensional projection plane and stores them as two-dimensional positions in the storage unit. The plotter illuminates the upper surface of the vehicle with laser light based on the two-dimensional position data of the defects projected onto the horizontal two-dimensional projection plane stored in the storage unit. In addition, the plotter illuminates the side of the vehicle with laser light based on the two-dimensional position data of the defects projected onto the vertical two-dimensional projection plane stored in the storage unit. Therefore, the location of defects in the vehicle is indicated by laser.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2004-125407 Summary of the Invention

[0004] However, in the defect marking device for vehicle painted surfaces described in Japanese Patent Application Publication No. 2004-125407, the two-dimensional position data of defects on the upper surface of the vehicle and the two-dimensional position data of defects on the side of the vehicle are stored separately in a storage unit as position data projected onto a horizontal two-dimensional projection plane and position data projected onto a vertical two-dimensional projection plane, respectively. Therefore, when referencing vehicle defect data stored in the storage unit from, for example, another computer, it is necessary to refer to the two-dimensional position data of defects on the upper surface of the vehicle and the two-dimensional position data of defects on the side of the vehicle separately. This complicates the processing of defect data for the workpiece.

[0005] This disclosure is made to solve the technical problems described above. One object of this disclosure is to provide an inspection system, inspection method, and robot system that can easily process the data of objects of workpieces even when multiple robots inspect the workpieces.

[0006] According to the inspection system of the first aspect of this disclosure, there are: a plurality of robots; an inspection unit respectively disposed on the plurality of robots and inspecting workpieces; and a processing unit that performs the following processing: inspecting workpieces by moving the inspection units respectively disposed on the plurality of robots relative to the workpieces, thereby acquiring inspection images of a plurality of workpieces from each inspection unit; detecting objects of the workpieces within the plurality of inspection images; and integrating the positions of the objects detected from the plurality of inspection images into data.

[0007] As described above, the inspection system of the first aspect of this disclosure includes a processing unit that performs processing to integrate the positions of objects detected from multiple inspection images acquired by inspection units respectively configured on multiple robots into data. Thus, the positions of objects on a workpiece inspected by multiple robots are integrated into data, and therefore, by referring to this integrated data only once from another computer, for example, it is possible to refer to the positions of all objects on the workpiece. As a result, even when inspecting a workpiece by multiple robots, the object data of the workpiece can be easily processed.

[0008] The inspection method of the second aspect of this disclosure comprises: inspecting a workpiece by moving inspection units respectively disposed on multiple robots relative to the workpiece, thereby acquiring multiple inspection images of the workpiece from each inspection unit; detecting objects of the workpiece within the multiple inspection images; and integrating the positions of the objects detected from the multiple inspection images into data.

[0009] As described above, the inspection method of the second aspect of this disclosure includes the step of integrating the positions of objects detected from multiple inspection images acquired by inspection units respectively disposed on multiple robots into data. Thus, the positions of objects on a workpiece inspected by multiple robots are integrated into data, and therefore, by referring to this integrated data only once from another computer, for example, it is possible to refer to the positions of all objects on the workpiece. As a result, an inspection method can be provided that can easily process the object data of a workpiece even when inspecting the workpiece by multiple robots.

[0010] The robot system of the third aspect of this disclosure comprises: a plurality of robots; a work unit respectively disposed on the plurality of robots and performing work on a workpiece; an inspection unit respectively disposed on the plurality of robots and inspecting the workpieces for which work has been performed by the work unit; and a processing unit that performs the following processing: inspecting the workpieces by moving the inspection units respectively disposed on the plurality of robots relative to the workpieces, thereby acquiring inspection images of the plurality of workpieces from each inspection unit; detecting objects of the workpieces within the plurality of inspection images; and integrating the positions of the objects detected from the plurality of inspection images into data.

[0011] As described above, the robot system of the third aspect of this disclosure includes a processing unit that performs the following processing: integrating the positions of objects detected from multiple inspection images acquired from inspection units respectively disposed on multiple robots into data. Therefore, the positions of objects on a workpiece inspected by multiple robots are integrated into data, and thus, by referring to this integrated data only once from another computer, for example, it is possible to refer to the positions of all objects on the workpiece. As a result, a robot system can be provided that can easily process the object data of a workpiece even when inspecting the workpiece by multiple robots.

[0012] As described above, the inspection system, inspection method, and robot system of this disclosure can easily process the object data of the workpiece even when multiple robots are used to inspect the workpiece. Attached Figure Description

[0013] Figure 1 This is a diagram of a robot representing the inspection system of the first embodiment.

[0014] Figure 2 This is a diagram showing the robot and turntable of the inspection system according to the first embodiment.

[0015] Figure 3 This is a block diagram illustrating the inspection system of the first embodiment.

[0016] Figure 4 This is a flowchart illustrating the control processing of the inspection system according to the first embodiment.

[0017] Figure 5 This is a diagram used to illustrate the generation of the robot's movement path in the first embodiment.

[0018] Figure 6 This is a diagram used to illustrate the generation of coordinate transformation information in the first embodiment.

[0019] Figure 7 This is a diagram used to illustrate coordinate transformation information when converting the coordinate values ​​of the inspection coordinate system of the first embodiment to the robot coordinate system.

[0020] Figure 8 This is a diagram used to illustrate coordinate transformation information when converting the coordinate values ​​of the inspection coordinate system of the first embodiment to the workpiece coordinate system.

[0021] Figure 9 This diagram illustrates the state in which the surface of a workpiece is scanned and photographed using a linear camera according to the first embodiment.

[0022] Figure 10 This is a diagram showing the state of the workpiece being inspected in the first embodiment.

[0023] Figure 11This is a diagram showing the overlap of the inspection range in a robot according to the first embodiment.

[0024] Figure 12 This is a diagram showing the overlap of the inspection ranges among the multiple robots in the first embodiment.

[0025] Figure 13 This is a diagram used to illustrate the inspection images of the first embodiment.

[0026] Figure 14 This is a diagram used to illustrate the coordinate transformation of the first embodiment.

[0027] Figure 15 This is a diagram used to illustrate the display of the position of the object of the first embodiment on a three-dimensional image of the workpiece.

[0028] Figure 16 This is a diagram illustrating how a robot, according to the first embodiment, indicates the position of an object on an actual workpiece.

[0029] Figure 17 This is a block diagram illustrating the robot system of the second embodiment.

[0030] Figure 18 This is a diagram of a robot system according to the second embodiment.

[0031] Figure 19 This is a flowchart illustrating the control processing of the robot system according to the second embodiment. Detailed Implementation

[0032] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0033] [First Implementation] (Inspection system composition) The overall configuration of the inspection system 100 of the first embodiment will be described.

[0034] like Figure 1 As shown, the inspection system 100 is a visual inspection system for inspecting the appearance of a workpiece 200. The workpiece 200 is, for example, a product or component related to automobiles, agricultural machinery, ceramics, or household electrical appliances. The workpiece 200 is not particularly limited. In a first embodiment, as an example, the workpiece 200 includes a first surface 200a, a second surface 200b intersecting the first surface 200a, and a third surface 200c intersecting the first surface 200a and opposite the second surface 200b.

[0035] The inspection system 100 includes a robot 10, an inspection unit 20, an instruction unit 30, a robot controller 40, an image processing device 50, a result display device 60, and... Figure 2The turntable 210 is shown. Furthermore, the turntable 210 is an example of a workpiece conveying device.

[0036] In the first embodiment, such as Figure 2 As shown, multiple robots 10 are configured. For example, three robots 10 are configured; these three robots 10 will be referred to as robot 10a, robot 10b, and robot 10c. The three robots 10 have the same configuration; therefore, the following description will focus on one robot 10. Figure 1 As shown, robot 10 moves the inspection unit 20 relative to the workpiece 200. Robot 10 is a vertical multi-joint robot. Robot 10 includes a base 11 and an arm 12 connected to the base 11. The base 11 is fixed to a surface such as a floor, wall, or ceiling. Alternatively, the base 11 can be mounted on a movable trolley. The arm 12 has multiple joints. Each joint has a servo motor as a drive source. Furthermore, the front end of the arm 12 holds the inspection unit 20 and the indicator unit 30. Robot 10 moves the inspection unit 20 and the indicator unit 30 held at the front end of the arm 12 relative to the fixed workpiece 200 by driving the multiple joints of the arm 12. Furthermore, robots 10a, 10b, and 10c are examples of a first robot, a second robot, and a third robot, respectively.

[0037] Inspection units 20 are respectively disposed on multiple robots 10 and inspect workpieces 200. Inspection units 20 are camera units that capture images of workpieces 200. Specifically, inspection units 20 are line cameras that scan and capture images of the surface of workpieces 200 by moving the robots 10 along the surface of workpieces 200.

[0038] Indicator units 30 are respectively disposed on multiple robots 10, and indicate the position of object 201 (described later) obtained through inspection on workpiece 200. Indicator unit 30 is a laser irradiation unit, which irradiates a laser to indicate the position of object 201 on workpiece 200.

[0039] The robot controller 40 controls the movements of the robot 10. For example... Figure 3 As shown, the robot controller 40 includes a processing unit 41 and a storage unit 42. The processing unit 41 includes a processor that performs various processes related to the actions of the robot 10. The storage unit 42 includes a non-volatile memory that stores coordinate transformation information 71 and 72, etc., described later. The robot controller 40 can be configured for each of multiple robots 10, for example. Alternatively, a single robot controller 40 can be configured for multiple robots 10.

[0040] The image processing device 50 is configured as a single unit for multiple robots 10. Alternatively, the image processing device 50 can be configured for each of the multiple robots 10. Furthermore, the image processing device 50 performs image processing on images captured by the inspection unit 20. Additionally, the image processing device 50 controls the timing of image capture based on the inspection unit 20. The image processing device 50 includes a processing unit 51 and a storage unit 52. The processing unit 51 includes a processor that performs various processing related to the images captured by the inspection unit 20 and the timing of image capture based on the inspection unit 20. The storage unit 52 includes a non-volatile memory that stores the inspection image 21, etc., described later.

[0041] The result display device 60 displays the inspection results of the workpiece 200. The result display device 60 includes a processing unit 61, a storage unit 62, a display unit 63, and an operation unit 64. The processing unit 61 includes a processor that performs various processes related to displaying the inspection results of the workpiece 200. The storage unit 62 includes a non-volatile memory that stores coordinate transformation information 72, a three-dimensional image of the workpiece 200, etc. The display unit 63 includes a monitor such as an LCD monitor that displays the inspection results of the workpiece 200. The operation unit 64 includes input devices such as a mouse and a keyboard that accept user input. Furthermore, the display unit 63 and the operation unit 64 can also be integrated. That is, the display unit 63 and the operation unit 64 can also be composed of an operation unit that also serves as a display unit, such as a touch panel.

[0042] In the first embodiment, such as Figure 2 As shown, the turntable 210 holds a plurality of workpieces 200, and the turntable 210 rotates the held workpieces 200. Specifically, the turntable 210 includes a rotating part 211, Figure 3 The drive unit 212 and workpiece mounting unit 213 are shown. The rotating unit 211 has a disk shape and rotates about an axis perpendicular to the floor surface on which the robot 10 is mounted. Furthermore, the drive unit 212 rotates the turntable 210. The drive unit 212 is, for example, a motor. The workpiece mounting unit 213 is disposed on the rotating unit 211 and rotates together with it. For example, three workpiece mounting units 213 are disposed. The workpiece mounting units 213 have, for example, an L-shape, on which the workpiece 200 rests. Furthermore, the drive unit 212 is controlled, for example, by the processing unit 41 of the robot controller 40. Alternatively, a higher-level control unit that controls the robot controller 40 may be configured to control the drive unit 212.

[0043] Furthermore, in the first embodiment, multiple robots 10 inspect different surfaces of the workpiece 200. Specifically, in the first embodiment, robot 10a inspects the first surface 200a of the workpiece 200. Additionally, robot 10b inspects the second surface 200b of the workpiece 200. Furthermore, robot 10c inspects the third surface 200c of the workpiece 200. For example, the first surface 200a, the second surface 200b, and the third surface 200c are the outer surfaces of the workpiece 200.

[0044] (Check the control processing of the system) The control processing of the inspection system 100 is explained.

[0045] exist Figure 4 In step S1 as shown, as Figure 5 As shown, the processing unit 41 of the robot controller 40 performs the following processing: the inspection unit 20 is moved relative to the workpiece 200 by the robot 10, and a movement path 13 of the robot 10 is generated when the inspection unit 20 inspects the workpiece 200. The movement path 13 is a path for moving the arm 12 of the robot 10, and multiple paths are generated for inspecting the workpiece 200. In addition, the movement paths 13 are generated for the first surface 200a, the second surface 200b, and the third surface 200c of the workpiece 200, respectively.

[0046] For example, the processing units 41 of robots 10a, 10b, and 10c each perform processing to receive user instruction on the movement of the arm 12, and generate the movement path 13 of robots 10a, 10b, and 10c based on the received instruction. Furthermore, for example, the processing units 41 of robots 10a, 10b, and 10c each perform processing to automatically generate the movement path 13 without relying on user instruction on the movement of the arm 12. Additionally, the processing units 41 perform processing to generate the movement path 13 along the surface of the workpiece 200, such as a curved surface.

[0047] exist Figure 4 In step S2, the processing units 41 of robots 10a, 10b, and 10c respectively perform processing to generate coordinate transformation information 71 and 72 based on the generated movement path 13. Coordinate transformation information 71 and 72 are respectively information that converts the coordinate values ​​of the inspection coordinate system (described later) of the inspection image 21 obtained by the inspection unit 20 inspecting the workpiece 200 into coordinate values ​​of the robot coordinate system (which is a three-dimensional coordinate system) and the workpiece coordinate system. The inspection coordinate system is a two-axis orthogonal coordinate system, and the three-dimensional coordinate system is a three-axis orthogonal coordinate system. Furthermore, details of the coordinate transformation using coordinate transformation information 71 and 72 will be described later.

[0048] like Figure 6As shown, the processing units 41 of robots 10a, 10b, and 10c each perform the process of acquiring coordinate values ​​in the three-dimensional coordinate system at first distance intervals D1 along the movement path 13, and generating coordinate transformation information 71 and 72. At this time, the processing unit 41 performs the process of moving the inspection unit 20 along the movement path 13 relative to the workpiece 200 via the robot 10, and acquiring coordinate values ​​in the three-dimensional coordinate system at first distance intervals D1. Furthermore, the first distance interval D1 is the distance interval of control point 14a. The processing unit 41 performs the process of acquiring the coordinate values ​​in the three-dimensional coordinate system of control point 14a at first distance intervals D1. When the inspection unit 20 is a camera unit, the control point 14a is set as the focal point of the camera of the inspection unit 20. Furthermore, the focal point of the camera of the inspection unit 20 is set near the surface of the workpiece 200. The control point 14a is set for performing the process of acquiring coordinate values ​​in the three-dimensional coordinate system.

[0049] In addition, for convenience, Figure 6 Only one movement path 13 is shown in the figure, but the processing unit 41 performs the processing of obtaining the coordinate values ​​of the three-dimensional coordinate system for all movement paths 13 and generating coordinate transformation information 71 and 72.

[0050] like Figure 7 and Figure 8 As shown, coordinate transformation information 71 and 72 are coordinate transformation tables that correspond the movement of robot 10 along the direction of movement path 13 to the coordinate values ​​of the three-dimensional coordinate system. Figure 7 and Figure 8 In the coordinate transformation information 71 and 72, the path number represents the number of the movement path 13, the position number represents the number of the control point 14, the movement amount represents the movement amount of the control point 14a of the robot 10 along the movement path 13, and the coordinate value represents the coordinate value of the control point 14a in the three-dimensional coordinate system. That is, in the coordinate transformation information 71 and 72, for each movement path 13, the movement amount of the robot 10 at each control point 14a corresponds to the coordinate value of the control point 14a in the three-dimensional coordinate system.

[0051] like Figure 7 As shown, in coordinate transformation information 71, the three-dimensional coordinate system is the robot coordinate system associated with robot 10. The robot coordinate system is a coordinate system based on base 11. Coordinate transformation information 71 is a coordinate transformation table that corresponds the movement of robot 10 to the coordinate values ​​of the robot coordinate system. In coordinate transformation information 71, coordinate values ​​representing the position and orientation of control point 14a in the robot coordinate system are used as coordinate values.

[0052] like Figure 8As shown, in coordinate transformation information 72, the three-dimensional coordinate system is the workpiece coordinate system related to workpiece 200. The workpiece coordinate system is a coordinate system based on workpiece 200. Coordinate transformation information 72 is a coordinate transformation table that corresponds the movement of robot 10 to the coordinate values ​​of the workpiece coordinate system. In coordinate transformation information 72, the coordinate values ​​representing the position of control point 14a in the workpiece coordinate system are used as coordinate values.

[0053] For example, the processing unit 41 acquires the coordinate values ​​of the robot coordinate system, generates coordinate transformation information 71, and generates coordinate transformation information 72 based on the generated coordinate transformation information 71. Furthermore, for example, the processing unit 41 converts the coordinate values ​​of the robot coordinate system in the coordinate transformation information 71 into coordinate values ​​of the workpiece coordinate system using transformation information such as a transformation matrix, thereby generating coordinate transformation information 72 based on the coordinate transformation information 71.

[0054] Furthermore, the processing unit 41 performs the process of storing coordinate transformation information 71 and 72 in the storage unit 42, and also performs the process of outputting coordinate transformation information 72 to the result display device 60. The processing unit 61 performs the process of storing coordinate transformation information 72 in the storage unit 62.

[0055] exist Figure 4 In step S3 as shown, as Figure 9 As shown, the processing units 41 of the robot controllers 40 of robots 10a, 10b, and 10c execute the process of moving robots 10a, 10b, and 10c based on the movement path 13 to inspect the workpiece 200 via the inspection unit 20. Furthermore, the processing unit 51 of the image processing device 50 executes the process of acquiring multiple inspection images 21 based on the output results of each inspection unit 20. The inspection images 21 are captured images of the surface of the workpiece 200 by the inspection unit 20.

[0056] like Figure 10As shown, the processing unit 51 performs a process of activating the inspection unit 20 every second distance interval D2 along the movement path 13 to inspect the workpiece 200 and acquire an inspection image 21. Specifically, the processing unit 51 activates the inspection unit 20 every second distance interval D2 to capture an image of the workpiece 200, performing a scanning image capture of the workpiece 200. More specifically, the processing unit 41 performs a process of outputting a pulse signal to the processing unit 51 every second distance interval D2. The processing unit 51 performs a process of outputting a trigger signal to the inspection unit 20 every second distance interval D2 based on the pulse signal from the processing unit 41. The inspection unit 20 captures an image of the workpiece 200 every second distance interval D2 based on the trigger signal. Furthermore, the second distance interval D2 is the distance interval of the control point 14b. In the case where the inspection unit 20 is a camera unit, the control point 14b is set as the focal point position of the image captured by the inspection unit 20. Furthermore, the focal point position of the image captured by the inspection unit 20 is set near the surface of the workpiece 200. Control point 14b is set up for performing the process of taking pictures of workpiece 200 through inspection unit 20.

[0057] In addition, for convenience, Figure 10 Only one movement path 13 is shown in the diagram, but the processing unit 41 performs a process of inspecting the workpiece 200 through the inspection unit 20 for all movement paths 13. In addition, the processing unit 51 performs a process of acquiring inspection images 21 for all movement paths 13.

[0058] In addition, such as Figure 11 As shown, in each of robots 10a, 10b, and 10c, the inspection range 22 of the inspection unit 20 is set to partially overlap between adjacent movement paths 13. That is, the inspection range 22 of the inspection unit 20 for a certain movement path 13 partially overlaps with the inspection range 22 of the inspection unit 20 for the movement path 13 adjacent to that certain movement path 13. This helps to suppress the occurrence of inspection omissions. Furthermore, the inspection range 22 is the imaging range during scanning and imaging along the movement path 13.

[0059] Furthermore, in the first embodiment, such as Figure 12As shown, the inspection ranges of the inspection units 20 of each of robots 10a, 10b, and 10c on the workpiece 200 overlap. Specifically, the inspection range A of robot 10a, which inspects the first surface 200a of the workpiece 200, and the inspection range B of robot 10b, which inspects the second surface 200b, overlap. Furthermore, the overlapping inspection ranges are located near the boundary between the first surface 200a and the second surface 200b. Similarly, the inspection range A of robot 10a, which inspects the first surface 200a of the workpiece 200, and the inspection range C of robot 10c, which inspects the third surface 200c, overlap. Furthermore, the overlapping inspection ranges are located near the boundary between the first surface 200a and the third surface 200c. Furthermore, in Figure 12 For the sake of simplicity, the first surface 200a, the second surface 200b, and the third surface 200c are represented as planes.

[0060] In addition, such as Figure 2 As shown, the turntable 210 holds workpieces 200A, 200B, and 200C. Workpieces 200A, 200B, and 200C are identical workpieces. Furthermore, in the first embodiment, one of the plurality of robots 10 inspects one surface of a workpiece 200 placed on the turntable 210, while the other robots 10 inspect other surfaces different from that surface of other workpieces 200 placed on the turntable 210. Specifically, robot 10a inspects the first surface 200a of workpiece 200A placed on the turntable 210. Robots 10b and 10c inspect the second surface 200b and the third surface 200c of workpiece 200B placed on the turntable 210, respectively. When the turntable 210 rotates, and workpiece 200A is positioned in front of robot 10a, and workpiece 200B is positioned in front of robots 10b and 10c, robots 10a, 10b, and 10c begin their inspection. Furthermore, for example, if the inspection of robot 10a ends first, robot 10a will remain in standby mode until the inspections of robots 10b and 10c are completed.

[0061] Furthermore, in the first embodiment, the processing unit 41 of the robot controller 40 performs the following processing: after robot 10a completes the inspection of workpiece 200A, and robots 10b and 10c complete the inspection of workpiece 200B, the turntable 210 is rotated. As a result, workpiece 200B is positioned on the front of robot 10a, and the uninspected workpiece 200C is positioned on the front of robots 10b and 10c. Robots 10b and 10c then inspect the second surface 200b and the third surface 200c of the uninspected workpiece 200C, respectively. Additionally, robot 10a inspects the first surface 200a of workpiece 200B, which has already been inspected by robots 10b and 10c.

[0062] exist Figure 4 In step S4 as shown, as Figure 13 As shown, the processing unit 51 of the image processing apparatus 50 performs processing to detect the object 201 of the workpiece 200 within multiple inspection images 21 acquired by the inspection units 20 of each of the multiple robots 10. Furthermore, the processing unit 51 performs processing to detect the object 201 within all inspection images 21 acquired by the inspection units 20 of each of the robots 10a, 10b, and 10c. In addition, the processing unit 51 performs the processing to detect the object 201 within the inspection images 21 by performing prescribed image processing on the inspection images 21. In the first embodiment, the object 201 is, for example, a defect such as a scratch, foreign object, or dent.

[0063] like Figure 13 As shown, the inspection coordinate system of inspection image 21 is a two-dimensional coordinate system with the Y-axis along the direction of movement path 13 and the X-axis perpendicular to movement path 13. Processing unit 51 performs processing to acquire the coordinate values ​​of the inspection coordinate system of object 201. That is, processing unit 51 performs processing to acquire the X-axis and Y-axis coordinate values ​​of the inspection coordinate system of object 201. Furthermore, processing unit 51 performs processing to acquire the coordinate values ​​of the inspection coordinate system of object 201 for all inspection images 21 in which object 201 has been detected. Furthermore, processing unit 51 performs processing to store the inspection image 21, the number of the movement path 13 corresponding to the inspection image 21, and the coordinate values ​​of the inspection coordinate system of object 201 in storage unit 52. Furthermore, processing unit 51 performs processing to output the number of the movement path 13 corresponding to the inspection image 21 and the coordinate values ​​of the inspection coordinate system of object 201 to processing unit 41 of robot controller 40 and processing unit 61 of result display device 60.

[0064] exist Figure 4 In step S5 as shown, as Figure 14As shown, the processing unit 41 of the robot controller 40 performs a process that converts the coordinate values ​​of the inspection coordinate system of the object 201 into coordinate values ​​of the robot coordinate system based on coordinate transformation information 71. Furthermore, in step S5, the processing unit 61 of the result display device 60 performs a process that converts the coordinate values ​​of the inspection coordinate system of the object 201 into coordinate values ​​of the workpiece coordinate system based on coordinate transformation information 72. First, the processing of the processing unit 41 will be explained. Furthermore, the following processing of the processing unit 41 is performed by the processing units 41 of the respective robot controllers 40 of robots 10a, 10b, and 10c.

[0065] like Figure 14 As shown, the processing unit 41 performs a process of determining the number of the movement path 13 in the coordinate transformation information 71 based on the number of the movement path 13 corresponding to the inspection image 21. Furthermore, the processing unit 41 performs a process of obtaining the movement amount of the robot 10 in the coordinate transformation information 71 corresponding to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the object 201 from the determined movement path 13 numbers. At this time, the processing unit 41 performs a process of obtaining the movement amount of the robot 10 that is closest to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the object 201 as the corresponding movement amount of the robot 10. Furthermore, the processing unit 41 performs a process of obtaining the coordinate values ​​of the robot coordinate system in the coordinate transformation information 71 corresponding to the obtained movement amount of the robot 10 in the coordinate transformation information 71. Thus, the coordinate values ​​of the robot coordinate system corresponding to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the object 201 are obtained.

[0066] On the other hand, the coordinate values ​​of the robot coordinate system in the acquired coordinate transformation information 71 do not reflect the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201, and contain corresponding deviations. Therefore, the processing unit 41 performs a process to correct the coordinate values ​​of the robot coordinate system in the acquired coordinate transformation information 71 based on the coordinate values ​​of the inspection coordinate system in the X-axis direction orthogonal to the movement path 13 of the object 201. At this time, the processing unit 41 performs a process to add the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201 and correct the coordinate values ​​of the robot coordinate system in the coordinate transformation information 71. Thus, the processing unit 41 performs a process to acquire the coordinate values ​​of the robot coordinate system of the object 201. In addition, the processing unit 41 performs a process to transform the coordinate values ​​of all objects 201 and acquire the coordinate values ​​of the robot coordinate system.

[0067] For example, in Figure 14In the example shown, the movement path 13 corresponding to the inspection image 21 is numbered 2, the X-axis coordinate of object 201 is 5.5, and the Y-axis coordinate of object 201 is 15.2. In this case, the processing unit 41 performs the process of determining the number of movement path 13 as 2. Furthermore, the processing unit 41 performs the process of obtaining the movement amount of robot 10, which is closest to the Y-axis coordinate value 15.2 of object 201 among the determined 2 paths, as 15. Furthermore, the processing unit 41 performs the process of obtaining the robot coordinate system coordinate value corresponding to the movement amount 15 of robot 10 as (xr, yr, zr, or, ar, tr). Furthermore, the processing unit 41 performs the process of adding the X-axis coordinate value 5.5 of object 201 to the robot coordinate system coordinate value (xr, yr, zr, or, ar, tr) to obtain the robot coordinate system coordinate value of object 201.

[0068] The processing of the processing unit 41 of the robot controller 40 has been described above, but the processing of the processing unit 61 of the result display device 60 is the same except that it uses coordinate transformation information 72. Furthermore, the following processing of the result display device 60's processing unit 61 is performed on multiple inspection images 21 acquired by the inspection units 20 of each of the robots 10a, 10b, and 10c. Specifically, the processing unit 61 performs a process of determining the number of the movement path 13 corresponding to the inspection image 21 based on the number of the movement path 13. Furthermore, the processing unit 61 performs a process of acquiring the movement amount of the robot 10 corresponding to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the movement path 13 of the object 201 from the determined movement path 13 numbers, based on the coordinate transformation information 72. At this time, the processing unit 61 performs a process of acquiring the movement amount of the robot 10 that is closest to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the object 201 as the corresponding movement amount of the robot 10. Furthermore, the processing unit 61 performs processing to acquire the coordinate values ​​of the workpiece coordinate system corresponding to the movement amount of the robot 10 in the acquired coordinate transformation information 72. Thus, the coordinate values ​​of the workpiece coordinate system corresponding to the coordinate values ​​of the inspection coordinate system in the Y-axis direction of the object 201 are acquired.

[0069] On the other hand, the coordinate values ​​of the workpiece coordinate system in the acquired coordinate transformation information 72 do not reflect the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201, and contain corresponding deviations. Therefore, the processing unit 61 performs a process to correct the coordinate values ​​of the workpiece coordinate system in the acquired coordinate transformation information 72 based on the coordinate values ​​of the inspection coordinate system in the X-axis direction orthogonal to the movement path 13 of the object 201. At this time, the processing unit 61 performs a process to add the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201 and correct the coordinate values ​​of the workpiece coordinate system in the coordinate transformation information 72. Thus, the processing unit 61 performs a process to acquire the coordinate values ​​of the workpiece coordinate system of the object 201. In addition, the processing unit 61 performs a process to transform the coordinate values ​​of all objects 201 and acquire the coordinate values ​​of the workpiece coordinate system.

[0070] exist Figure 4 In step S6 shown, in the first embodiment, the processing unit 61 of the result display device 60 performs the process of integrating the positions of the objects 201 detected from the multiple inspection images 21 acquired from the inspection units 20 of each of the robots 10a, 10b, and 10c into a single image. Figure 3 The processing of the data 62a shown is as follows: Specifically, the processing unit 61 integrates the coordinate values ​​of the workpiece coordinate system of the object 201 obtained from multiple inspection images 21 acquired by the inspection units 20 of robots 10a, 10b, and 10c into a single three-dimensional data 62a. The integrated data 62a is stored, for example, in a file. Furthermore, the storage unit 62 of the result display device 60 stores the integrated data 62a.

[0071] Furthermore, in the first embodiment, when the positions of objects 201 detected in multiple inspection images 21 acquired from the inspection units 20 of robots 10a, 10b, and 10c are the same, the processing unit 61 of the result display device 60 performs the following processing: treating objects 201 with the same position as the same object 201. As described above, the inspection range A of robot 10a and the inspection range B of robot 10b overlap. Therefore, the same object 201 may sometimes be detected by both the inspection units 20 of robot 10a and robot 10b. In this case, the coordinate values ​​of the workpiece coordinate system of the object 201 detected by the inspection unit 20 of robot 10a are the same as the coordinate values ​​of the workpiece coordinate system of the object 201 detected by the inspection unit 20 of robot 10b. Therefore, the processing unit 61 of the result display device 60 treats objects 201 with the same workpiece coordinate system coordinate values ​​as the same object 201. Furthermore, in practical applications, even if the coordinate values ​​of the workpiece coordinate systems of multiple objects 201 are different from each other, as long as the difference in coordinate values ​​is below a predetermined threshold, the processing unit 61 will treat them as the same object 201. The storage unit 62 stores the coordinate values ​​of the workpiece coordinate system of one object 201 that is treated as the same object 201.

[0072] exist Figure 4 In step S7 as shown, as Figure 15 As shown, the processing unit 61 of the result display device 60 performs a process of displaying the object 201 detected from multiple inspection images 21 acquired from the inspection units 20 of robots 10a, 10b, and 10c onto a three-dimensional image of the workpiece 200. Specifically, the processing unit 61 of the result display device 60 performs a process of displaying the position of the object 201 onto the three-dimensional image of the workpiece 200 based on the coordinate values ​​of the object 201 converted to the workpiece coordinate system. That is, the processing unit 61 performs a process of superimposing an image representing the position of the object 201 onto the three-dimensional image of the workpiece 200. Furthermore, the processing unit 61 performs a process of displaying the three-dimensional image of the workpiece 200 with the superimposed image representing the position of the object 201 onto the display unit 63. In addition, the three-dimensional image of the workpiece 200 with the superimposed image representing the position of the object 201 can be zoomed in, zoomed out, or rotated based on the user's operation using the operation unit 64.

[0073] exist Figure 4 In step S8 as shown, as Figure 16As shown, the processing unit 41 of the robot controller 40 executes a process that indicates the position of the object 201 to the actual workpiece 200 based on the coordinate values ​​of the object 201 in the three-dimensional coordinate system after conversion. Specifically, the processing unit 41 executes a process that causes the robot 10 to move based on the coordinate values ​​of the object 201 converted to the robot coordinate system, and indicates the position of the object 201 to the actual workpiece 200 via the indicator unit 30. That is, the processing unit 41 executes a process that causes the robot 10 to move and moves the indicator unit 30 to a predetermined position that can indicate the position of the object 201. Furthermore, the processing unit 41 executes a process that, with the indicator unit 30 positioned in the predetermined position, irradiates a laser from the indicator unit 30 to indicate the position of the object 201 to the actual workpiece 200. In addition, in Figure 16 The diagram shows the state of irradiating the third surface 200c of the workpiece 200 with a laser by a robot 10c, but robots 10a and 10b can also irradiate the workpiece 200 with lasers.

[0074] (Effects of the first implementation method) The inspection system 100 includes a processing unit 61 that performs a process of integrating the positions of objects 201 detected from multiple inspection images 21 acquired by inspection units 20 respectively disposed on multiple robots 10 into data 62a. Thus, the positions of objects 201 of the workpiece 200 inspected by the multiple robots 10 are integrated into data 62a, so that the positions of all objects 201 of the workpiece 200 can be referenced only once from another computer, for example. As a result, even when the workpiece 200 is inspected by multiple robots 10, the data 62a of the objects 201 of the workpiece 200 can be easily processed.

[0075] Object 201 includes defects in workpiece 200. Thus, the locations of defects in workpiece 200 inspected by multiple robots 10 are integrated into data 62a, thereby making it easy to process the data 62a of defects in workpiece 200.

[0076] The inspection units 20 of each of the plurality of robots 10 have overlapping inspection ranges for the workpiece 200. As a result, it is possible to suppress the formation of areas on the surface of the workpiece 200 that are not within the inspection range, thereby suppressing the occurrence of inspection omissions.

[0077] The processing unit 51 performs the following processing: when the positions of objects 201 detected from multiple inspection images 21 are the same, the objects 201 with the same position are treated as the same object 201. This suppresses the situation where the same object 201 is digitized as different objects 201.

[0078] Multiple robots 10 inspect the different surfaces of the workpiece 200. Thus, by having multiple robots 10 inspect a large area of ​​the workpiece 200, even if the workpiece 200 is large, it can be easily inspected.

[0079] The inspection system 100 includes a turntable 210 on which multiple workpieces 200 are placed and rotated. One of the multiple robots 10 inspects one surface of a workpiece 200 placed on the turntable 210, while the other robots 10 inspect other surfaces of other workpieces 200 placed on the turntable 210 that are different from that surface. Thus, by moving the workpiece 200 via the turntable 210 without moving the robots 10, the same workpiece 200 can be inspected by multiple robots 10. Furthermore, by rotating the workpiece 200 via the turntable 210, the configuration area of ​​the system for moving the workpiece 200 can be reduced compared to one-dimensional movement of the workpiece 200 via a conveyor or similar means.

[0080] The workpiece 200 placed on the turntable 210 includes a first surface 200a, a second surface 200b intersecting the first surface 200a, and a third surface 200c intersecting the first surface 200a and opposite to the second surface 200b. Multiple robots 10 include a robot 10a for inspecting the first surface 200a, a robot 10b for inspecting the second surface 200b, and a robot 10c for inspecting the third surface 200c. Therefore, compared to inspecting all three surfaces (first surface 200a, second surface 200b, and third surface 200c) using a single robot 10, the inspection time can be reduced.

[0081] The processing unit 41 of the robot controller 40 performs the following processing: After robots 10a, 10b, and 10c complete the inspection of workpiece 200, the turntable 210 is rotated. Robots 10b and 10c respectively inspect the second surface 200b and the third surface 200c of the uninspected workpiece 200, while robot 10a inspects the first surface 200a of the workpiece 200, which has already been inspected by robots 10b and 10c. Thus, the inspection of workpiece 200 is performed by robots 10a, 10b, and 10c in a continuous flow operation, thereby further reducing the time required for the inspection of workpiece 200.

[0082] The processing unit 61 performs the following processing: the object 201 detected from the multiple inspection images 21 is displayed on the image of the workpiece 200. Thus, the user can easily confirm the position of the object 201 by visually viewing the image of the workpiece 200.

[0083] The inspection system 100 includes a storage unit 62 that stores data 62a integrating the positions of objects 201 detected from multiple inspection images 21. Therefore, even after a period of time has elapsed since the inspection of the workpiece 200 was completed, the position of the object 201 can be confirmed by referring to the data 62a stored in the storage unit 62. Furthermore, the data 62a stored in the storage unit 62 can be referenced from a server or similar device separate from the inspection system 100.

[0084] The processing unit 61 performs a process to integrate the positions of the object 201 detected from multiple inspection images 21 into three-dimensional data 62a. Therefore, when the workpiece 200 is three-dimensional, the positions of the object 201 can be easily integrated. Furthermore, unlike the case where the detected positions of the object 201 are projected onto a two-dimensional plane and the positions of the object 201 are obtained as positions on a two-dimensional plane, the positions of the object 201 can be obtained more accurately in a three-dimensional workpiece 200.

[0085] [Second Implementation] (The composition of a robot system) The configuration of the robot system 300 according to the second embodiment will be described. While the work unit 310 is working on the workpiece 200, the robot system 300 inspects the workpiece 200 through the inspection unit 20.

[0086] like Figure 17 As shown, the robot system 300, in addition to the robot 10, inspection unit 20, instruction unit 30, robot controller 40, image processing device 50, result display device 60, and turntable 210 included in the inspection system 100 of the first embodiment, also includes a work unit 310 and a work unit control device 320. Figure 18 As shown, the work unit 310 is configured on the robot 10 to perform work on the workpiece 200. For example, the work unit 310 is a coating unit that performs coating operations on the workpiece 200. In this case, for example, the work unit 310 is a coating unit that sprays paint using inkjet printing. The robot 10 moves along the surface of the workpiece 200 to apply paint to the surface of the workpiece 200, thereby performing a coating operation on the workpiece 200. Furthermore, in Figure 18 The diagram shows one robot 10, but like the inspection system 100 of the first embodiment, the robot system 300 includes, for example, three robots 10.

[0087] like Figure 17As shown, the work unit control device 320 controls the operation timing of the work unit 310. The work unit control device 320 includes a processing unit 321 and a storage unit 322. The processing unit 321 includes a processor that executes various processes related to the operation timing of the work unit 310. The storage unit 322 includes a non-volatile memory that stores various information, such as programs for controlling the operation timing of the work unit 310. Furthermore, the other configurations of the robot system 300 in the second embodiment are the same as those of the inspection system 100 in the first embodiment.

[0088] (Control and processing of the robot system) The control and processing of the robot system 300 are explained.

[0089] exist Figure 19 In step S1a shown, with Figure 4 Similarly, in step S1 of the first embodiment shown, the processing unit 41 of the robot controller 40 performs the following processing: the inspection unit 20 is moved relative to the workpiece 200 by the robot 10, and a movement path 13 of the robot 10 is generated when the workpiece 200 is operated by the work unit 310 and when the workpiece 200 is inspected by the inspection unit 20.

[0090] exist Figure 19 In step S2a shown, with Figure 4 Similarly, in step S2 of the first embodiment shown, the processing units 41 of each of robots 10a, 10b, and 10c execute, based on the generated movement path 13, to generate... Figure 7 The coordinate transformation information shown is 71 and Figure 8 The processing of coordinate transformation information 72 shown.

[0091] exist Figure 19 In step S3a shown, the processing units 41 of the robot controllers 40 of robots 10a, 10b, and 10c respectively execute a process based on the movement path 13, causing robots 10a, 10b, and 10c to move, performing work on the workpiece 200 via the work unit 310 and inspecting the workpiece 200 via the inspection unit 20. Specifically, the processing unit 321 of the work unit control device 320 moves along the movement path 13, for example as... Figure 10As shown, the work unit 310 performs operations on the workpiece 200 at every second distance interval D2. In the case where the work unit 310 is a coating unit that sprays paint using an inkjet printer, the processing unit 321 performs the process of spraying paint onto the work unit 310 at every second distance interval D2. Specifically, the processing unit 41 of the robot controller 40 performs the process of outputting pulse signals to the processing unit 321 of the work unit control device 320 at every second distance interval D2. The processing unit 321 performs the process of outputting trigger signals to the work unit 310 at every second distance interval D2 based on the pulse signals from the processing unit 41. Based on the trigger signals, the work unit 310 sprays paint onto the workpiece 200 at every second distance interval D2. Furthermore, the distance at which the coating unit sprays paint need not be every second distance interval D2. In addition, parallel to the paint spraying process of the work unit 310, the processing unit 51 of the image processing device 50, similar to the first embodiment, performs the process of activating the inspection unit 20 along the movement path 13 at every second distance interval D2 to inspect the workpiece 200 and acquire an inspection image 21. Specifically, the processing unit 51 activates the inspection unit 20 every second distance interval D2 to take a picture of the workpiece 200 and scan the workpiece 200.

[0092] exist Figure 19 In step S4a shown, the same as step S4 in the first embodiment, such as... Figure 13 As shown, the processing unit 51 of the image processing device 50 performs processing to detect the object 201 of the workpiece 200 in the multiple inspection images 21 acquired by the inspection units 20 of the multiple robots 10. Furthermore, in the case where the work unit 310 is a coating unit that sprays inkjet paint, the object 201 has uneven coating.

[0093] exist Figure 19 In step S5a shown, the same as step S5 in the first embodiment, such as... Figure 14 As shown, the processing unit 41 of the robot controller 40 performs a process that converts the coordinate values ​​of the inspection coordinate system of the object 201 into coordinate values ​​of the robot coordinate system based on coordinate transformation information 71. Furthermore, in step S5a, the processing unit 61 of the result display device 60 performs a process that converts the coordinate values ​​of the inspection coordinate system of the object 201 into coordinate values ​​of the workpiece coordinate system based on coordinate transformation information 72.

[0094] exist Figure 19 In step S6a shown, similar to step S6 in the first embodiment, the processing unit 61 of the result display device 60 performs the same operation as step S6 in the first embodiment, integrating the positions of the objects 201 detected from the multiple inspection images 21 acquired from the inspection units 20 of each of the robots 10a, 10b, and 10c into a single image. Figure 17 The processing of the data 62a shown.

[0095] exist Figure 19 In step S7a shown, the same as step S7 in the first embodiment, such as... Figure 15 As shown, the processing unit 61 of the result display device 60 performs processing to display the object 201 detected from the multiple inspection images 21 obtained from the inspection units 20 of each of the robots 10a, 10b and 10c on the workpiece 200 in a three-dimensional image.

[0096] exist Figure 19 In step S8a shown, the same as step S8 in the first embodiment, such as... Figure 16 As shown, the processing unit 41 of the robot controller 40 performs processing that indicates the position of the object 201 to the actual workpiece 200 based on the coordinate values ​​of the three-dimensional coordinate system of the transformed object 201.

[0097] (Effects of the second implementation method) In the second embodiment, similar to the first embodiment, the positions of objects 201 of the workpiece 200 inspected by multiple robots 10 are integrated into data 62a. Therefore, the positions of all objects 201 of the workpiece 200 can be referenced only once from another computer, for example. As a result, even if the workpiece 200 is inspected by multiple robots 10, the data 62a of objects 201 of the workpiece 200 can be easily processed.

[0098] The inspection unit 20 and the operation unit 310 inspect the workpiece 200 in parallel. As a result, the operation and inspection of the workpiece 200 can be performed simultaneously, thus shortening the time required for the operation and inspection of the workpiece 200.

[0099] (Variation example) Furthermore, the embodiments disclosed herein are illustrative in all respects and should not be considered restrictive. The scope of this disclosure is defined not by the description of the above embodiments but by the claims, and includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0100] For example, in the first embodiment described above, an example of an inspection system for inspecting the appearance of a workpiece was shown, but this disclosure is not limited thereto. In this disclosure, the inspection system can also be an inspection system for inspecting the interior of a workpiece. In this case, the inspection unit can be an ultrasonic flaw detector unit, which inspects the workpiece by sending ultrasonic waves into its interior and receiving the ultrasonic waves reflected from within the workpiece. If an ultrasonic flaw detector unit is used, internal defects and other defects in the workpiece can be detected.

[0101] Furthermore, while the first and second embodiments described above illustrate examples of vertical joint robots, this disclosure is not limited thereto. In this disclosure, the robot may also be an industrial robot other than a vertical joint robot.

[0102] Furthermore, in the first and second embodiments described above, an example was shown where the robot moves the inspection unit relative to the workpiece by moving the camera unit, but this disclosure is not limited thereto. In this disclosure, the robot can also move the inspection unit relative to the workpiece by moving the workpiece.

[0103] Furthermore, in the first and second embodiments described above, examples were shown where the processing unit of the robot controller, the processing unit of the image processing apparatus, and the processing unit of the result display device each perform various processes; however, this disclosure is not limited thereto. In this disclosure, the number and configuration of the processing units are not particularly limited. A single processing unit may perform various processes as described in the above embodiments, and multiple processing units may also perform various processes as described in the above embodiments. Furthermore, the configuration of the storage unit is not limited. Furthermore, the configuration of the robot controller, the image processing apparatus, and the result display device is not limited. The robot controller, the image processing apparatus, and the result display device may be integrally configured, or they may be separate configurations as described in the above embodiments. Furthermore, the robot controller, the image processing apparatus, and the result display device may be further separated. For example, the operating device for operating the result display device may be provided separately from the result display device.

[0104] Furthermore, while the first and second embodiments described above illustrate an example where the object is a defect in a workpiece, this disclosure is not limited thereto. For example, the object may be anything other than a defect in the workpiece. For instance, the object may also be a teaching point for a robot's movement, an inspection path for the inspection unit's movement, an inspectable area of ​​the inspection unit, etc.

[0105] Furthermore, in the first and second embodiments described above, examples were shown where the inspection ranges of the workpieces by the inspection units disposed on each of the plurality of robots overlapped, but this disclosure is not limited thereto. For example, the inspection ranges of the workpieces by the inspection units disposed on the plurality of robots may not overlap. This prevents the repeated inspection of the same object by the inspection units.

[0106] Furthermore, in the first and second embodiments described above, an example was shown where the processing unit performed the following processing: when objects detected from multiple inspection images have the same position, the objects with the same position are treated as the same object; however, this disclosure is not limited to this. For example, even if the objects have the same position, the processing unit can treat them as separate objects. Moreover, when displaying the positions of the objects on the display unit, the processing unit can also indicate that these objects have the same position. Thus, it is possible to suppress the situation where objects with approximately the same position but are not the same are treated as the same object.

[0107] Furthermore, in the first and second embodiments described above, an example is shown where three robots inspect surfaces that intersect each other, but this disclosure is not limited thereto. For example, multiple robots may also share the responsibility of inspecting a large surface along a horizontal plane or a large curved surface.

[0108] Furthermore, in the first and second embodiments described above, an example of multiple workpieces being placed on a turntable is shown, but this disclosure is not limited thereto. For example, multiple workpieces may also be placed on a workpiece conveying device such as a conveyor. In this case, multiple robots are arranged along the conveyor. Furthermore, in the above embodiments, for example, an example is shown where robot 10a waits until the inspections of robots 10b and 10c are completed when the inspection of robot 10a ends first. However, when multiple workpieces are arranged on a conveyor, robot 10a may begin the inspection of the next workpiece 200 without waiting for the inspections of robots 10b and 10c to finish.

[0109] Furthermore, in the first embodiment described above, an example was shown of multiple robots inspecting a stationary workpiece placed on a turntable. In the second embodiment described above, an example was shown of multiple robots performing operations and inspections on a stationary workpiece placed on a turntable, but this disclosure is not limited thereto. For example, multiple robots may also perform inspections on moving workpieces placed on a conveyor or an automated guided vehicle (AGV), or both operations and inspections may be performed simultaneously. For example, when a workpiece is placed on a conveyor or AGV and moves while the inspection unit of multiple robots is stationary, the processing unit of the robot controller performs processing to output pulse signals to the processing unit of the inspection unit at predetermined distance intervals, synchronized with the movement of the conveyor or AGV. The processing unit of the inspection unit outputs trigger signals to the inspection unit at predetermined distance intervals based on the pulse signals, and the inspection unit takes pictures of the workpiece at predetermined distance intervals based on the trigger signals. Furthermore, the workpiece may be stationary, while multiple robots may move via a travel axis.

[0110] Furthermore, while the first and second embodiments described above illustrate an example of configuring three robots for inspecting a workpiece, this disclosure is not limited thereto. For example, multiple robots other than three may be configured for inspecting a workpiece.

[0111] Furthermore, in the first and second embodiments described above, an example was shown where the processing unit performs the following processing: superimposing an image of the workpiece displayed on the display unit onto an image of objects detected from multiple inspection images; however, this disclosure is not limited to this. For example, the processing unit may also superimpose an image of the detected objects onto the workpiece and print it out onto a paper medium.

[0112] Furthermore, in the first and second embodiments described above, examples were shown of performing both the process of indicating the position of the object to the actual workpiece and the process of indicating the position of the object to a three-dimensional image of the workpiece, but this disclosure is not limited thereto. In this disclosure, it is also possible to perform only either the process of indicating the position of the object to the actual workpiece or the process of indicating the position of the object to a three-dimensional image of the workpiece.

[0113] Furthermore, in the first and second embodiments described above, an example was shown where the processing unit performs processing to display an object on a three-dimensional image of a workpiece, but this disclosure is not limited thereto. For example, the processing unit may also perform processing to display the object along with information about which robot detected the object on the display unit.

[0114] Furthermore, in the first and second embodiments described above, an example was shown of integrating the positions of objects detected from multiple inspection images into data, but this disclosure is not limited thereto. For example, in the case where multiple robots perform processes such as painting on a workpiece, information about which robot processed the area where the detected object is located can be associated with the object's position and integrated into data.

[0115] Furthermore, in the first and second embodiments described above, an example was shown where the processing unit performs a process to integrate the positions of objects detected from multiple inspection images into three-dimensional data, but this disclosure is not limited thereto. For example, in the case of inspecting the surface of a flat workpiece by multiple robots, the positions of the detected objects are integrated into two-dimensional data.

[0116] Furthermore, in the first and second embodiments described above, examples are shown where workpieces 200A, 200B, and 200C are the same workpiece, but this disclosure is not limited thereto. For example, workpieces 200A, 200B, and 200C may also be different workpieces from each other. Moreover, workpieces 200A, 200B, and 200C may be of the same type or different types from each other.

[0117] Furthermore, in the first and second embodiments described above, such as Figure 16The illustration shows an example of a robot 10c inspecting workpiece 200 irradiating a laser at the position of object 201 of the actual workpiece 200, but this disclosure is not limited thereto. For example, a robot used in a process after the inspection of workpiece 200 may also irradiate a laser at the position of object 201 of workpiece 200.

[0118] Furthermore, in the first and second embodiments described above, an example is shown where one of the plurality of robots 10 inspects one surface of a workpiece 200 placed on a turntable 210, and the other robots 10 of the plurality of robots 10 inspect other surfaces of other workpieces 200 placed on the turntable 210 that are different from that one surface; however, this disclosure is not limited thereto. For example, the same surface of a workpiece 200 may also be inspected by a plurality of robots 10.

[0119] Furthermore, in the second embodiment described above, an example is shown where the inspection unit 20 and the work unit 310 inspect the workpiece 200 in parallel, but this disclosure is not limited thereto. For example, the workpiece 200 may be inspected by the inspection unit 200 after all the work unit 310 has finished its work on the workpiece 200.

[0120] Furthermore, while the second embodiment described above illustrates an example where the work unit is a coating unit, this disclosure is not limited to this. For example, the work unit could also be a dispensing machine for applying sealant to a workpiece. Additionally, the work unit could be an applicator for attaching sealant or tape to a workpiece. Furthermore, the work unit could be a grinding unit for performing grinding, deburring, polishing, and other similar tasks on a workpiece. Furthermore, the work unit could be a sewing unit for sewing a workpiece. Furthermore, the work unit could be a coating unit for applying highly viscous liquids such as sauces, mayonnaise, and chocolate to a workpiece. Furthermore, the work unit could be a car wash unit for washing workpieces such as automobiles.

[0121] The functions of the elements disclosed in this specification can be performed by circuitry or processing circuitry comprising a general-purpose processor, a special-purpose processor, an integrated circuit, an ASIC (Application Specific Integrated Circuit), conventional circuitry, and / or combinations thereof configured or programmed to perform the disclosed functions. A processor, because it contains transistors and other circuitry, is considered a processing circuit or circuit. In this disclosure, a circuit, unit, or means is hardware that performs or is programmed to perform the listed functions. The hardware can be the hardware disclosed in this specification or other known hardware programmed or configured to perform the listed functions. Where the hardware is a processor considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, with the software used in the configuration of the hardware and / or processor.

[0122] [Way] The above implementation method is a specific example of the following approach.

[0123] (Method 1) An inspection system, comprising: Multiple robots; Inspection units, each configured on one of the plurality of robots, inspect the workpieces; and The processing department performs the following processing: The workpiece is inspected by moving the inspection units respectively configured on the plurality of robots relative to the workpiece, thereby obtaining inspection images of the plurality of workpieces from each of the inspection units; Detecting objects of the workpiece within a plurality of the inspection images; and The locations of the objects detected from multiple inspection images are integrated into data.

[0124] (Method 2) According to the inspection system of method 1, the object includes defects in the workpiece.

[0125] (Method 3) According to the inspection system of method 1 or method 2, the inspection ranges of the workpieces by the inspection units respectively configured on the plurality of robots overlap with each other.

[0126] (Method 4) According to any one of the methods 1 to 3, the inspection system wherein the processing unit performs the following processing: when the positions of the objects detected from a plurality of the inspection images are the same, the objects with the same position are treated as the same object.

[0127] (Method 5) According to any one of methods 1 to 4, the inspection system wherein the plurality of robots inspect different surfaces of the workpiece.

[0128] (Method 6) According to the inspection system described in method 5, wherein, It includes a workpiece conveying device that holds and conveys a plurality of said workpieces, wherein, One of the plurality of robots inspects a surface of a workpiece placed on the workpiece conveyor. Other robots among the plurality of robots inspect other surfaces of other workpieces placed on the workpiece conveyor that are different from the first surface.

[0129] (Method 7) According to the inspection system of method 6, the workpiece conveying device includes a turntable that rotates the workpiece on which it is placed.

[0130] (Method 8) According to the inspection system described in method 7, wherein, The workpiece placed on the turntable includes: First surface; The second surface intersecting the first surface; and A third surface that intersects the first surface and is opposite to the second surface; The plurality of robots includes: The first robot inspects the first surface; The second robot inspects the second surface; and A third robot inspects the third surface.

[0131] (Method 9) According to the inspection system described in method 8, wherein, The processing unit performs the following process: after the first robot, the second robot, and the third robot have completed the inspection of the workpiece, the turntable is rotated; The second robot and the third robot respectively inspect the second surface and the third surface of the uninspected workpiece; and The first robot inspects the first surface of the workpiece that has already been inspected by the second robot and the third robot.

[0132] (Method 10) According to any one of the methods 1 to 9, the inspection system wherein the processing unit performs the following processing: displays the object detected from the plurality of inspection images on an image of the workpiece.

[0133] (Method 11) The inspection system according to any one of methods 1 to 10 includes a storage unit that stores data integrating the location of the object detected from a plurality of inspection images.

[0134] (Method 12) According to any one of the methods 1 to 11, the inspection system wherein the processing unit performs the following processing: integrating the positions of the objects detected from a plurality of inspection images into three-dimensional data.

[0135] (Method 13) An inspection method includes the following steps: The workpiece is inspected by moving inspection units, which are respectively configured on multiple robots, relative to the workpiece, thereby obtaining inspection images of multiple workpieces from each of the inspection units; Detecting objects of the workpiece within a plurality of the inspection images; and The locations of the objects detected from multiple inspection images are integrated into data.

[0136] (Method 14) A robot system having: Multiple robots; The work units are respectively configured on the plurality of robots and perform operations on the workpieces; An inspection unit, respectively disposed on the plurality of robots, inspects the workpieces that have undergone operations performed by the work unit; and The processing department performs the following processing: The workpiece is inspected by moving the inspection units respectively configured on the plurality of robots relative to the workpiece, thereby obtaining inspection images of the plurality of workpieces from each of the inspection units; Detecting objects of the workpiece within a plurality of the inspection images; and The locations of the objects detected from multiple inspection images are integrated into data.

[0137] (Method 15) According to the robot system of method 14, the inspection unit and the operation unit inspect the workpiece in parallel.

Claims

1. An inspection system, characterized in that, have: Multiple robots; Inspection units, each configured on one of the plurality of robots, inspect the workpieces; and The processing department performs the following processing: The workpiece is inspected by moving the inspection units respectively configured on the plurality of robots relative to the workpiece, thereby obtaining inspection images of the plurality of workpieces from each of the inspection units; Detecting objects of the workpiece within multiple of the inspection images; as well as The locations of the objects detected from multiple inspection images are integrated into data.

2. The inspection system according to claim 1, characterized in that, The object includes defects in the workpiece.

3. The inspection system according to claim 1, characterized in that, The inspection ranges of the workpieces by the inspection units respectively configured on the plurality of robots overlap with each other.

4. The inspection system according to claim 1, characterized in that, The processing unit performs the following processing: if the positions of the objects detected from multiple inspection images are the same, the objects with the same position are treated as the same object.

5. The inspection system according to claim 1, characterized in that, The multiple robots inspect the different surfaces of the workpiece.

6. The inspection system according to claim 5, characterized in that, It includes a workpiece conveying device that holds and conveys a plurality of said workpieces, wherein, One of the plurality of robots inspects a surface of a workpiece placed on the workpiece conveyor. Other robots among the plurality of robots inspect other surfaces of other workpieces placed on the workpiece conveyor that are different from the first surface.

7. The inspection system according to claim 6, characterized in that, The workpiece conveying device includes a turntable that rotates the workpiece it is carrying.

8. The inspection system according to claim 7, characterized in that, The workpiece placed on the turntable includes: First surface; The second surface intersecting the first surface; and A third surface that intersects the first surface and is opposite to the second surface. The plurality of robots includes: The first robot inspects the first surface; The second robot inspects the second surface; and A third robot inspects the third surface.

9. The inspection system according to claim 8, characterized in that, The processing unit performs the following process: after the first robot, the second robot, and the third robot have completed the inspection of the workpiece, the turntable is rotated; The second robot and the third robot respectively inspect the second surface and the third surface of the uninspected workpiece; The first robot inspects the first surface of the workpiece that has already been inspected by the second robot and the third robot.

10. The inspection system according to claim 1, characterized in that, The processing unit performs the following process: displays the objects detected from the plurality of inspection images on the image of the workpiece.

11. The inspection system according to claim 1, characterized in that, It has a storage unit that stores and integrates the data on the location of the object detected from multiple inspection images.

12. The inspection system according to claim 1, characterized in that, The processing unit performs the following process: integrating the positions of the objects detected from multiple inspection images into three-dimensional data.

13. An inspection method, characterized in that, Includes the following steps: The workpiece is inspected by moving inspection units, which are respectively configured on multiple robots, relative to the workpiece, thereby obtaining inspection images of multiple workpieces from each of the inspection units; Detecting objects of the workpiece within multiple of the inspection images; as well as The locations of the objects detected from multiple inspection images are integrated into data.

14. A robot system, characterized in that, have: Multiple robots; The work units are respectively configured on the plurality of robots and perform operations on the workpieces; An inspection unit, respectively disposed on the plurality of robots, inspects the workpieces that have undergone operations performed by the work unit; and The processing department performs the following processing: The workpiece is inspected by moving the inspection units respectively configured on the plurality of robots relative to the workpiece, thereby obtaining inspection images of the plurality of workpieces from each of the inspection units; Detecting objects of the workpiece within multiple of the inspection images; as well as The locations of the objects detected from multiple inspection images are integrated into data.

15. The robot system according to claim 14, characterized in that, The inspection unit and the work unit inspect the workpiece in parallel.

Images