Object appearance detection system with posture detection and control method thereof
Patent Information
- Authority / Receiving Office
- TW · TW
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2020-05-12
- Publication Date
- 2021-11-16
Smart Images
Figure TWG2TA000833500_001 
Figure TWG2TA000833500_002 
Figure TWG2TA000833500_003
Abstract
Description
[Technical Field]
[0001] A detection system and its control method, particularly a posture detection object appearance inspection system and its control method that can perform posture detection on an object to be inspected and perform surface defect detection on the object to be inspected. [Previous Technology]
[0002] In the automated manufacturing process of the conveyor production line, automatic product inspection is a key technology for maintaining product quality. After obtaining a surface image of the product through image capture, a computing device is used to detect defects on the surface of the product in the surface image, such as scratches, unevenness, etc. By inspecting the product, the manufacturing process can be reduced in terms of inspection time and inspection costs.
[0003] However, existing technologies for automatic product inspection involve setting up imaging devices on the production line to obtain surface images of the product. During the automatic product inspection process, the product is in a state of continuous movement, and the obtained surface images often produce blurry images and spots on the surface images, which can lead to misjudgments in surface inspection. Setting up imaging devices on the production line to obtain surface images of the product usually only covers a part of the product's surface and cannot include the entire surface of the product, which can easily lead to inspection defects.
[0004] To avoid the above problems, a robotic arm can be used to retrieve the product from the conveyor line and move it to the surface inspection position. At this time, the product is static, which can avoid problems such as blurry surface images and spots on the surface images. However, in the process of the robotic arm retrieving the product from the conveyor line and moving it to the surface inspection position, the robotic arm does not take into account the product's position on the conveyor line. The surface image obtained by the robotic arm moving the product to the surface inspection position will be affected by the product's position on the conveyor line, resulting in an incomplete surface image or errors in the surface inspection due to the rotation of the product relative to the surface inspection position.
[0005] In summary, it can be seen that the prior art has long suffered from the problem that the existing automatic product inspection process does not perform posture detection and adjustment, resulting in the failure to obtain a complete surface image or detection errors. Therefore, it is necessary to propose improved technical means to solve this problem. [Summary of the Invention]
[0006] In view of the problem that prior art has issues with automatic product inspection processes where the product's posture is not detected and adjusted, resulting in incomplete surface images or inspection errors, the present invention discloses an object appearance inspection system with posture detection, wherein:
[0007] The object appearance inspection system with posture detection disclosed in this invention includes: a conveyor production line, a first fixed frame, a remote imaging device, an inspection platform, a first sensor, a second sensor, a robotic arm, a posture detection imaging device, a posture detection plate, a second fixed frame, multiple imaging devices, and a control and computing device.
[0008] The conveyor production line includes an input end and an output end. The object to be tested enters from the input end and leaves from the output end.
[0009] The first fixed frame is disposed at the output end; the remote imaging device is disposed on the first fixed frame to capture the back image of the object to be inspected at the surface inspection position.
[0010] The testing platform has a first setting surface and a second setting surface. The first setting surface is connected to and perpendicular to the second setting surface, and the second setting surface is directed toward the conveying production line.
[0011] A first sensor is disposed on a first mounting surface near the edge of the conveyor line at a location adjacent to the input end. The first sensor is used to sense the object to be detected on the conveyor line.
[0012] The second sensor is disposed at a distance from the first sensor on the first mounting surface near the edge of the conveyor line, adjacent to the input end. The second sensor is used to sense the object to be detected on the conveyor line.
[0013] The robotic arm is set on a first setting surface near the output end and close to the conveyor line. The robotic arm is used to obtain the object to be inspected from the conveyor line and move the object to be inspected to the posture detection position and the surface detection position.
[0014] The posture detection image device is set on the second mounting surface near the output end, close to the edge of the conveyor line, to capture the posture detection image of the object to be detected when it moves to the posture detection position through the robotic arm.
[0015] The posture detection plate is positioned vertically above the posture detection imaging device and is used to provide posture detection of the object to be detected.
[0016] The second fixing frame is disposed on the first setting surface; multiple imaging devices are respectively disposed on the second fixing frame to capture the front image, left side image, right side image, top image and bottom image of the object to be detected at the surface detection position.
[0017] The control and computing device establishes connections with the conveyor production line, the remote imaging device, the first sensor, the second sensor, the robotic arm, the posture detection imaging device, and the imaging device, respectively. The control and computing device is used to calculate the information received from the first sensor, the second sensor, and the posture detection imaging device to control the operation of the conveyor production line and the robotic arm, and to perform surface defect detection of the object to be inspected from the images received from the remote imaging device and the imaging device.
[0018] The control method of the object appearance detection system for manipulator posture detection disclosed in this invention includes the following steps:
[0019] First, the control and computing device calculates the moving speed of the conveyor line based on the time difference between the first sensor and the second sensor sensing the object to be detected; then, the control and computing device adjusts the moving speed of the conveyor line based on the moving speed of the conveyor line; next, the control and computing device calculates the moving time of the object to be detected to the pick-up / place position based on the distance from the second sensor to the posture detection imaging device and the moving speed of the conveyor line; then, after the moving time has elapsed, the control and computing device pauses the movement of the conveyor line on the object to be detected; next, the control and computing device controls the robotic arm to pick up the object to be detected from the conveyor line and move it vertically upward to the posture detection position; next, the control and computing device acquires a posture detection image from the posture detection imaging device; next, the control and computing device calculates the offset and rotation of the object to be detected based on the posture detection image; next, the control... The control and computing device controls the robotic arm to move the object to be inspected from the posture detection position to the surface detection position based on the offset and rotation of the object to be inspected. The center of the object to be inspected is moved to the center of the surface detection position, and the object to be inspected is rotated to be aligned according to its rotation. Next, the control and computing device acquires a rear image from a remote imaging device. Then, the control and computing device acquires front, left, right, top, and bottom images from the imaging device. Next, the control and computing device performs surface defect detection on the object to be inspected based on these images. Then, the control and computing device controls the robotic arm to move the object to be inspected from the surface detection position and place it on the conveyor line. Finally, the control and computing device resumes the movement of the object to be inspected on the conveyor line.
[0020] The system and its operation method disclosed in this invention are as described above. The difference between the system and the prior art is that the control and computing device establishes connections with the conveyor production line, the remote imaging device, the first sensor, the second sensor, the robotic arm, the posture detection imaging device, and the imaging device, respectively. The control and computing device controls the conveyor production line through the first sensor and the second sensor. The control and computing device controls the operation of the robotic arm to move the object to be tested from the conveyor production line to the posture detection position and the surface detection position, respectively. When the object to be tested is in the posture detection position, the control and computing device receives posture detection images from the posture detection imaging device to perform posture detection of the object to be tested. When the object to be tested is in the surface detection position, the control and computing device controls the robotic arm to adjust the object to be tested according to the posture detection results to receive images from the remote imaging device and the imaging device to perform surface defect detection of the object to be tested.
[0021] Through the above-mentioned technical means, the present invention can achieve the technical effect of providing posture detection and adjustment of the object to be detected for object appearance detection.
Implementation Method
[0022] The embodiments of the present invention will be described in detail below with reference to the drawings and examples, so that the implementation process of how the present invention uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.
[0023] The following will first describe the object appearance inspection system with posture detection disclosed in this invention, and please refer to "Figure 1", which is a perspective view of the object appearance inspection system with posture detection of this invention.
[0024] The object appearance inspection system with posture detection disclosed in this invention includes: a conveyor line 110, a first fixture 120, a remote imaging device 130, an inspection platform 210, a first sensor 220, a second sensor 230, a robotic arm 240, a posture detection imaging device 250, a posture detection plate 310, a second fixture 260, multiple imaging devices 270, and a control and computing device 410.
[0025] The conveyor line 110 includes an input end 111 and an output end 112. The object to be tested 510 enters from the input end 111 of the conveyor line 110 and exits from the output end 112 of the conveyor line 110. Please refer to "Figure 2" for the object to be tested. "Figure 2" shows a perspective view of the object to be tested in the object appearance inspection system with posture detection of the present invention. The object to be tested 510 in the figure is only schematic and the present invention is not limited thereto. The object to be tested 510 is a metal object with a cube or rectangle having six sides.
[0026] The first fixing frame 120 is vertically set at the output end 112 of the conveyor line 110. The first fixing frame 120 is used to provide a remote imaging device 130. The remote imaging device 130 can be used to capture the back image of the object to be inspected 510 at the surface detection position 620. Please refer to "Figure 3". "Figure 3" is a plan view of the first fixing frame of the object appearance inspection system with posture detection of the present invention. It is worth noting that a light source device 710 can be further set next to each remote imaging device 130. The light source device 710 is used to provide light source for the remote imaging device 130 when capturing the back image of the object to be inspected 510 at the surface detection position 620.
[0027] The detection platform 210 has a first setting surface 211 and a second setting surface 212. The first setting surface 211 of the detection platform 210 is connected to and perpendicular to the second setting surface 212 of the detection platform 210. The second setting surface 212 of the detection platform 210 faces the conveyor line 110. There is a setting gap between the detection platform 210 and the conveyor line 110. The setting gap provides the setting space for the subsequent posture detection imaging device 250.
[0028] The first sensor 220 is disposed on the first mounting surface 211 of the detection platform 210 near the edge of the conveyor line 110 at the input end 111 of the conveyor line 110. The first sensor 220 senses the object 510 to be detected on the conveyor line 110 by means of infrared light. This is only an example and is not intended to limit the scope of application of the present invention.
[0029] The second sensor 230 and the first sensor 220 are disposed at intervals on the first mounting surface 211 of the detection platform 210 near the edge of the conveyor line 110 at the input end 111 of the conveyor line 110. The first sensor 220 will detect the object to be detected 510 before the second sensor 230. The second sensor 230 also detects the object to be detected 510 on the conveyor line 110 by means of infrared light. This is only an example and is not intended to limit the application scope of the present invention.
[0030] The robotic arm 240 is disposed on the first mounting surface 211 of the detection platform 210 at the output end 112 of the conveyor line 110 and close to the conveyor line 110. The robotic arm 240 is provided to obtain the object to be inspected 510 from the conveyor line 110 and move the object to be inspected 510 to the posture detection position 610 and the surface detection position 620. The robotic arm 240 is a 6-degree-of-freedom robotic arm 240, and the robotic arm 240 uses a magnetic clamp 241 to obtain the object to be inspected 510 from the conveyor line 110 by magnetic attraction. Please refer to Figure 4A and Figure 4B. Figure 4A shows a perspective view of the robotic arm of the object appearance inspection system with posture detection of the present invention; Figure 4B shows a plan view of the magnetic clamp of the object appearance inspection system with posture detection of the present invention.
[0031] The posture detection imaging device 250 is disposed on the second mounting surface 212 of the detection platform 210 near the edge of the conveyor line 110 at the output end 112 of the conveyor line 110. When the robotic arm 240 obtains the object to be detected 510 from the conveyor line 110 and moves the object to be detected 510 to the posture detection position 610, the posture detection imaging device 250 can capture the posture detection image. The posture detection position 610 is shown in Figure 5B. Figure 5B is a plan view of the posture detection position of the object appearance detection system with posture detection of the present invention.
[0032] Please refer to Figure 6, which shows a plan view of the posture detection plate of the object appearance inspection system with posture detection of the present invention. The posture detection plate 310 is disposed vertically above the posture detection imaging device 250. The posture detection plate 310 provides posture detection of the object 510 to be inspected through positioning marks 311. Posture detection is the detection of the object 510 to be inspected when it is picked up by the robotic arm 240 and moved to the posture detection position 610. The positioning mark 311 on the measuring plate 310 can be used to analyze and calculate the offset and rotation of the object to be tested 510 relative to the positioning mark 311. By measuring the offset and rotation of the object to be tested 510, the problems of the magnetic clamp 241 of the robotic arm 240 failing to obtain the position offset of the object to be tested 510 and the position offset and rotation of the object to be tested 510 itself can be solved. The positioning mark 311 on the posture detection plate 310 shown in "Figure 6" is only an illustration and the present invention is not limited thereto.
[0033] The process of calculating the offset and rotation of the object to be detected 510 relative to the positioning mark 311 based on the positioning mark 311 on the posture detection plate 310 is as follows. Please refer to Figure 7A. Figure 7A shows a schematic diagram of the rotation of the object appearance detection system with posture detection of the present invention. First, select the first corner point 511 of the object to be detected 510 (or the second corner point 512, the third corner point 513, or the fourth corner point 514). Since the first corner point 511 of the object to be detected 510 will draw a vertical line 820, the vertical line 820 will be drawn from the first corner point 511 of the object to be detected. After inspecting the interior of the object to be inspected 510, instead of drawing a vertical line 820 at the first corner point 511 of the object to be inspected 510, a horizontal line 810 is drawn at the first corner point 511 of the object to be inspected 510. The horizontal line 810 and the edge of the object to be inspected 510 are at the first angle 830 and the second angle 840, respectively. The smaller angle, the first angle 830, is selected. The edge of the object to be inspected 510 will need to be rotated clockwise by the first angle 830 to straighten the object to be inspected 510. The first angle 830 is the amount of rotation of the object to be inspected 510.
[0034] After the object to be tested 510 is straightened, please refer to "Figure 7B". "Figure 7B" is a schematic diagram of the offset of the object appearance detection system with posture detection of the present invention. The horizontal distance and vertical distance that the object to be tested 510 moves to the first positioning mark 3111 closest to the posture detection plate 310 through the first corner point 511 of the selected object to be tested 510 are the offset 850 of the object to be tested 510 relative to the positioning mark 311.
[0035] The second fixing frame 260 is disposed on the first mounting surface 211 of the detection platform 210. The second fixing frame 260 includes a first fixing part 261 and a second fixing part 262. Multiple imaging devices 270 are respectively disposed on the second fixing frame 260. In the embodiment, four imaging devices 270 are disposed on the first fixing part 261 of the second fixing frame 260, and two imaging devices 270 are disposed on the second fixing part 262 of the second fixing frame 260. This is only an example and is not intended to limit the present invention. In terms of application scope, the imaging device 270 can respectively capture the front image, left side image, right side image, top image and bottom image of the object to be inspected 510 located at the surface detection position 620. It is worth noting that a light source device 710 can be further provided next to each imaging device 270. The light source device 710 is used to provide light source for each imaging device 270 when capturing the front image, left side image, right side image, top image and bottom image of the object to be inspected 510 located at the surface detection position 620.
[0036] The control and computing device 410 establishes connections with the conveyor line 110, the remote imaging device 130, the first sensor 220, the second sensor 230, the robotic arm 240, the posture detection imaging device 250, and the imaging device 270, respectively. The control and computing device 410 performs calculations based on information received from the first sensor 220, the second sensor 230, and the posture detection imaging device 250 to control the operation of the conveyor line 110 and the robotic arm 240, and performs surface defect detection on the object 510 to be inspected based on images received from the remote imaging device 130 and the imaging device 270. The calculations, control, and surface defect detection performed by the control and computing device 410 are as follows:
[0037] The control and calculation device 410 calculates the moving speed of the conveyor line 110 based on the time difference between the first sensor 220 and the second sensor 230 sensing the object 510 to be detected; the control and calculation device 410 can then adjust and control the moving speed of the conveyor line 110 based on the moving speed of the conveyor line 110.
[0038] The control and calculation device 410 calculates the movement time of the object to be inspected 510 to the pick-up and place position 630 based on the distance from the second sensor 220 to the posture detection image device 250 and the moving speed of the conveyor line 110. After the movement time, the control and calculation device 410 pauses the movement of the conveyor line 110 to the object to be inspected 510. Please refer to Figure 5A. Figure 5A is a plan view of the pick-up and place position of the object appearance inspection system with posture detection of the present invention.
[0039] The control and computing device 410 controls the robotic arm 240 to pick up the object to be tested 510 from the conveyor line 110 and move it vertically upward to move the object to be tested 510 from the pick-up and place position 630 to the posture detection position 610, that is, from "Figure 5A" to "Figure 5B". The control and computing device 410 can then obtain the posture detection image from the posture detection image device 250. The control and computing device 410 can then calculate the offset and rotation of the object to be tested 510 based on the posture detection image. Please refer to the above description for the offset and rotation of the object to be tested 510, which will not be repeated here.
[0040] If no posture detection is performed to calculate the offset and rotation of the object to be detected 510, the object to be detected 510 moves to the surface detection position 620 as shown in Figure 8A. Figure 8A is a schematic diagram of the position of the object to be detected in the surface detection position without posture detection adjustment in the object appearance detection system of the present invention with posture detection. The control and calculation device 410 controls the robotic arm 240 to move the object to be detected 510 from the posture detection position 610 to the surface detection position 620 according to the offset and rotation of the object to be detected 510, as shown in Figure 8B. Figure 8B is a schematic diagram of the position of the object to be detected in the surface detection position with posture detection adjustment in the object appearance detection system of the present invention with posture detection. The center position of the object to be detected 510 moves to the center position of the surface detection position 620, and the object to be detected 510 will be straightened according to the rotation of the object to be detected 510.
[0041] After the object to be tested 510 is moved to the surface detection position 620, the control and calculation device 410 can obtain the back image of the object to be tested 510 from the remote imaging device 130 and obtain the front image, left side image, right side image, top image and bottom image of the object to be tested 510 from the imaging device 270 respectively.
[0042] The control and computing device 410 performs surface defect detection on the object to be tested 510 based on the back image, front image, left side image, right side image, top image and bottom image of the object to be tested 510.
[0043] After the control and computing device 410 acquires the back image, front image, left side image, right side image, top image and bottom image of the object to be inspected 510, the control and computing device 410 can control the robotic arm 240 to move the object to be inspected 510 from the surface inspection position 620 to the conveyor line 110, and the control and computing device 410 will then resume the movement of the object to be inspected 210 on the conveyor line 110.
[0044] It is worth noting that the control and computing device 410 is also connected to the light source device 710 mentioned above. The light source device 710 can control the color of the light emitted and the intensity of the light source through the control and computing device 410. The light emitted by the light source device 710 is controlled to be one of red, green and blue.
[0045] Please refer to Figures 9A and 9B, which illustrate the method flowchart of the control method of the object appearance detection system for manipulator posture detection of the present invention.
[0046] First, the control and calculation device calculates the moving speed of the conveyor line based on the time difference between the first sensor and the second sensor sensing the object to be detected (step 101); then, the control and calculation device adjusts the moving speed of the conveyor line based on the moving speed of the conveyor line (step 102); next, the control and calculation device calculates the moving time of the object to be detected to the pick-up / place position based on the distance from the second sensor to the posture detection image device and the moving speed of the conveyor line (step 103); next, after the moving time has elapsed, the control and calculation device pauses the movement of the conveyor line on the object to be detected (step 104); next, the control and calculation device controls the robotic arm to pick up the object to be detected from the conveyor line and move it vertically upward to the posture detection position (step 105); next, the control and calculation device acquires a posture detection image from the posture detection image device (step 106); next, the control and calculation device calculates the offset and rotation of the object to be detected based on the posture detection image (step 107). The control and calculation device controls the robotic arm to move the object to be inspected from the posture detection position to the surface detection position based on the offset and rotation of the object to be inspected, and the center position of the object to be inspected is moved to the center position of the surface detection position. The object to be inspected is also rotated to be aligned according to the rotation of the object to be inspected (step 108). Next, the control and calculation device acquires a back image from the remote imaging device (step 109). Next, the control and calculation device acquires a front image, a left side image, a right side image, a top image, and a bottom image from the imaging device (step 113). Next, the control and calculation device performs surface defect detection on the object to be inspected based on the back image, front image, left side image, right side image, top image, and bottom image (step 114). Next, the control and calculation device controls the robotic arm to move the object to be inspected from the surface detection position and place it on the conveyor line (step 115). Finally, the control and calculation device resumes the movement of the object to be inspected on the conveyor line (step 116).
[0047] In summary, the difference between the present invention and the prior art is that the control and computing device establishes connections with the conveyor production line, the remote imaging device, the first sensor, the second sensor, the robotic arm, the posture detection imaging device, and the imaging device, respectively. The control and computing device controls the conveyor production line through the first sensor and the second sensor. The control and computing device controls the operation of the robotic arm to move the object to be tested from the conveyor production line to the posture detection position and the surface detection position, respectively. When the object to be tested is in the posture detection position, the control and computing device receives posture detection images from the posture detection imaging device to perform posture detection of the object to be tested. When the object to be tested is in the surface detection position, the control and computing device controls the robotic arm to adjust the object to be tested according to the posture detection results to receive images from the remote imaging device and the imaging device to perform surface defect detection of the object to be tested.
[0048] This technical means can solve the problem in the prior art that the product is not adjusted for posture detection during the automatic product detection process, resulting in the failure to obtain a complete surface image or detection errors, thereby achieving the technical effect of providing posture detection and adjustment of the object to be detected for object appearance inspection.
[0049] Although the embodiments disclosed in this invention are as described above, the content described is not intended to directly limit the scope of patent protection of this invention. Anyone skilled in the art to which this invention pertains may make some modifications in form and detail of the implementation without departing from the spirit and scope disclosed in this invention. The scope of patent protection of this invention shall still be determined by the appended claims. [Simplified Explanation of the Diagram]
[0051] Figure 1 is a perspective view of the object appearance inspection system with posture detection according to the present invention. Figure 2 is a perspective view of the object to be inspected by the object appearance inspection system with posture detection according to the present invention. Figure 3 is a plan view of the first fixing frame of the object appearance inspection system with posture detection according to the present invention. Figure 4A is a perspective view of the robotic arm of the object appearance inspection system with posture detection according to the present invention. Figure 4B is a plan view of the magnetic clamp of the object appearance inspection system with posture detection according to the present invention. Figure 5A is a plan view of the pick-up and put-down position of the object appearance inspection system with posture detection according to the present invention. Figure 5B is a plan view of the posture detection position of the object appearance inspection system with posture detection according to the present invention. Figure 6 is a plan view of the posture detection plate of the object appearance inspection system with posture detection according to the present invention. Figure 7A is a schematic diagram of the rotation amount of the object appearance inspection system with posture detection according to the present invention. Figure 7B is a schematic diagram of the offset amount of the object appearance inspection system with posture detection according to the present invention. Figure 8A illustrates the position of the object to be inspected in the object appearance inspection system with posture detection of the present invention, where the object is moved to the surface inspection position without posture detection adjustment. Figure 8B illustrates the position of the object to be inspected in the object appearance inspection system with posture detection of the present invention, where the object is moved to the surface inspection position with posture detection adjustment. Figures 9A and 9B illustrate the method flowchart of the method for controlling the object appearance inspection system with posture detection of the present invention.
Claims
1. An object appearance inspection system with posture detection, used in a conveyor line including an input end and an output end, wherein an object to be inspected enters from the input end and exits from the output end, comprising: a first fixing frame disposed at the output end; at least one remote imaging device disposed on the first fixing frame for capturing a back image of the object to be inspected at a surface detection position; an inspection platform having a first mounting surface and a second mounting surface, the first mounting surface being connected to and perpendicular to the second mounting surface, the second mounting surface being facing the conveyor line; and a first sensor disposed on the first mounting surface near the edge of the conveyor line adjacent to the input end, the first sensor being used to sense the object to be inspected on the conveyor line. A second sensor is provided, spaced apart from the first sensor, on the edge of the first mounting surface near the input end, close to the conveyor line. The second sensor is used to sense the object to be detected on the conveyor line. A robotic arm, disposed on a first mounting surface adjacent to the output end and close to the conveyor line, is used to retrieve the object to be inspected from the conveyor line, move the object to be inspected to a posture detection position, and correct and move the object to be inspected to the surface detection position based on the posture detection result; a posture detection imaging device, disposed on a second mounting surface adjacent to the output end and near the edge of the conveyor line, is used to capture a posture detection image of the object to be inspected as it moves to the posture detection position via the robotic arm; a posture detection plate, disposed vertically above the posture detection imaging device, is used to provide posture detection for the object to be inspected; and a second fixing frame, disposed on the first mounting surface. Multiple imaging devices, each mounted on the second mounting frame, are used to capture a frontal image, a left side image, a right side image, a top image, and a bottom image of the object to be inspected at the surface detection position, respectively. A control and computing device is also included, connected to the conveyor line, the remote imaging device, the first sensor, the second sensor, the robotic arm, the posture detection imaging device, and the imaging device. The control and computing device performs calculations based on information received from the first sensor, the second sensor, and the posture detection imaging device to control the operation of the conveyor line and the robotic arm, and performs surface defect detection on the object to be inspected based on images received from the remote imaging device and the imaging device.
2. The object appearance inspection system with posture detection as described in claim 1, wherein the robotic arm is a six-degree-of-freedom robotic arm.
3. The object appearance inspection system with posture detection as described in claim 1, wherein the object to be inspected is a metal object with six sides, which is a cube or a rectangle.
4. The object appearance inspection system with posture detection as described in claim 3, wherein the robotic arm uses a magnetic gripper to obtain the object to be inspected from the conveyor line by magnetic attraction.
5. The object appearance inspection system with posture detection as claimed in claim 1, wherein the object appearance inspection system further comprises a plurality of light source devices, the light source devices being respectively disposed next to each remote imaging device of the first fixture and each imaging device of the second fixture.
6. The object appearance inspection system with posture detection as described in claim 5, wherein the light source device is connected to the control and computing device, and the light source device controls the color and intensity of the emitted light through the control and computing device.
7. The object appearance inspection system with posture detection as described in claim 6, wherein the light source device controls the color of the emitted light to be one of red, green, and blue via the control and computing device.
8. A method for controlling an object appearance inspection system with posture detection as described in claim 1, comprising the following steps: The control and computing device calculates the moving speed of a conveyor line based on the time difference between the first sensor and the second sensor sensing the object to be inspected; The control and computing device adjusts the moving speed of the conveyor line based on the moving speed of the conveyor line; The control and computing device calculates a movement time for the object to be inspected to move to a pick-up / place position based on the distance from the second sensor to the posture detection imaging device and the moving speed of the conveyor line; After the movement time has elapsed, the control and computing device pauses the movement of the conveyor line on the object to be inspected; The control and computing device controls a robotic arm to pick up the object to be inspected from the conveyor line and move it vertically upwards to the posture detection position; The control and computing device acquires a posture detection image from the posture detection imaging device; The control and computing device calculates the offset and rotation of the object to be inspected based on the posture detection image; The control and computing device controls the robotic arm to move the object to be inspected from the posture detection position to the surface detection position based on the offset and rotation of the object to be inspected, and the center position of the object to be inspected moves to the center position of the surface detection position, and the object to be inspected rotates to straighten itself based on the rotation of the object to be inspected; the control and computing device acquires the back image from the remote imaging device; the control and computing device acquires the front image, the left side image, the right side image, the top image, and the bottom image from the imaging device respectively; the control and computing device performs surface defect detection on the object to be inspected based on the back image, the front image, the left side image, the right side image, the top image, and the bottom image; the control and computing device controls the robotic arm to move the object to be inspected from the surface detection position and place it on the conveyor line; and the control and computing device restores the movement of the object to be inspected by the conveyor line.