Inspection systems, inspection methods, and robotic systems

Abstract

This inspection system facilitates the handling of data on a workpiece, even when multiple robots are used to inspect it. [Solution] This inspection system 100 comprises a plurality of robots 10, an inspection unit 20 positioned on each of the plurality of robots 10 for inspecting workpieces 200, a processing unit 41 that performs the process of inspecting the workpieces 200 by relatively moving the inspection unit 20 positioned on each of the plurality of robots 10 relative to the workpiece 200, a processing unit 51 that performs the process of acquiring inspection images 21 of the plurality of workpieces 200 from each inspection unit 20 and the process of detecting the target of the workpiece 200 within the plurality of inspection images 21, and a processing unit 61 that performs the process of integrating the positions of the target 201 detected from the plurality of inspection images 21 as data 62a.

Description

Technical Field

[0001] This disclosure relates to an inspection system, an inspection method, and a robot system.

Background Art

[0002] Conventionally, inspection systems are known. For example, Patent Document 1 discloses a defect marking device for a vehicle painting surface, which includes two robots, imaging devices arranged on the two robots, an image processing device, and a plotter. In this defect marking device for a vehicle painting surface, the upper surface of the vehicle is imaged by an imaging device arranged on one of the two robots, and the side surface of the vehicle is imaged by an imaging device arranged on the other of the two robots. The image processing device detects defects of the vehicle based on the captured images. Then, 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 in the storage unit as two-dimensional positions. Also, the image processing device projects the defects detected on the side surface of the vehicle onto a vertical two-dimensional projection plane and stores them in the storage unit as two-dimensional positions. The plotter irradiates the upper surface of the vehicle with laser light based on the data of the two-dimensional positions of the defects projected onto the horizontal two-dimensional projection plane stored in the storage unit. Also, the plotter irradiates the side surface of the vehicle with laser light based on the data of the two-dimensional positions of the defects projected onto the vertical two-dimensional projection plane stored in the storage unit. Thereby, the defect positions of the vehicle are indicated by the laser light.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the vehicle paint surface defect marking device described in Patent Document 1, the two-dimensional position data of defects on the vehicle's top surface and the two-dimensional position data of defects on the vehicle's side surface are stored separately in the memory 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 accessing the vehicle defect data stored in the memory unit from another computer, for example, it is necessary to access both the two-dimensional position data of defects on the vehicle's top surface and the two-dimensional position data of defects on the vehicle's side surface. This results in the problem of complicated handling of defect data as a workpiece.

[0005] This disclosure is made to solve the problems described above, and one of its purposes is to provide an inspection system, inspection method, and robot system that can easily handle data on a workpiece even when the workpiece is inspected by multiple robots. [Means for solving the problem]

[0006] The inspection system according to the first aspect of this disclosure comprises: a plurality of robots; an inspection unit positioned on each of the plurality of robots for inspecting workpieces; a processing unit that performs the following processes: acquiring inspection images of multiple workpieces from each inspection unit by moving the inspection unit positioned on each of the plurality of robots relative to the workpieces and inspecting the workpieces; detecting targets of the workpieces within the multiple inspection images; and integrating the positions of the targets detected from the multiple inspection images as data.

[0007] The inspection system according to the first aspect of this disclosure includes a processing unit that integrates the positions of objects detected from multiple inspection images acquired from inspection units positioned in each of the multiple robots, as data. As a result, the positions of objects in a workpiece inspected by multiple robots are integrated as data, so that the positions of all objects in the workpiece can be accessed by simply referring to this integrated data once from another computer, for example. Consequently, even when a workpiece is inspected by multiple robots, the handling of the data for the objects in the workpiece can be made easier.

[0008] The inspection method according to the second aspect of this disclosure comprises: acquiring inspection images of multiple workpieces from each inspection unit by moving an inspection unit positioned on each of multiple robots relative to the workpiece; detecting a target of the workpiece within the multiple inspection images; and integrating the positions of the targets detected from the multiple inspection images as data.

[0009] The inspection method according to the second aspect of this disclosure, as described above, comprises integrating the positions of targets detected from multiple inspection images acquired from inspection units positioned in each of multiple robots as data. As a result, the positions of targets on a workpiece inspected by multiple robots are integrated as data, so that the positions of all targets on the workpiece can be accessed by simply referring to this integrated data once from another computer, for example. Consequently, an inspection method is provided that makes it easy to handle the data of targets on a workpiece, even when the workpiece is inspected by multiple robots.

[0010] The robot system according to the third aspect of this disclosure comprises: a plurality of robots; a work unit positioned in each of the plurality of robots that performs work on a workpiece; an inspection unit positioned in each of the plurality of robots that inspects the workpiece after work has been performed on by the work unit; and a processing unit that performs the following: a process of acquiring inspection images of a plurality of workpieces from each inspection unit by moving the inspection unit positioned in each of the plurality of robots relative to the workpiece and inspecting the workpiece; a process of detecting a target of the workpiece within the plurality of inspection images; and a process of integrating the positions of the targets detected from the plurality of inspection images as data.

[0011] The robot system according to the third aspect of this disclosure includes a processing unit that integrates the positions of objects detected from multiple inspection images acquired from inspection units located in each of the multiple robots, as data. As a result, the positions of objects in a workpiece inspected by multiple robots are integrated as data, so that the positions of all objects in the workpiece can be accessed by simply referring to this integrated data once from another computer, for example. Consequently, even when a workpiece is inspected by multiple robots, a robot system can be provided that facilitates the handling of data on the objects of the workpiece. [Effects of the Invention]

[0012] As described above, the inspection system, inspection method, and robot system of this disclosure facilitate the handling of data on a workpiece, even when the workpiece is inspected by multiple robots. [Brief explanation of the drawing]

[0013] [Figure 1] This figure shows a robot in an inspection system according to the first embodiment. [Figure 2] This figure shows the robot and turntable of the inspection system according to the first embodiment. [Figure 3] This is a block diagram showing the inspection system according to the first embodiment. [Figure 4]It is a flowchart for explaining the control process of the inspection system according to the first embodiment. [Figure 5] It is a diagram for explaining the generation of the movement path of the robot according to the first embodiment. [Figure 6] It is a diagram for explaining the generation of the coordinate conversion information according to the first embodiment. [Figure 7] It is a diagram for explaining the coordinate conversion information when converting the coordinate value of the inspection coordinate system according to the first embodiment into the robot coordinate system. [Figure 8] It is a diagram for explaining the coordinate conversion information when converting the coordinate value of the inspection coordinate system according to the first embodiment into the work coordinate system. [Figure 9] It is a diagram showing the state of scanning and imaging the surface of the work by the line type camera according to the first embodiment. [Figure 10] It is a diagram showing the state of inspecting the work according to the first embodiment. [Figure 11] It is a diagram showing the overlap of the inspection ranges in one robot according to the first embodiment. [Figure 12] It is a diagram showing the overlap of the inspection ranges between multiple robots according to the first embodiment. [Figure 13] It is a diagram for explaining the inspection image according to the first embodiment. [Figure 14] It is a diagram for explaining the coordinate conversion according to the first embodiment. [Figure 15] It is a diagram for explaining showing the position of the target in the three-dimensional image of the work according to the first embodiment. [Figure 16] It is a diagram for explaining showing the position of the target on the actual work by the robot according to the first embodiment. [Figure 17] It is a block diagram showing the robot system according to the second embodiment. [Figure 18] It is a diagram showing the robot of the robot system according to the second embodiment. [Figure 19] It is a flowchart for explaining the control process of the robot system according to the second embodiment.

Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments embodying the present disclosure will be described based on the drawings.

[0015] [First Embodiment] (Configuration of Inspection System) The overall configuration of the inspection system 100 according to the first embodiment will be described.

[0016] As shown in FIG. 1, the inspection system 100 is an appearance inspection system that inspects the appearance of the workpiece 200. The workpiece 200 is, for example, a product or part related to an automobile, agricultural machinery, pottery, or household electrical appliances. The workpiece 200 is not particularly limited. In the first embodiment, as an example, the workpiece 200 includes a first surface 200a, a second surface 200b that intersects the first surface 200a, and a third surface 200c that intersects the first surface 200a and faces the second surface 200b. [[ID=Z19]]

[0017] 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 a turntable 210 shown in FIG. 2. The turntable 210 is an example of a workpiece transfer device.

[0018] In the first embodiment, as shown in Figure 2, multiple robots 10 are arranged. For example, three robots 10 are arranged, and hereafter, these three robots 10 will be referred to as robot 10a, robot 10b, and robot 10c. Since the three robots 10 have similar configurations, only one robot 10 will be described below. As shown in Figure 1, the robot 10 moves the inspection unit 20 relative to the workpiece 200. The robot 10 is a vertical articulated robot. The robot 10 includes a base unit 11 and an arm unit 12 connected to the base unit 11. The base unit 11 is fixed to an installation surface such as a floor, wall, or ceiling. The base unit 11 may also be attached to a movable trolley. The arm unit 12 has multiple joints. Each of the multiple joints has a servo motor as a drive source. The tip of the arm unit 12 holds the inspection unit 20 and the instruction unit 30. The robot 10 moves the inspection unit 20 and the instruction unit 30, which are held at the tip of the arm unit 12, relative to the fixed workpiece 200 by driving multiple joints of the arm unit 12. Robots 10a, 10b, and 10c are examples of the first robot, second robot, and third robot, respectively.

[0019] The inspection unit 20 is positioned on each of the multiple robots 10 and inspects the workpiece 200. The inspection unit 20 is an imaging unit and images the workpiece 200. Specifically, the inspection unit 20 is a line-type camera that is moved along the surface of the workpiece 200 by the robot 10 and scans the surface of the workpiece 200.

[0020] The instruction unit 30 is positioned on each of the multiple robots 10 and indicates the position of the target 201, which will be described later, acquired by inspection, to the workpiece 200. The instruction unit 30 is a laser irradiation unit that irradiates laser light to indicate the position of the target 201 to the workpiece 200.

[0021] The robot controller 40 controls the operation of the robot 10. As shown in Figure 3, the robot controller 40 includes a processing unit 41 and a storage unit 42. The processing unit 41 includes a processor and performs various processes related to the operation of the robot 10. The storage unit 42 includes non-volatile memory and stores coordinate transformation information 71 and 72, which will be described later. The robot controller 40 is, for example, provided for each of the multiple robots 10. Alternatively, a single robot controller 40 common to multiple robots 10 may be provided.

[0022] The image processing device 50 is provided as a single unit for multiple robots 10. Alternatively, one image processing device 50 may be provided for each of the multiple robots 10. The image processing device 50 performs image processing on images captured by the inspection unit 20. The image processing device 50 also controls the imaging timing performed by 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 and performs various processing related to the images captured by the inspection unit 20 and the imaging timing performed by the inspection unit 20. The storage unit 52 includes non-volatile memory and stores inspection images 21, which will be described later.

[0023] 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 and performs various processes related to displaying the inspection results of the workpiece 200. The storage unit 62 includes non-volatile memory and stores coordinate transformation information 72, a three-dimensional image of the workpiece 200, etc. The display unit 63 includes a monitor such as a liquid crystal monitor and displays the inspection results screen of the workpiece 200. The operation unit 64 includes input devices such as a mouse and keyboard and accepts user input operations. Note that the display unit 63 and the operation unit 64 may be integrated. That is, the display unit 63 and the operation unit 64 may be configured as an operation unit / display unit such as a touch panel.

[0024] In the first embodiment, as shown in Figure 2, a turntable 210 has multiple workpieces 200 placed on it, and the turntable 210 rotates the placed workpieces 200. Specifically, the turntable 210 includes a rotating part 211, a drive unit 212 as shown in Figure 3, and a workpiece placement part 213. The rotating part 211 has a disc shape and rotates about an axis perpendicular to the floor surface on which the robot 10 is placed. The drive unit 212 rotates the turntable 210. The drive unit 212 is, for example, a motor. The workpiece placement part 213 is located on the rotating part 211 and rotates together with the rotating part 211. For example, three workpiece placement parts 213 are arranged. The workpiece placement part 213 has, for example, an L-shape, and the workpieces 200 are propped up on it. 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 provided, and the higher-level control unit may control the drive unit 212.

[0025] In the first embodiment, the 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. Robot 10b inspects the second surface 200b of the workpiece 200. 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.

[0026] (Control processing of the inspection system) The control process of the inspection system 100 will be described below.

[0027] In step S1 shown in Figure 4, as shown in Figure 5, the processing unit 41 of the robot controller 40 generates movement paths 13 for the robot 10 when the robot 10 moves the inspection unit 20 relative to the workpiece 200 and the inspection unit 20 inspects the workpiece 200. The movement paths 13 are paths for operating the arm 12 of the robot 10, and multiple paths are generated to inspect the workpiece 200. Furthermore, movement paths 13 are generated for each of the first surface 200a, second surface 200b, and third surface 200c of the workpiece 200.

[0028] For example, each of the processing units 41 of robots 10a, 10b, and 10c receives instructions from the user regarding the movement of the arm portion 12 and performs processing to generate movement paths 13 for robots 10a, 10b, and 10c based on the received instructions. Alternatively, each of the processing units 41 of robots 10a, 10b, and 10c may perform processing to automatically generate movement paths 13 without receiving instructions from the user regarding the movement of the arm portion 12. Furthermore, the processing unit 41 may perform processing to generate movement paths 13 along the surface of a workpiece 200, such as a curved surface.

[0029] In step S2 shown in Figure 4, the respective processing units 41 of robots 10a, 10b, and 10c perform the process of generating coordinate transformation information 71 and 72 based on the generated movement path 13. The coordinate transformation information 71 and 72 are information that converts the coordinate values ​​of the inspection coordinate system of the inspection image 21, which will be described later, obtained by inspecting the workpiece 200 by the inspection unit 20, to the coordinate values ​​of the robot coordinate system and the workpiece coordinate system, respectively, which are three-dimensional coordinate systems. The inspection coordinate system is a two-axis orthogonal coordinate system with mutually orthogonal axes, and the three-dimensional coordinate system is a three-axis orthogonal coordinate system with mutually orthogonal axes. Details of the coordinate transformation using the coordinate transformation information 71 and 72 will be described later.

[0030] As shown in Figure 6, the processing units 41 of robots 10a, 10b, and 10c each perform the process of acquiring coordinate values ​​of the 3D 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 actually moves the inspection unit 20 along the movement path 13 relative to the workpiece 200 using robot 10 and performs the process of acquiring coordinate values ​​of the 3D coordinate system at first distance intervals D1. The first distance interval D1 is the distance interval of the control points 14a. The processing unit 41 performs the process of acquiring the coordinate values ​​of the 3D coordinate system of the control points 14a at first distance intervals D1. If the inspection unit 20 is an imaging unit, the control points 14a are set to the focal position of imaging of the inspection unit 20. The focal position of imaging of the inspection unit 20 is set to be near the surface of the workpiece 200. The control points 14a are provided for the process of acquiring coordinate values ​​of the 3D coordinate system.

[0031] For convenience, only one movement path 13 is shown in Figure 6, but the processing unit 41 performs a process to obtain coordinate values ​​in the 3D coordinate system for all movement paths 13 and generate coordinate transformation information 71 and 72.

[0032] As shown in Figures 7 and 8, the coordinate transformation information 71 and 72 are coordinate transformation tables that associate the amount of movement of the robot 10 along the movement path 13 with the coordinate values ​​of the 3D coordinate system. In Figures 7 and 8, the path number represents the number of the movement path 13, the position number represents the number of the control point 14, the amount of movement represents the amount of movement 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 3D coordinate system. In other words, in the coordinate transformation information 71 and 72, for each movement path 13, the amount of movement of the robot 10 for each control point 14a is associated with the coordinate value of the control point 14a in the 3D coordinate system.

[0033] As shown in Figure 7, in the coordinate transformation information 71, the 3D coordinate system is the robot coordinate system relating to the robot 10. The robot coordinate system is a coordinate system based on the base unit 11. The coordinate transformation information 71 is a coordinate transformation table that associates the amount of movement of the robot 10 with the coordinate values ​​of the robot coordinate system. In the coordinate transformation information 71, the coordinate values ​​used are those that indicate the position and orientation of the control point 14a in the robot coordinate system.

[0034] As shown in Figure 8, in the coordinate transformation information 72, the 3D coordinate system is the work coordinate system related to the workpiece 200. The work coordinate system is a coordinate system based on the workpiece 200. The coordinate transformation information 72 is a coordinate transformation table that associates the amount of movement of the robot 10 with the coordinate values ​​of the work coordinate system. In the coordinate transformation information 72, the coordinate values ​​used are those that indicate the position of the control point 14a in the work coordinate system.

[0035] For example, the processing unit 41 acquires coordinate values ​​in the robot coordinate system and generates coordinate transformation information 71, and also generates coordinate transformation information 72 based on the generated coordinate transformation information 71. Alternatively, for example, the processing unit 41 generates coordinate transformation information 72 from the coordinate transformation information 71 by converting the coordinate values ​​in the robot coordinate system of the coordinate transformation information 71 to coordinate values ​​in the work coordinate system using transformation information such as a transformation matrix.

[0036] Furthermore, the processing unit 41 performs the process of storing the coordinate transformation information 71 and 72 in the storage unit 42, and also performs the process of outputting the coordinate transformation information 72 to the processing unit 61 of the result display device 60. The processing unit 61 performs the process of storing the coordinate transformation information 72 in the storage unit 62.

[0037] In step S3 shown in Figure 4, as shown in Figure 9, the processing unit 41 of each robot controller 40 of robots 10a, 10b, and 10c operates robots 10a, 10b, and 10c based on the movement path 13, and performs the process of inspecting the workpiece 200 with the inspection unit 20. Then, the processing unit 51 of the image processing device 50 performs the process of acquiring multiple inspection images 21 based on the output results of each inspection unit 20. The inspection images 21 are images of the surface of the workpiece 200 captured by the inspection unit 20.

[0038] As shown in Figure 10, the processing unit 51 operates the inspection unit 20 to inspect the workpiece 200 at second distance intervals D2 along the movement path 13 and acquires inspection images 21. Specifically, the processing unit 51 operates the inspection unit 20 to image the workpiece 200 at second distance intervals D2 and scans the workpiece 200. More specifically, the processing unit 41 outputs a pulse signal to the processing unit 51 at second distance intervals D2. Based on the pulse signal from the processing unit 41, the processing unit 51 outputs a trigger signal to the inspection unit 20 at second distance intervals D2. Based on the trigger signal, the inspection unit 20 images the workpiece 200 at second distance intervals D2. The second distance interval D2 is the distance interval of the control points 14b. When the inspection unit 20 is an imaging unit, the control points 14b are set to the focal point position of the inspection unit 20. The focal point position of the inspection unit 20 is set near the surface of the workpiece 200. The control point 14b is provided for the inspection unit 20 to perform the process of imaging the workpiece 200.

[0039] For convenience, Figure 10 shows only one movement path 13, but the processing unit 41 performs inspection of the workpiece 200 by the inspection unit 20 for all movement paths 13. In addition, the processing unit 51 performs inspection image acquisition for all movement paths 13.

[0040] Furthermore, as shown in Figure 11, in each of robots 10a, 10b, and 10c, the inspection range 22 of the inspection unit 20 is set to partially overlap with adjacent movement paths 13. That is, the inspection range 22 of the inspection unit 20 for a given movement path 13 and the inspection range 22 of the inspection unit 20 for an adjacent movement path 13 partially overlap. This makes it possible to suppress the occurrence of inspection omissions. Note that the inspection range 22 is the imaging range when scanning along the movement path 13.

[0041] Furthermore, in the first embodiment, as shown in Figure 12, the inspection ranges of the inspection units 20 located in robots 10a, 10b, and 10c overlap with each other. 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 with each other. The overlapping inspection ranges are 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 with each other. The overlapping inspection ranges are near the boundary between the first surface 200a and the third surface 200c. Note that in Figure 12, for the sake of simplicity, the first surface 200a, the second surface 200b, and the third surface 200c are shown as planar views.

[0042] As shown in Figure 2, workpieces 200A, 200B, and 200C are placed on the turntable 210. Workpieces 200A, 200B, and 200C are the same workpiece. In the first embodiment, one of the multiple robots 10 inspects one face of one workpiece 200 placed on the turntable 210, and the other robots 10 inspect a different face of the other workpieces 200 placed on the turntable 210. Specifically, robot 10a inspects the first face 200a of workpiece 200A placed on the turntable 210. Robots 10b and 10c inspect the second face 200b and the third face 200c of workpiece 200B placed on the turntable 210, respectively. When the turntable 210 is rotated 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 inspection. Then, for example, if robot 10a finishes its inspection first, robot 10a waits until robots 10b and 10c have finished their inspections.

[0043] In the first embodiment, the processing unit 41 of the robot controller 40 rotates the turntable 210 after robot 10a has finished inspecting workpiece 200A and robots 10b and 10c have finished inspecting workpiece 200B. As a result, workpiece 200B is positioned in front of robot 10a, and workpiece 200C, which has not been inspected, is positioned in front of robots 10b and 10c. Robots 10b and 10c then inspect the second surface 200b and the third surface 200c of workpiece 200C, respectively. Robot 10a also inspects the first surface 200a of workpiece 200B, which has been inspected by robots 10b and 10c.

[0044] In step S4 shown in Figure 4, as shown in Figure 13, the processing unit 51 of the image processing device 50 performs a process to detect the target 201 of the workpiece 200 in the multiple inspection images 21 acquired by the inspection units 20 of each of the multiple robots 10. The processing unit 51 also performs a process to detect the target 201 in all inspection images 21 acquired by the inspection units 20 of robots 10a, 10b, and 10c. Furthermore, the processing unit 51 performs a process to detect the target 201 in the inspection images 21 by performing predetermined image processing on the inspection images 21. In the first embodiment, the target 201 is, for example, a defect such as a scratch, foreign object, or dent.

[0045] As shown in Figure 13, the inspection coordinate system of the inspection image 21 is a two-dimensional coordinate system in which the direction along the movement path 13 is the Y-axis direction and the direction perpendicular to the movement path 13 is the X-axis direction. The processing unit 51 performs the process of acquiring the coordinate values ​​of the inspection coordinate system of the target 201. That is, the processing unit 51 performs the process of acquiring the X-axis and Y-axis coordinate values ​​of the inspection coordinate system of the target 201. The processing unit 51 also performs the process of acquiring the coordinate values ​​of the inspection coordinate system of the target 201 for all inspection images 21 in which the target 201 was detected. The processing unit 51 also performs the process of storing 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 the target 201 in the storage unit 52. The processing unit 51 also performs the process of outputting the number of the movement path 13 corresponding to the inspection image 21 and the coordinate values ​​of the inspection coordinate system of the target 201 to the processing unit 41 of the robot controller 40 and the processing unit 61 of the result display device 60.

[0046] In step S5 shown in Figure 4, as shown in Figure 14, the processing unit 41 of the robot controller 40 performs a process to convert the coordinate values ​​of the inspection coordinate system of the target 201 to the coordinate values ​​of the robot coordinate system based on the coordinate transformation information 71. Also in step S5, the processing unit 61 of the result display device 60 performs a process to convert the coordinate values ​​of the inspection coordinate system of the target 201 to the coordinate values ​​of the work coordinate system based on the coordinate transformation information 72. First, the processing of the processing unit 41 will be explained. Note that the following processing of the processing unit 41 is performed by the processing unit 41 of the robot controller 40 of robot 10a, robot 10b, and robot 10c.

[0047] As shown in Figure 14, the processing unit 41 identifies 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. Then, the processing unit 41 acquires the amount of movement of the robot 10 in the coordinate transformation information 71 that corresponds to the coordinate values ​​of the inspection coordinate system in the Y-axis direction along the movement path 13 of the target 201 at the identified number of the movement path 13. At this time, the processing unit 41 acquires the amount of movement of the robot 10 that is closest to the coordinate values ​​of the inspection coordinate system in the Y-axis direction of the target 201 as the corresponding amount of movement of the robot 10. Then, the processing unit 41 acquires the coordinate values ​​of the robot coordinate system in the coordinate transformation information 71 that correspond to the acquired amount of movement of the robot 10 in the coordinate transformation information 71. Through these steps, the coordinate values ​​of the robot coordinate system that correspond to the coordinate values ​​of the inspection coordinate system in the Y-axis direction of the target 201 are obtained.

[0048] 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 target 201, and therefore include a corresponding discrepancy. For this reason, the processing unit 41 corrects 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 target 201. In this process, the processing unit 41 adds the coordinate values ​​of the inspection coordinate system in the X-axis direction of the target 201 to correct the coordinate values ​​of the robot coordinate system in the coordinate transformation information 71. Through these steps, the processing unit 41 obtains the coordinate values ​​of the robot coordinate system of the target 201. Furthermore, the processing unit 41 performs a process to transform the coordinate values ​​for all targets 201 and obtain the coordinate values ​​of the robot coordinate system.

[0049] For example, in the example shown in Figure 14, the number of the movement path 13 corresponding to the inspection image 21 is 2, the coordinate value of the target 201 in the X-axis direction is 5.5, and the coordinate value of the target 201 in the Y-axis direction is 15.2. In this case, the processing unit 41 performs a process to identify the number 2 as the movement path 13. Then, the processing unit 41 performs a process to obtain 15 as the amount of movement of the robot 10 that is closest to the Y-axis coordinate value 15.2 of the target 201 at the identified number 2. Then, the processing unit 41 performs a process to obtain (xr, yr, zr, or, ar, tr) as the coordinate values ​​of the robot coordinate system corresponding to the amount of movement 15 of the robot 10. Then, the processing unit 41 adds the X-axis coordinate value of the target 201, 5.5, to the robot coordinate system coordinate values ​​(xr, yr, zr, or, ar, tr) to obtain the robot coordinate system coordinate values ​​of the target 201.

[0050] 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 similar, except that it uses coordinate transformation information 72. Furthermore, the processing unit 61 of the result display device 60 described below is executed for multiple inspection images 21 acquired by the inspection units 20 of robots 10a, 10b, and 10c. Specifically, the processing unit 61 performs a process to identify the number of the movement path 13 in the coordinate transformation information 72 based on the number of the movement path 13 corresponding to the inspection image 21. Then, the processing unit 61 performs a process to acquire the amount of movement of the robot 10 in the coordinate transformation information 72 that corresponds to the coordinate values ​​of the inspection coordinate system in the Y-axis direction along the movement path 13 of the target 201 at the identified number of the movement path 13. At this time, the processing unit 61 performs a process to acquire the amount of movement of the robot 10 that is closest to the coordinate values ​​of the inspection coordinate system in the Y-axis direction of the target 201 as the corresponding amount of movement of the robot 10. Then, the processing unit 61 performs a process to acquire the coordinate values ​​of the work coordinate system in the coordinate transformation information 72 that correspond to the acquired amount of movement of the robot 10 in the coordinate transformation information 72. These steps allow us to obtain the coordinate values ​​of the work coordinate system that correspond to the coordinate values ​​of the inspection coordinate system in the Y-axis direction of object 201.

[0051] On the other hand, the coordinate values ​​of the work 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 target 201, and therefore include a corresponding discrepancy. For this reason, the processing unit 61 corrects the coordinate values ​​of the work 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 target 201. In doing so, the processing unit 61 adds the coordinate values ​​of the inspection coordinate system in the X-axis direction of the target 201 and corrects the coordinate values ​​of the work coordinate system in the coordinate transformation information 72. Through these steps, the processing unit 61 obtains the coordinate values ​​of the work coordinate system of the target 201. Furthermore, the processing unit 61 performs a process to transform the coordinate values ​​for all targets 201 and obtain the coordinate values ​​of the work coordinate system.

[0052] In step S6 shown in Figure 4, in the first embodiment, the processing unit 61 of the result display device 60 performs a process to integrate the position of the target 201 detected from multiple inspection images 21 acquired by the inspection units 20 of each of the robots 10a, 10b, and 10c as data 62a shown in Figure 3. Specifically, the processing unit 61 integrates the coordinate values ​​of the work coordinate system of the target 201 acquired from multiple inspection images 21 acquired by the inspection units 20 of each of the robots 10a, 10b, and 10c into a single three-dimensional data 62a. The integrated data 62a is stored, for example, in a single file. The storage unit 62 of the result display device 60 also stores the integrated data 62a.

[0053] Furthermore, in the first embodiment, the processing unit 61 of the result display device 60 processes objects 201 with the same position as the same object 201 if the positions of the objects 201 detected from the multiple inspection images 21 acquired by the respective inspection units 20 of robots 10a, 10b, and 10c are the same. As described above, the inspection range A of robot 10a and the inspection range B of robot 10b overlap each other. Therefore, the same object 201 may be detected by both the inspection unit 20 of robot 10a and the inspection unit 20 of robot 10b. In this case, the coordinate values ​​of the work coordinate system of the object 201 detected by the inspection unit 20 of robot 10a and the coordinate values ​​of the work coordinate system of the object 201 detected by the inspection unit 20 of robot 10b will be the same, so the processing unit 61 of the result display device 60 processes objects 201 with the same work coordinate system coordinate values ​​as the same object 201. In practical terms, even if the coordinate values ​​of the work coordinate systems of multiple objects 201 are different from each other, if 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 then stores the coordinate values ​​of the work coordinate system of the single object 201 that was treated as the same object 201.

[0054] In step S7 shown in Figure 4, as shown in Figure 15, the processing unit 61 of the result display device 60 processes to display the target 201 detected from the multiple inspection images 21 acquired by the inspection units 20 of robots 10a, 10b, and 10c on the 3D image of the workpiece 200. Specifically, the processing unit 61 of the result display device 60 processes to indicate the position of the target 201 on the 3D image of the workpiece 200 based on the coordinate values ​​of the target 201 converted to coordinate values ​​in the workpiece coordinate system. That is, the processing unit 61 processes to superimpose an image indicating the position of the target 201 onto the 3D image of the workpiece 200. Then, the processing unit 61 processes to display the 3D image of the workpiece 200 with the superimposed image indicating the position of the target 201 on the display unit 63. The 3D image of the workpiece 200 with the superimposed image indicating the position of the target 201 can be enlarged, reduced, or rotated based on user operation using the operation unit 64.

[0055] In step S8 shown in Figure 4, as shown in Figure 16, the processing unit 41 of the robot controller 40 performs a process to indicate the position of the target 201 on the actual workpiece 200 based on the coordinate values ​​of the converted 3D coordinate system of the target 201. Specifically, the processing unit 41 operates the robot 10 based on the coordinate values ​​of the target 201 converted to robot coordinate system coordinate values, and performs a process to indicate the position of the target 201 on the actual workpiece 200 using the instruction unit 30. That is, the processing unit 41 operates the robot 10 to move the instruction unit 30 to a predetermined position where the position of the target 201 can be indicated. Then, with the instruction unit 30 positioned in the predetermined position, the processing unit 41 irradiates laser light from the instruction unit 30 to indicate the position of the target 201 on the actual workpiece 200. Note that although Figure 16 shows a state in which laser light is irradiated onto the third surface 200c of the workpiece 200 by one robot 10c, robots 10a and 10b can similarly irradiate laser light onto the workpiece 200.

[0056] (Effects of the first embodiment) The inspection system 100 includes a processing unit 61 that integrates the positions of the target 201 detected from multiple inspection images 21 acquired from inspection units 20 located in each of the multiple robots 10 into data 62a. As a result, the positions of the target 201 of the workpiece 200 inspected by multiple robots 10 are integrated into data 62a, so that the positions of all the target 201 of the workpiece 200 can be accessed by simply referring to this integrated data 62a once from another computer, for example. Consequently, even when the workpiece 200 is inspected by multiple robots 10, the handling of the data 62a of the target 201 of the workpiece 200 can be made easy.

[0057] The target 201 includes defects in the workpiece 200. As a result, the locations of defects in the workpiece 200 inspected by multiple robots 10 are integrated as data 62a, making it easier to handle the defect data 62a of the workpiece 200.

[0058] The inspection ranges of the inspection units 20 positioned in each of the multiple robots 10 overlap with each other. This prevents areas on the surface of the workpiece 200 from being outside the inspection range, thus reducing the likelihood of missed inspections.

[0059] The processing unit 51 processes objects 201 detected from multiple inspection images 21 to be treated as the same object 201 if their positions are the same. This prevents the same object 201 from being recorded as different objects 201.

[0060] Multiple robots 10 inspect different surfaces of the workpiece 200. This allows multiple robots 10 to inspect a relatively large area of ​​the workpiece 200, making it easy to inspect the workpiece 200 even if it is relatively large.

[0061] The inspection system 100 includes a turntable 210 on which multiple workpieces 200 are placed and which rotates the placed workpieces 200. One of the multiple robots 10 inspects one side of one workpiece 200 placed on the turntable 210, and another robot 10 inspects a different side of another workpiece 200 placed on the turntable 210. This allows multiple robots 10 to inspect the same workpiece 200 by moving the workpiece 200 using the turntable 210 without moving the robots 10. Furthermore, since the workpiece 200 is rotated by the turntable 210, the installation area of ​​the system for moving the workpiece 200 can be reduced compared to when the workpiece 200 is moved one-dimensionally by a conveyor or the like.

[0062] 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 facing the second surface 200b. The multiple robots 10 include a robot 10a that inspects the first surface 200a, a robot 10b that inspects the second surface 200b, and a robot 10c that inspects the third surface 200c. This reduces the inspection time compared to when a single robot 10 inspects all of the first surface 200a, the second surface 200b, and the third surface 200c.

[0063] The processing unit 41 of the robot controller 40 rotates the turntable 210 after the inspection of the workpiece 200 has been completed by robots 10a, 10b, and 10c. Robots 10b and 10c then inspect the second and third surfaces 200b and 200c of the workpiece 200 that have not yet been inspected, respectively, while robot 10a inspects the first surface 200a of the workpiece 200 that has been inspected by robots 10b and 10c. As a result, the inspection of the workpiece 200 is performed in an assembly line manner by robots 10a, 10b, and 10c, thus reducing the time required for the inspection of the workpiece 200.

[0064] The processing unit 61 performs a process to display the target 201 detected from multiple inspection images 21 on the image of the workpiece 200. This allows the user to easily confirm the position of the target 201 by visually inspecting the image of the workpiece 200.

[0065] The inspection system 100 includes a storage unit 62 that stores data 62a in which the positions of the target 201 detected from multiple inspection images 21 are integrated. This allows the position of the target 201 to be confirmed by referring to the data 62a stored in the storage unit 62, even if a period of time has passed since the inspection of the workpiece 200 was completed. Furthermore, the data 62a stored in the storage unit 62 can be accessed from a server or other device separate from the inspection system 100.

[0066] The processing unit 61 performs a process to integrate the positions of the target 201 detected from multiple inspection images 21 as three-dimensional data 62a. This makes it easy to integrate the positions of the target 201 when the workpiece 200 is three-dimensional. Furthermore, unlike the case where the detected position of the target 201 is projected onto a two-dimensional plane and the position of the target 201 is obtained as a position on a two-dimensional plane, the position of the target 201 can be obtained more accurately in the case of a three-dimensional workpiece 200.

[0067] [Second Embodiment] (Robot system configuration) The configuration of the robot system 300 according to the second embodiment will now be described. In the robot system 300, the inspection unit 20 inspects the workpiece 200 in parallel with the work unit 310 working on the workpiece 200.

[0068] As shown in Figure 17, the robot system 300 includes, 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 provided in the inspection system 100 of the first embodiment, a work unit 310 and a work unit control device 320. As shown in Figure 18, the work unit 310 is positioned on the robot 10 and performs work on the workpiece 200. For example, the work unit 310 is a painting unit and performs painting work on the workpiece 200. In this case, for example, the work unit 310 is a painting unit that sprays paint by inkjet, and is moved along the surface of the workpiece 200 by the robot 10 to apply paint to the surface of the workpiece 200, thereby performing painting work on the workpiece 200. Although one robot 10 is shown in Figure 18, the robot system 300 includes, for example, three robots 10, similar to the inspection system 100 of the first embodiment.

[0069] The work unit control device 320 shown in Figure 17 controls the work 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 and performs various processes related to the work timing of the work unit 310. The storage unit 322 includes non-volatile memory and stores various information such as programs for controlling the work timing of the work unit 310. 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.

[0070] (Control processing for robot systems) This section describes the control process of the robot system 300.

[0071] In step S1a shown in Figure 19, similar to step S1 of the first embodiment shown in Figure 4, the processing unit 41 of the robot controller 40 performs a process to generate a movement path 13 for the robot 10 when the robot 10 moves the inspection unit 20 relative to the workpiece 200, when the work unit 310 performs work on the workpiece 200, and when the inspection unit 20 inspects the workpiece 200.

[0072] In step S2a shown in Figure 19, similar to step S2 of the first embodiment shown in Figure 4, the respective processing units 41 of robots 10a, 10b, and 10c perform the process of generating coordinate transformation information 71 shown in Figure 7 and coordinate transformation information 72 shown in Figure 8 based on the generated movement path 13.

[0073] In step S3a shown in Figure 19, the processing unit 41 of each robot controller 40 of robots 10a, 10b, and 10c operates robots 10a, 10b, and 10c based on the movement path 13, performing work on the workpiece 200 with the work unit 310 and inspecting the workpiece 200 with the inspection unit 20. Specifically, the processing unit 321 of the work unit control device 320 causes the work unit 310 to work on the workpiece 200 at intervals of a second distance interval D2, for example, as shown in Figure 10, along the movement path 13. If the work unit 310 is a painting unit that sprays paint by inkjet, the processing unit 321 executes the process of spraying paint onto the work unit 310 at intervals of a second distance interval D2. In detail, the processing unit 41 of the robot controller 40 outputs a pulse signal to the processing unit 321 of the work unit control device 320 at intervals of a second distance interval D2. The processing unit 321 outputs a trigger signal to the work unit 310 at every second distance interval D2 based on the pulse signal from the processing unit 41. The work unit 310 sprays paint onto the workpiece 200 at every second distance interval D2 based on the trigger signal. Note that the distance over which the painting unit sprays paint does not have to be every second distance interval D2. In parallel with the paint spraying process by the work unit 310, the processing unit 51 of the image processing device 50 operates the inspection unit 20 to inspect the workpiece 200 at every second distance interval D2 along the movement path 13, similar to the first embodiment, and performs the process of acquiring an inspection image 21. Specifically, the processing unit 51 operates the inspection unit 20 to image the workpiece 200 at every second distance interval D2, and scans the workpiece 200.

[0074] In step S4a shown in Figure 19, similar to step S4 of the first embodiment, as shown in Figure 13, the processing unit 51 of the image processing device 50 performs a process to detect the target 201 of the workpiece 200 in the multiple inspection images 21 acquired by each of the inspection units 20 of the multiple robots 10. If the work unit 310 is a painting unit that sprays paint by inkjet, the target 201 is the paint unevenness, etc.

[0075] In step S5a shown in Figure 19, similar to step S5 of the first embodiment, as shown in Figure 14, the processing unit 41 of the robot controller 40 performs a process to convert the coordinate values ​​of the inspection coordinate system of the target 201 to the coordinate values ​​of the robot coordinate system based on the coordinate transformation information 71. Also in step S5a, the processing unit 61 of the result display device 60 performs a process to convert the coordinate values ​​of the inspection coordinate system of the target 201 to the coordinate values ​​of the work coordinate system based on the coordinate transformation information 72.

[0076] In step S6a shown in Figure 19, similar to step S6 of the first embodiment, the processing unit 61 of the result display device 60 performs a process to integrate the positions of the target 201 detected from the multiple inspection images 21 acquired by the inspection units 20 of robots 10a, 10b, and 10c as data 62a shown in Figure 17.

[0077] In step S7a shown in Figure 19, similar to step S7 of the first embodiment, as shown in Figure 15, the processing unit 61 of the result display device 60 performs the process of displaying the target 201 detected from the multiple inspection images 21 acquired by the inspection units 20 of robots 10a, 10b, and 10c on a three-dimensional image of the workpiece 200.

[0078] In step S8a shown in Figure 19, similar to step S8 of the first embodiment, as shown in Figure 16, the processing unit 41 of the robot controller 40 performs a process to indicate the position of the object 201 on the actual workpiece 200 based on the coordinate values ​​of the converted 3D coordinate system of the object 201.

[0079] (Effects of the second embodiment) In the second embodiment, as in the first embodiment, the positions of the target 201 of the workpiece 200 inspected by multiple robots 10 are integrated as data 62a. Therefore, by simply referencing this integrated data 62a once from another computer, for example, the positions of all target 201 of the workpiece 200 can be referenced. As a result, even when the workpiece 200 is inspected by multiple robots 10, the handling of the data 62a of the target 201 of the workpiece 200 can be made easier.

[0080] While the work unit 310 is working on the workpiece 200, the inspection unit 20 inspects the workpiece 200. This allows the work and inspection of the workpiece 200 to be performed simultaneously, thus reducing the time required for both work and inspection of the workpiece 200.

[0081] (modified version) It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the claims rather than the description of the embodiments above, and includes all modifications (explanations) within the meaning and scope equivalent to the claims.

[0082] For example, in the first embodiment described above, the inspection system is an appearance inspection system that inspects the external appearance of a workpiece, but the disclosure is not limited thereto. In this disclosure, the inspection system may be an inspection system that inspects the internal structure of a workpiece. In this case, the inspection unit may be an ultrasonic flaw detection unit that inspects the workpiece by transmitting ultrasonic waves into the workpiece and receiving ultrasonic waves reflected from within the workpiece. Using an ultrasonic flaw detection unit, it is possible to detect defects and other issues within the workpiece.

[0083] Furthermore, while the first and second embodiments described above show examples where the robot is a vertical articulated robot, this disclosure is not limited thereto. In this disclosure, the robot may be an industrial robot other than a vertical articulated robot.

[0084] Furthermore, while the first and second embodiments described above show examples in which the inspection unit is moved relative to the workpiece by moving the imaging unit with a robot, the disclosure is not limited thereto. In this disclosure, the inspection unit may be moved relative to the workpiece by moving the workpiece with a robot.

[0085] Furthermore, while the first and second embodiments described above illustrate examples in which the processing unit of the robot controller, the processing unit of the image processing unit, and the processing unit of the result display device share the responsibility for performing various processing tasks, this disclosure is not limited thereto. In this disclosure, the number and configuration of processing units are not particularly limited. One processing unit may perform the various processing tasks of the above embodiments, or multiple processing units may perform the various processing tasks of the above embodiments. The configuration of the storage unit is also not limited. The configurations of the robot controller, image processing unit, and result display device are also not limited. The robot controller, image processing unit, and result display device may be configured as an integrated unit, or they may be configured separately as in the above embodiments. Furthermore, the robot controller, image processing unit, and result display device may be configured in even more separate configurations. For example, an operating device for operating the result display device may be provided separately from the result display device.

[0086] Furthermore, while the first and second embodiments described above show examples where the target is a defect in the workpiece, this disclosure is not limited thereto. For example, the target may be something other than a defect in the workpiece. For instance, the target may be a teaching point for the robot's movement, an inspection path through which the inspection unit moves, or an inspectable area of ​​the inspection unit.

[0087] Furthermore, while the first and second embodiments described above show examples where the inspection ranges of the inspection units located in each of the multiple robots overlap, this disclosure is not limited to these examples. For instance, the inspection ranges of the inspection units located in each of the multiple robots do not have to overlap. This helps to prevent the same object from being detected by different inspection units in overlapping manner.

[0088] Furthermore, while the first and second embodiments described above show examples in which the processing unit processes objects detected from multiple inspection images at the same location as the same object, the disclosure is not limited to this. For example, the processing unit may treat objects at the same location as separate objects. The processing unit may also display a message indicating that these objects are at the same location when displaying the object locations on the display unit. This can prevent objects that are at approximately the same location but not identical from being treated as the same object.

[0089] Furthermore, while the first and second embodiments described above show examples in which three robots inspect surfaces that intersect with each other, the disclosure is not limited thereto. For example, multiple robots may share the task of inspecting relatively large surfaces along a horizontal plane or relatively large curved surfaces.

[0090] Furthermore, while the first and second embodiments described above show examples where multiple workpieces are placed on a turntable, the disclosure is not limited thereto. For example, multiple workpieces may be placed on a workpiece transport device such as a conveyor. In this case, multiple robots are arranged along the conveyor. Also, in the embodiments described above, for example, if the inspection by robot 10a is completed first, robot 10a waits until the inspections by robots 10b and 10c are completed. However, if multiple workpieces are placed on a conveyor, robot 10a may start inspecting the next workpiece 200 without waiting for the inspections by robots 10b and 10c to be completed.

[0091] Furthermore, while the first embodiment described above shows an example in which multiple robots perform inspection on a stationary workpiece placed on a turntable, and the second embodiment described above shows an example in which multiple robots perform work and inspection on a stationary workpiece placed on a turntable, this disclosure is not limited thereto. For example, multiple robots may perform inspection, or both work and inspection, on a moving workpiece placed on a conveyor or automated guided vehicle. For example, when a workpiece is placed on a conveyor or automated guided vehicle and the workpiece is moving, and inspection units positioned on multiple robots are stationary, the processing unit of the robot controller outputs a pulse signal to the processing unit of the inspection unit at predetermined distance intervals in synchronization with the movement of the conveyor or automated guided vehicle. The processing unit of the inspection unit outputs a trigger signal to the inspection unit at predetermined distance intervals based on the pulse signal, and the inspection unit images the workpiece at predetermined distance intervals based on the trigger signal. Alternatively, the workpiece may be stationary, and multiple robots may be moved by a travel axis.

[0092] Furthermore, while the first and second embodiments described above show examples in which three robots are deployed for workpiece inspection, the disclosure is not limited thereto. For example, more than three robots may be deployed for workpiece inspection.

[0093] Furthermore, while the first and second embodiments described above show an example in which the processing unit overlays an object detected from multiple inspection images onto an image of the workpiece displayed on the display unit, this disclosure is not limited to this. For example, the object detected by the processing unit may be overlaid onto an image of the workpiece and printed out on paper.

[0094] Furthermore, while the first and second embodiments described above show examples in which both a process of showing the position of the target on the actual workpiece and a process of showing the position of the target on a 3D image of the workpiece are performed, the present disclosure is not limited thereto. In this disclosure, only one of the processes of showing the position of the target on the actual workpiece or the process of showing the position of the target on a 3D image of the workpiece may be performed.

[0095] Furthermore, while the first and second embodiments described above show examples in which the processing unit performs a process to display the target on a three-dimensional image of the workpiece, this disclosure is not limited to this. For example, the processing unit may perform a process to display information on the display unit about which robot detected the target, along with the target itself.

[0096] Furthermore, while the first and second embodiments described above show examples in which the positions of objects detected from multiple inspection images are integrated as data, this disclosure is not limited to these examples. For instance, if a workpiece is subjected to processing such as painting by multiple robots, information about which robot processed the area where the detected object is located may be linked to the position of the object and integrated as data.

[0097] Furthermore, while the first and second embodiments described above show an example in which the processing unit integrates the positions of objects detected from multiple inspection images into three-dimensional data, this disclosure is not limited to this. For example, when inspecting the surface of a flat workpiece with multiple robots, the positions of the detected objects are integrated into two-dimensional data.

[0098] Furthermore, while the first and second embodiments described above show examples where workpieces 200A, 200B, and 200C are the same workpiece, the disclosure is not limited thereto. For example, workpieces 200A, 200B, and 200C may be different workpieces. Also, workpieces 200A, 200B, and 200C may be of the same type or different types.

[0099] Furthermore, in the first and second embodiments described above, as shown in Figure 16, an example was shown in which a robot 10c that inspected the workpiece 200 irradiated the position of the target 201 on the actual workpiece 200 with laser light. However, the disclosure is not limited thereto. For example, a robot used in a process later than the workpiece inspection process may irradiate the position of the target 201 on the workpiece 200 with laser light.

[0100] Furthermore, while the first and second embodiments described above show examples in which one robot 10 among the plurality of robots 10 inspects one face of one workpiece 200 placed on the turntable 210, and another robot 10 among the plurality of robots 10 inspects a different face of another workpiece 200 placed on the turntable 210, the disclosure is not limited thereto. For example, multiple robots 10 may inspect the same face of the workpiece 200.

[0101] Furthermore, while the second embodiment described above shows an example in which the inspection unit 20 inspects the workpiece 200 in parallel with the work unit 310's work on the workpiece 200, the disclosure is not limited thereto. For example, the inspection unit 20 may inspect the workpiece 200 after all of the work on the work unit 310 has been completed.

[0102] Furthermore, although the second embodiment described above shows an example where the work section is a painting section, the disclosure is not limited thereto. For example, the work section may be a dispenser for applying a sealant to a workpiece. The work section may also be an application section for attaching a sealant or tape to a workpiece. The work section may also be a polishing section for performing polishing, deburring, grinding, and buffing on a workpiece. The work section may also be a sewing section for sewing on a workpiece. The work section may also be an application section for applying highly viscous liquids such as sauces, mayonnaise, and chocolate to a workpiece. The work section may also be a car washing section for washing a workpiece such as a car.

[0103] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0104] [Aspect] The embodiments described above are specific examples of the following embodiments.

[0105] (Aspect 1) Multiple robots, Each of the aforementioned multiple robots is equipped with an inspection unit for inspecting a workpiece, The process involves moving the inspection unit, which is positioned in each of the multiple robots, relative to the workpiece to inspect the workpiece, thereby acquiring inspection images of multiple workpieces from each of the inspection units. A process for detecting the target of the workpiece in multiple inspection images, An inspection system comprising: a processing unit that performs a process of integrating the positions of the targets detected from multiple inspection images as data; and a processing unit that performs a process of integrating the positions of the targets detected from multiple inspection images as data.

[0106] (Aspect 2) The inspection system according to embodiment 1, wherein the subject includes defects in the workpiece.

[0107] (Aspect 3) The inspection system according to embodiment 1 or embodiment 2, wherein the inspection ranges of the inspection units positioned in each of the plurality of robots overlap with each other.

[0108] (Aspect 4) The inspection system according to any one of Embodiments 1 to 3, wherein the processing unit performs a process to treat objects with the same position as the same object when the positions of the objects detected from a plurality of the inspection images are the same.

[0109] (Aspect 5) The inspection system according to any one of embodiments 1 to 4, wherein the plurality of robots inspect different surfaces of the workpiece.

[0110] (Aspect 6) A workpiece transport device is provided on which multiple workpieces are placed and which transports the placed workpieces. One of the aforementioned robots inspects one side of a workpiece placed on the workpiece transfer device. The inspection system according to embodiment 5, wherein one of the plurality of robots inspects a different face of another workpiece placed on the workpiece transport device from the first face.

[0111] (Aspect 7) The inspection system according to embodiment 6, wherein the workpiece transport device includes a turntable for rotating the placed workpiece.

[0112] (Pattern 8) The workpiece placed on the turntable is The first side, A second surface intersecting the first surface, A third surface intersecting the first surface and facing the second surface, The aforementioned multiple robots A first robot for inspecting the first surface, A second robot inspects the second surface, The inspection system according to embodiment 7, further comprising a third robot for inspecting the third surface.

[0113] (Aspect 9) The aforementioned processing unit, After the inspection of the workpiece is completed by the first robot, the second robot, and the third robot, the process of rotating the turntable is performed. The second robot and the third robot each inspect the second and third surfaces of the workpiece that have not yet been inspected. The inspection system according to embodiment 8, wherein the first robot inspects the first surface of the workpiece after inspection by the second robot and the third robot.

[0114] (Aspect 10) The inspection system according to any one of embodiments 1 to 9, wherein the processing unit performs a process of displaying the target detected from a plurality of inspection images on the image of the workpiece.

[0115] (Aspect 11) The inspection system according to any one of embodiments 1 to 10, comprising a storage unit for storing data which is an integrated representation of the positions of the targets detected from a plurality of the aforementioned inspection images.

[0116] (Aspect 12) The inspection system according to any one of embodiments 1 to 11, wherein the processing unit performs a process to integrate the positions of the targets detected from a plurality of inspection images as three-dimensional data.

[0117] (Aspect 13) By moving inspection units positioned on each of multiple robots relative to the workpiece and inspecting the workpiece, inspection images of multiple workpieces are obtained from each of the inspection units. To detect the target of the workpiece in multiple inspection images, An inspection method comprising integrating the positions of the target detected from multiple inspection images as data.

[0118] (Aspect 14) Multiple robots, Each of the aforementioned multiple robots is equipped with a work unit that performs work on a workpiece, Each of the aforementioned plurality of robots is provided with an inspection unit that inspects the workpiece that has been worked on by the work unit, The process involves moving the inspection unit, which is positioned in each of the multiple robots, relative to the workpiece to inspect the workpiece, thereby acquiring inspection images of multiple workpieces from each of the inspection units. A process for detecting the target of the workpiece in multiple inspection images, A robot system comprising: a processing unit that performs a process of integrating the positions of the targets detected from multiple inspection images as data; and a processing unit that performs a process of integrating the positions of the targets detected from multiple inspection images as data.

[0119] (Aspect 15) The robot system according to embodiment 14, wherein the inspection unit inspects the workpiece in parallel with the work unit's work on the workpiece. [Explanation of Symbols]

[0120] 10 Robots 10a Robot (First Robot) 10b Robot (Second Robot) 10c Robot (3rd Robot) 20. Inspection Department 21 Examination Images 41 Processing Unit 51 Processing Unit 61 Processing Unit 62 Storage section 100 Inspection Systems 200 work 200a First surface 200b Second side 200c Third side 210 Turntable (workpiece transport device) 300 Robot Systems 310 Work Unit A, B, C: Examination range

Claims

1. Multiple robots, Each of the aforementioned multiple robots is equipped with an inspection unit for inspecting a workpiece, The process involves moving the inspection unit, which is positioned in each of the multiple robots, relative to the workpiece to inspect the workpiece, thereby acquiring inspection images of multiple workpieces from each of the inspection units. A process for detecting the target of the workpiece in multiple inspection images, An inspection system comprising: a processing unit that performs a process of integrating the positions of the targets detected from multiple inspection images as data; and a processing unit that performs a process of integrating the positions of the targets detected from multiple inspection images as data.

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

3. The inspection system according to claim 1, wherein the inspection ranges of the inspection units positioned in each of the plurality of robots overlap with each other.

4. The inspection system according to claim 1, wherein the processing unit performs a process to treat objects with the same position as the same object when the positions of the objects detected from a plurality of inspection images are the same.

5. The inspection system according to claim 1, wherein the plurality of robots inspect different surfaces of the workpiece.

6. A workpiece transport device is provided on which multiple workpieces are placed and which transports the placed workpieces. One of the aforementioned robots inspects one side of a workpiece placed on the workpiece transfer device. The inspection system according to claim 5, wherein one of the plurality of robots inspects a different face of another workpiece placed on the workpiece transport device from the first face.

7. The inspection system according to claim 6, wherein the workpiece transport device includes a turntable for rotating the placed workpiece.

8. The workpiece placed on the turntable is The first side, A second surface intersecting the first surface, A third surface intersecting the first surface and facing the second surface, The aforementioned multiple robots A first robot for inspecting the first surface, A second robot for inspecting the second surface, The inspection system according to claim 7, further comprising a third robot for inspecting the third surface.

9. The aforementioned processing unit, After the inspection of the workpiece is completed by the first robot, the second robot, and the third robot, the turntable is rotated. The second robot and the third robot each inspect the second and third surfaces of the workpiece that has not been inspected, The inspection system according to claim 8, wherein the first robot inspects the first surface of the workpiece after inspection by the second robot and the third robot.

10. The inspection system according to claim 1, wherein the processing unit performs a process of displaying the object detected from a plurality of inspection images on the image of the workpiece.

11. The inspection system according to claim 1, further comprising a storage unit that stores data in which the positions of the targets detected from a plurality of the inspection images are integrated.

12. The inspection system according to claim 1, wherein the processing unit performs a process to integrate the positions of the targets detected from a plurality of inspection images as three-dimensional data.

13. By moving inspection units positioned on each of multiple robots relative to the workpiece and inspecting the workpiece, inspection images of multiple workpieces are obtained from each of the inspection units. To detect the target of the workpiece in multiple inspection images, An inspection method comprising integrating the positions of the target detected from multiple inspection images as data.

14. Multiple robots, Each of the aforementioned multiple robots is equipped with a work unit that performs work on a workpiece, Each of the aforementioned plurality of robots is provided with an inspection unit that inspects the workpiece that has been worked on by the work unit, The process involves moving the inspection unit, which is positioned in each of the multiple robots, relative to the workpiece to inspect the workpiece, thereby acquiring inspection images of multiple workpieces from each of the inspection units. A process for detecting the target of the workpiece in multiple inspection images, A robot system comprising: a processing unit that performs a process of integrating the positions of the targets detected from multiple inspection images as data; and a processing unit that performs a process of integrating the positions of the targets detected from multiple inspection images as data.

15. The robot system according to claim 14, wherein the inspection unit inspects the workpiece in parallel with the work unit's work on the workpiece.

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