Inspection system, and inspection method

Abstract

This inspection system includes a processing unit that performs the following processes: moving the inspection units of each of a plurality of robots to inspect the workpieces, thereby obtaining inspection images of a plurality of workpieces; and integrating the positions of objects detected from the plurality of inspection images into data.

Description

Technical Field

[0001] This disclosure relates to an inspection system, inspection method, and robotic system. Prior Technology

[0002] Previously, an inspection system was known. For example, Japanese Patent Publication No. 2004-125407 discloses a vehicle paint defect marking device, which includes: two robots, a camera device disposed on the two robots, an image processing device, and a plotter. In this vehicle paint defect marking device, the camera device disposed on one of the two robots photographs the top surface of the vehicle, and the camera device disposed on the other of the two robots photographs the side surface of the vehicle. The image processing device detects defects in the vehicle based on the photographed images. Furthermore, the image processing device projects the defects detected on the top surface of the vehicle onto a horizontal two-dimensional projection plane and stores them in a memory unit with two-dimensional positions. Moreover, the image processing device projects the defects detected on the side surface of the vehicle onto a vertical two-dimensional projection plane and records them in the memory unit with two-dimensional positions. The plotter irradiates laser light onto the top surface of the vehicle based on the two-dimensional position data of the defects projected onto the horizontal two-dimensional projection plane stored in the memory unit. Furthermore, the plotter illuminates the side of the vehicle with laser light based on the two-dimensional position data of the defects projected onto the vertical two-dimensional projection plane stored in the memory unit. In this way, the location of the vehicle's defects is indicated by laser light.

[0003] However, in the vehicle paint defect marking device described in Japanese Patent Publication No. 2004-125407, the two-dimensional position data of defects on the vehicle's roof and the two-dimensional position data of defects on the vehicle's sides are separately recorded 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 referencing vehicle defect data stored in the memory unit, for example, by another computer, it is necessary to refer to both the individual data of the two-dimensional position data of defects on the vehicle's roof and the two-dimensional position data of defects on the vehicle's sides. This presents a problem that complicates the processing of defect data for the workpiece. Summary of the Invention

[0004] This disclosure was developed to solve the above-mentioned problems. One purpose of this disclosure is to provide an inspection system, inspection method and robot system that simplifies the data processing of workpieces even when multiple robots are used to inspect them.

[0005] The first-state inspection system disclosed herein comprises: a plurality of robots; an inspection unit disposed in each of the plurality of robots and inspecting workpieces; and a processing unit that performs the following processes: moving the inspection units disposed in each of the plurality of robots relative to the workpieces to inspect the workpieces, thereby acquiring inspection images of the plurality of workpieces from each inspection unit; detecting objects of the workpieces within the plurality of inspection images; and integrating the positions of the objects detected from the plurality of inspection images into data.

[0006] The first-state inspection system disclosed herein, as described above, includes a processing unit that integrates the positions of objects detected from a plurality of inspection images, obtained from the inspection units of each of a plurality of robots, into data. By integrating the positions of objects on a workpiece inspected by a plurality of robots into data, the positions of all objects on the workpiece can be referenced at once, for example, by referring to this integrated data from another computer. As a result, even when multiple robots are used to inspect the workpiece, the processing of workpiece object data is simplified.

[0007] The second-state inspection method disclosed herein comprises: moving the inspection units of each of a plurality of robots relative to the workpiece to inspect the workpiece, thereby obtaining inspection images of the plurality of workpieces from each inspection unit; detecting objects of the workpiece within the plurality of inspection images; and integrating the positions of the objects detected from the plurality of inspection images into data.

[0008] The second type of inspection method disclosed herein, as described above, includes: integrating the positions of objects detected from a plurality of inspection images, which are obtained from the inspection units of each of a plurality of robots, into data. By integrating the positions of objects on a workpiece inspected by a plurality of robots into data, the positions of all objects on the workpiece can be referenced at once, for example, by referring to this integrated data from another computer. As a result, an inspection method that simplifies the data processing of workpiece objects can be provided even when multiple robots are used to inspect the workpiece.

[0009] The third type of robot system disclosed herein comprises: a plurality of robots; a work unit disposed in each of the plurality of robots and performing work on a workpiece; an inspection unit disposed in each of the plurality of robots and inspecting the workpiece that has been worked on by the work unit; and a processing unit that performs the following processing: processing that causes the inspection units disposed in each of the plurality of robots to move relative to the workpiece to inspect the workpiece, thereby obtaining inspection images of the plurality of workpieces from each inspection unit; processing that detects objects of the workpiece within the plurality of inspection images; and processing that integrates the positions of the objects detected from the plurality of aforementioned inspection images into data.

[0010] The third type of robot system disclosed herein, as described above, includes a processing unit that integrates the positions of objects detected from a plurality of inspection images, obtained from the inspection units of each of the plurality of robots, into data. By integrating the positions of workpiece objects detected by the plurality of robots into data, the positions of all objects on the workpiece can be referenced at once, for example, by referring to this integrated data from another computer. As a result, a robot system is provided that simplifies the data processing of workpiece objects even when multiple robots are used to inspect the workpiece.

[0011] The inspection system, inspection method, and robot system disclosed herein are as described above. Even when multiple robots are used to inspect the workpiece, the data processing of the workpiece object can be simplified. Simple Explanation of the Diagram

[0012] Figure 1 is a diagram of the robot in the first embodiment of the inspection system. Figure 2 shows the robot and turntable of the inspection system in the first embodiment. Figure 3 is a block diagram showing the inspection system of the first implementation type. Figure 4 is a flowchart illustrating the control process of the inspection system in the first embodiment. Figure 5 is a diagram illustrating the generation of the movement path of the robot in the first embodiment. Figure 6 is a diagram illustrating the generation of coordinate transformation data in the first embodiment. Figure 7 is a diagram illustrating the coordinate transformation data when the coordinate values ​​of the inspection coordinate system in the first embodiment are converted into the robot coordinate system. Figure 8 is a diagram illustrating the coordinate transformation data when the coordinate values ​​of the inspection coordinate system in the first embodiment are converted into the workpiece coordinate system. Figure 9 shows the state of scanning and photographing the surface of the workpiece using a line camera in the first embodiment. Figure 10 shows the state of inspecting the workpiece in the first embodiment. Figure 11 is a diagram showing the overlap of the inspection range in a robot of the first embodiment. Figure 12 is a diagram showing the overlap of the inspection ranges of the plurality of robots in the first embodiment. Figure 13 is a diagram illustrating the inspection images of the first embodiment. Figure 14 is a diagram illustrating the coordinate transformation of the first implementation. Figure 15 is a diagram illustrating the position of the three-dimensional image display object of the workpiece in the first embodiment. Figure 16 is a diagram illustrating the first embodiment in which a robot displays the position of an object on a physical workpiece. Figure 17 is a block diagram showing the robot system of the second embodiment. Figure 18 is a diagram of the robot system in the second embodiment. Figure 19 is a flowchart illustrating the control processing of the robot system in the second embodiment. Implementation

[0013] The following is an explanation of the specific implementation of this disclosure, based on the diagram.

[0014] [First Implementation Type] (The composition of the inspection system) The overall structure of the inspection system 100 in the first embodiment will be described.

[0015] As shown in Figure 1, the inspection system 100 is a visual inspection system for inspecting the appearance of a workpiece 200. The workpiece 200 may be, for example, a product or part related to automobiles, agricultural machinery, ceramics, or household appliances. The workpiece 200 is not particularly limited. In a first embodiment, an example of the workpiece 200 includes: a first surface 200a, a second surface 200b intersecting the first surface 200a, and a third surface 200c intersecting the first surface 200a and facing the second surface 200b.

[0016] The inspection system 100 includes: a robot 10, an inspection unit 20, an indicator unit 30, a robot controller 40, an image processing device 50, a result display device 60, and a turntable 210 as shown in FIG. 2. Furthermore, the turntable 210 is an example of a workpiece handling device.

[0017] In the first embodiment, as shown in Figure 2, a plurality of robots 10 are configured. For example, three robots 10 are configured, hereinafter referred to as robot 10a, robot 10b, and robot 10c. Since the three robots 10 have the same configuration, the following description pertains to one robot 10. As shown in Figure 1, the robot 10 moves the inspection unit 20 relative to the workpiece 200. The robot 10 is a vertical multi-joint robot. The robot 10 includes a base 11 and an arm 12 connected to the base 11. The base 11 is fixed to a surface such as a floor, wall, or ceiling. Alternatively, the base 11 can be mounted on a movable trolley. The arm 12 has a plurality of joints. Each joint has a servo motor as a drive source. Furthermore, the front end of the arm 12 holds the inspection unit 20 and the indicator unit 30. Robot 10 moves the inspection section 20 and the indicator section 30, which are held at the front end of the arm 12, relative to the fixed workpiece 200 by driving a plurality of joints of the arm 12. In addition, robots 10a, 10b and 10c are examples of a first robot, a second robot and a third robot, respectively.

[0018] The inspection unit 20 is mounted on each of the plurality of robots 10 and inspects the workpiece 200. The inspection unit 20 is a photography unit and takes pictures of the workpiece 200. Specifically, the inspection unit 20 is a linear camera, and the surface of the workpiece 200 is scanned and photographed by the movement of the robot 10 along the surface of the workpiece 200.

[0019] The indicator unit 30 is disposed on each of the plurality of robots 10, and displays the position of the object 201 (described later) obtained by inspection on the workpiece 200. The indicator unit 30 is a laser irradiation unit, which displays the position of the object 201 on the workpiece 200 by irradiating laser light.

[0020] The robot controller 40 controls the actions of the robot 10. As shown in FIG3, the robot controller 40 includes a processing unit 41 and a memory unit 42. The processing unit 41 includes a processor and performs various processing related to the actions of the robot 10. The memory unit 42 includes non-volatile memory and stores coordinate transformation information 71 and 72, etc., which will be described later. The robot controller 40 can be configured for each of a plurality of robots 10, for example. Alternatively, a single robot controller 40 can be configured for a plurality of robots 10.

[0021] The image processing device 50 is configured as one unit for a plurality of robots 10. Alternatively, the image processing device 50 can be configured for each robot of the plurality of robots 10. Furthermore, the image processing device 50 performs image processing on images captured by the inspection unit 20. Moreover, the image processing device 50 controls the timing of image capture by the inspection unit 20. The image processing device 50 includes a processing unit 51 and a memory 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 timing of image capture by the inspection unit 20. The memory unit 52 includes non-volatile memory and stores the inspection image 21, etc., described later.

[0022] The result display device 60 displays the inspection results of the workpiece 200. The result display device 60 includes a processing unit 61, a memory unit 62, a display unit 63, and an operation unit 64. The processing unit 61 includes a processor and performs various processing related to the display of the inspection results of the workpiece 200. The memory unit 62 includes non-volatile memory and stores coordinate conversion information 72, a three-dimensional image of the workpiece 200, etc. The display unit 63 includes a monitor such as an LCD monitor and displays the inspection results of the workpiece 200. The operation unit 64 includes input devices such as a mouse and a keyboard and accepts user input. Alternatively, the display unit 63 and the operation unit 64 can be integrated. That is, the display unit 63 and the operation unit 64 can also be configured by combining an operation unit such as a touch panel with a display unit.

[0023] As shown in Figure 2, in the first embodiment, the turntable 210 carries a plurality of workpieces 200, and the turntable 210 rotates the carried workpieces 200. Specifically, the turntable 210 includes: a rotating part 211, a driving part 212 as shown in Figure 3, and a workpiece mounting part 213. The rotating part 211 is disc-shaped and rotates about an axis perpendicular to the floor on which the robot 10 is mounted. Moreover, the driving part 212 rotates the turntable 210. The driving part 212 is, for example, an electric motor. The workpiece mounting part 213 is disposed on the rotating part 211 and rotates together with the rotating part 211. For example, three workpiece mounting parts 213 are disposed. The workpiece mounting parts 213 are, for example, L-shaped and for the workpieces 200 to stand upright. In addition, the driving part 212 is controlled, for example, by the processing unit 41 of the robot controller 40. Furthermore, a host control unit can be configured to control the robot controller 40, and the drive unit 212 can be controlled by the host control unit.

[0024] Furthermore, in the first embodiment, a plurality of 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.

[0025] (Check the control processing of the system) The control processing of the inspection system 100 is explained.

[0026] In step S1 shown in Figure 4, as shown in Figure 5, the processing unit 41 of the robot controller 40 performs the following processing: the inspection unit 20 is moved relative to the workpiece 200 by the robot 10, and a movement path 13 of the robot 10 is generated when the inspection unit 20 inspects the workpiece 200. The movement path 13 is a path for moving the arm 12 of the robot 10, and a plurality of paths are generated for inspecting the workpiece 200. Moreover, the movement path 13 is generated for each of the first surface 200a, the second surface 200b, and the third surface 200c of the workpiece 200.

[0027] For example, the processing unit 41 of each of robots 10a, 10b, and 10c performs the following processing: receiving the movement of the arm 12 taught by the user and generating the movement path 13 of robots 10a, 10b, and 10c according to the received instruction. Furthermore, the processing unit 41 of each of robots 10a, 10b, and 10c performs the following processing: automatically generating the movement path 13, for example, without relying on the movement of the arm 12 taught by the user. Moreover, the processing unit 41 performs the following processing: generating the movement path 13 along the surface of the workpiece 200, such as a curved surface.

[0028] In step S2 shown in Figure 4, the processing units 41 of robots 10a, 10b, and 10c perform the following processing: Based on the generated movement path 13, they generate coordinate transformation information 71 and coordinate transformation information 72. Coordinate transformation information 71 and 72 are respectively: information that converts the coordinate values ​​of the inspection coordinate system obtained by inspecting the workpiece 200 using the inspection unit 20 into coordinate values ​​of the robot coordinate system and the workpiece coordinate system, which belong to the three-dimensional coordinate system. The inspection coordinate system is an orthogonal coordinate system with two mutually orthogonal axes, while the three-dimensional coordinate system is an orthogonal coordinate system with three mutually orthogonal axes. Details regarding the coordinate transformation using coordinate transformation information 71 and 72 will be described later.

[0029] As shown in Figure 6, the processing units 41 of robots 10a, 10b, and 10c perform the following processing: acquiring three-dimensional coordinate system coordinate values ​​every first distance interval D1 along the movement path 13, and generating coordinate transformation information 71 and coordinate transformation information 72. At this time, the processing unit 41 performs the following processing: using robot 10 to actually move the inspection unit 20 relative to the workpiece 200 along the movement path 13, and acquiring three-dimensional coordinate system coordinate values ​​every first distance interval D1. Furthermore, the first distance interval D1 is the distance interval of control point 14a. The processing unit 41 performs the following processing: acquiring the three-dimensional coordinate system coordinate values ​​of control point 14a every first distance interval D1. When the inspection unit 20 is a camera unit, control point 14a is set as the shooting focus position of the inspection unit 20. Moreover, the shooting focus position of the inspection unit 20 is set near the surface of the workpiece 200. Control point 14a is set for the processing of acquiring three-dimensional coordinate system coordinate values.

[0030] In addition, for ease of explanation, only one movement path 13 is shown in Figure 6. However, the processing unit 41 performs the processing of obtaining the coordinate values ​​of the three-dimensional coordinate system for all movement paths 13, and generating coordinate transformation information 71 and coordinate transformation information 72.

[0031] As shown in Figures 7 and 8, coordinate transformation information 71 and 72 are coordinate transformation tables that establish a corresponding relationship between the movement amount of robot 10 along the direction of movement path 13 and the coordinate values ​​of the three-dimensional coordinate system. In Figures 7 and 8, the path number represents the number of movement path 13, the position number represents the number of control point 14a, the movement amount represents the movement amount of control point 14a of robot 10 along movement path 13, and the coordinate value displays the coordinate value of control point 14a in the three-dimensional coordinate system. That is, coordinate transformation information 71 and 72 establish a corresponding relationship between the movement amount of robot 10 at each control point 14a and the coordinate value of the three-dimensional coordinate system of control point 14a for each movement path 13.

[0032] As shown in Figure 7, the three-dimensional coordinate system in the coordinate transformation information 71 is the robot coordinate system related to the robot 10. The robot coordinate system is a coordinate system based on the base 11. The coordinate transformation information 71 is a coordinate transformation table that establishes a corresponding association between the movement amount of the robot 10 and the coordinate values ​​of the robot coordinate system. The coordinate values ​​in the coordinate transformation information 71 are the coordinate values ​​of the position and posture of the control point 14a displayed in the robot coordinate system.

[0033] As shown in Figure 8, in the coordinate transformation information 72, the three-dimensional coordinate system is the workpiece coordinate system related to the workpiece 200. The workpiece coordinate system is a coordinate system with the workpiece 200 as the reference. The coordinate transformation information 72 is a coordinate transformation table that establishes a corresponding association between the movement amount of the robot 10 and the coordinate values ​​of the workpiece coordinate system. The coordinate values ​​in the coordinate transformation information 72 are the coordinate values ​​of the position of the control point 14a displayed in the workpiece coordinate system.

[0034] The processing unit 41, for example, obtains the coordinate values ​​of the robot coordinate system and generates coordinate transformation information 71, and generates coordinate transformation information 72 based on the generated coordinate transformation information 71. Furthermore, the processing unit 41, for example, uses transformation data such as a transformation matrix to convert the coordinate values ​​of the robot coordinate system in the coordinate transformation information 71 into coordinate values ​​of the workpiece coordinate system, thereby generating coordinate transformation information 72 from the coordinate transformation information 71.

[0035] Furthermore, the processing unit 41 performs the process of storing coordinate transformation information 71 and coordinate transformation information 72 into the memory unit 42, and also performs the process of outputting coordinate transformation information 72 to the result display device 60. The processing unit 61 performs the process of storing coordinate transformation information 72 into the memory unit 62.

[0036] In step S3 shown in Figure 4, as shown in Figure 9, the processing unit 41 of the robot controller 40 of each of robots 10a, 10b, and 10c performs the following processing: robots 10a, 10b, and 10c are moved according to the movement path 13, and the workpiece 200 is inspected by the inspection unit 20. Furthermore, the processing unit 51 of the image processing device 50 performs processing to obtain a plurality of inspection images 21 based on the output results of each inspection unit 20. The inspection image 21 is a captured image of the surface of the workpiece 200 taken by the inspection unit 20.

[0037] As shown in Figure 10, the processing unit 51 performs the following processing: the inspection unit 20 is operated to inspect the workpiece 200 along the movement path 13 at second distance intervals D2, thereby acquiring an inspection image 21. Specifically, the processing unit 51 operates to scan and photograph the workpiece 200 by causing the inspection unit 20 to take pictures of the workpiece 200 at second distance intervals D2. More specifically, the processing unit 41 performs processing to output a pulse signal to the processing unit 51 at second distance intervals D2. The processing unit 51 performs processing to output a trigger signal to the inspection unit 20 at second distance intervals D2 based on the pulse signal from the processing unit 41. The inspection unit 20 takes pictures of the workpiece 200 at second distance intervals D2 based on the trigger signal. In addition, the second distance interval D2 is the distance interval of the control point 14b. When the inspection unit 20 is a photographing unit, the control point 14b is set as the shooting focus position of the inspection unit 20. Moreover, the shooting focus position of the inspection unit 20 is set to be near the surface of the workpiece 200. Control point 14b is set up for taking pictures of workpiece 200 by inspection unit 20.

[0038] Furthermore, for ease of explanation, only one movement path 13 is shown in Figure 10. However, the processing unit 41 performs the following process: the inspection unit 20 inspects the workpiece 200 for all movement paths 13. Moreover, the processing unit 51 performs the process of acquiring inspection images 21 for all movement paths 13.

[0039] Furthermore, as shown in Figure 11, the inspection range 22 of the inspection unit 20 in each of robots 10a, 10b, and 10c is set to partially overlap with adjacent movement paths 13. That is, a portion of the inspection range 22 of the inspection unit 20 with respect to a certain movement path 13 overlaps with a portion of the inspection range 22 of the inspection unit 20 with respect to a movement path 13 adjacent to that certain movement path 13. Therefore, it is possible to prevent the occurrence of inspection omissions. In addition, the inspection range 22 is the shooting range when scanning and taking pictures along the movement path 13.

[0040] Furthermore, in the first embodiment, as shown in FIG12, the inspection ranges of the inspection units 20 disposed in each of robots 10a, 10b, and 10c relative to the workpiece 200 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. Moreover, 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. Moreover, the overlapping inspection ranges are near the boundary between the first surface 200a and the third surface 200c. In addition, for ease of explanation, FIG12 shows the first surface 200a, the second surface 200b, and the third surface 200c in a plan view.

[0041] Furthermore, as shown in Figure 2, the turntable 210 carries workpieces 200A, 200B, and 200C. Workpieces 200A, 200B, and 200C are identical workpieces. In the first embodiment, one of the plurality of robots 10 inspects one surface of a workpiece 200 placed on the turntable 210, while the other robots 10 inspect a different surface from that of the other workpieces 200 placed on the turntable 210. Specifically, robot 10a inspects the first surface 200a of workpiece 200A placed on the turntable 210. Robots 10b and 10c each inspect the second surface 200b and the third surface 200c of workpiece 200B placed on the turntable 210. When the turntable 210 rotates and positions workpiece 200A in front of robot 10a and workpiece 200B in front of robots 10b and 10c, robots 10a, 10b, and 10c begin inspection. Then, for example, when the inspection performed by robot 10a is completed first, robot 10a is put into standby mode until the inspection performed by robots 10b and 10c is completed.

[0042] Next, in the first embodiment, after the inspection of workpiece 200A by robot 10a is completed, and the inspection of workpiece 200B by robots 10b and 10c is completed, the processing unit 41 of the robot controller 40 performs a process to rotate the turntable 210. This causes workpiece 200B to be positioned in front of robot 10a, and workpiece 200C, which has not yet been inspected, to be positioned in front of robots 10b and 10c. Furthermore, robots 10b and 10c each inspect the second surface 200b and the third surface 200c of the uninspected workpiece 200C. Moreover, robot 10a inspects the first surface 200a of workpiece 200B after the inspections performed by robots 10b and 10c are completed.

[0043] In step S4 shown in Figure 4, as shown in Figure 13, the processing unit 51 of the image processing apparatus 50 performs a process of detecting the object 201 of the workpiece 200 in a plurality of inspection images 21 obtained by the inspection units 20 of each of the plurality of robots 10. Furthermore, the processing unit 51 performs the process of detecting the object 201 in all inspection images 21 obtained by the inspection units 20 of each of the robots 10a, 10b, and 10c. Moreover, the processing unit 51 performs predetermined image processing on the inspection images 21, thereby detecting the object 201 in the inspection images 21. In the first embodiment, the object 201 may be, for example, a defect such as damage, foreign matter, or dent.

[0044] As shown in Figure 13, the inspection coordinate system of inspection image 21 is a two-dimensional coordinate system, with the Y-axis along the direction of the movement path 13 and the X-axis perpendicular to the movement path 13. The processing unit 51 performs processing to obtain the coordinate values ​​of the inspection coordinate system of object 201. That is, the processing unit 51 performs processing to obtain the X-axis and Y-axis coordinate values ​​of the inspection coordinate system of object 201. Furthermore, the processing unit 51 performs processing to obtain the coordinate values ​​of the inspection coordinate system of object 201 for all inspection images 21 that detect object 201. Moreover, the processing unit 51 performs processing to store the inspection image 21, the number of the movement path 13 corresponding to the inspection image 21, and the coordinate values ​​of the inspection coordinate system of object 201 in the memory unit 52. Furthermore, the processing unit 51 performs processing to output the coordinate values ​​of the movement path 13 number corresponding to the inspection image 21 and the inspection coordinate system of the object 201 to the processing unit 41 of the robot controller 40 and the processing unit 61 of the result display device 60.

[0045] In step S5 shown in Figure 4, as shown in Figure 14, the processing unit 41 of the robot controller 40 performs a process of converting the coordinate values ​​of the inspection coordinate system of the object 201 into the coordinate values ​​of the robot coordinate system based on the coordinate conversion information 71. Furthermore, in step S5, the processing unit 61 of the result display device 60 performs a process of converting the coordinate values ​​of the inspection coordinate system of the object 201 into the coordinate values ​​of the workpiece coordinate system based on the coordinate conversion information 72. First, the processing of the processing unit 41 will be explained. The following processing of the processing unit 41 is performed by the processing unit 41 of the robot controllers 40 of each of the robots 10a, 10b, and 10c.

[0046] As shown in Figure 14, the processing unit 41 performs a process of assigning the number of the movement path 13 corresponding to the number of the movement path 13 in the coordinate transformation information 71. Next, the processing unit 41 performs a process of obtaining the movement amount of the robot 10 corresponding to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the object 201 in the assigned movement path 13, based on the assigned movement path 13 number. At this time, the processing unit 41 performs a process of obtaining the movement amount of the robot 10 closest to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the object 201 as the corresponding movement amount of the robot 10. Furthermore, the processing unit 41 performs a process of obtaining the coordinate values ​​of the robot coordinate system in the coordinate transformation information 71 corresponding to the movement amount of the robot 10 in the already obtained coordinate transformation information 71. Through these processes, the coordinate values ​​of the robot coordinate system corresponding to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the object 201 are obtained.

[0047] On the other hand, the coordinate values ​​of the robot coordinate system in the obtained coordinate transformation information 71 do not reflect the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201, but rather include deviations in the coordinate values ​​of the inspection coordinate system in the X-axis direction. Therefore, the processing unit 41 performs processing to correct the coordinate values ​​of the robot coordinate system in the obtained coordinate transformation information 71 based on the coordinate values ​​of the inspection coordinate system in the X-axis direction orthogonal to the movement path 13 of the object 201. At this time, the processing unit 41 performs addition operations on the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201 to correct the coordinate values ​​of the robot coordinate system in the coordinate transformation information 71. Through these processes, the processing unit 41 performs processing to obtain the coordinate values ​​of the robot coordinate system of the object 201. Moreover, the processing unit 41 performs processing to transform the coordinate values ​​for all objects 201 to obtain the coordinate values ​​of the robot coordinate system.

[0048] For example, in the example shown in Figure 14, the movement path 13 corresponding to the inspection image 21 is numbered 2, the coordinate value of object 201 in the X-axis direction is 5.5, and the coordinate value of object 201 in the Y-axis direction is 15.2. At this time, the processing unit 41 performs the process of assigning the number of movement path 13 as 2. Furthermore, the processing unit 41 performs the process of obtaining 15 as the movement amount of robot 10 that is closest to the coordinate value of object 201 in the Y-axis direction for the assigned 2. Furthermore, the processing unit 41 performs the process of obtaining (xr, yr, zr, or, ar, tr) as the coordinate value of the robot coordinate system corresponding to the movement amount 15 of robot 10. Next, the processing unit 41 performs the process of adding the coordinate value of object 201 in the X-axis direction of object 201 (xr, yr, zr, or, ar, tr) to the coordinate value of object 201 in the robot coordinate system.

[0049] While the processing of the processing unit 41 of the robot controller 40 has been described above, the processing of the processing unit 61 of the result display device 60 is the same except for the use of coordinate transformation information 72. Furthermore, the processing unit 61 of the result display device 60 below executes the processing of a plurality of inspection images 21 obtained by the inspection units 20 of each of the robots 10a, 10b, and 10c. Specifically, the processing unit 61 performs the processing of assigning the number of the movement path 13 corresponding to the number of the movement path 13 to the coordinate transformation information 72. Furthermore, the processing unit 61 performs the processing of obtaining the movement of the robot 10 corresponding to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the object 201 for the assigned movement path 13 number. At this time, the processing unit 61 performs the processing of obtaining the movement amount of the robot 10 closest to the coordinate values ​​of the inspection coordinate system along the Y-axis direction of the object 201 as the corresponding movement amount of the robot 10. Furthermore, the processing unit 61 performs processing to obtain the coordinate values ​​of the workpiece coordinate system corresponding to the movement amount of the robot 10 obtained from the coordinate transformation information 72. Through this processing, the coordinate values ​​of the workpiece coordinate system corresponding to the coordinate values ​​of the inspection coordinate system in the Y-axis direction of the object 201 are obtained.

[0050] On the other hand, the coordinate values ​​of the workpiece coordinate system in the obtained coordinate transformation information 72 do not reflect the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201, but rather include deviations in the coordinate values ​​of the inspection coordinate system in the X-axis direction. Therefore, the processing unit 61 performs a process to correct the coordinate values ​​of the workpiece coordinate system in the obtained coordinate transformation information 72 based on the coordinate values ​​of the inspection coordinate system in the X-axis direction orthogonal to the movement path 13 of the object 201. At this time, the processing unit 61 performs an addition operation on the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201 to correct the coordinate values ​​of the workpiece coordinate system in the coordinate transformation information 72. Through these processes, the processing unit 61 performs a process to obtain the coordinate values ​​of the workpiece coordinate system of the object 201. Moreover, the processing unit 61 performs a process to convert the coordinate values ​​for all objects 201 to obtain the coordinate values ​​of the workpiece coordinate system.

[0051] In step S6 shown in Figure 4, the processing unit 61 of the result display device 60 in the first embodiment integrates the positions of the objects 201 detected from the plurality of inspection images 21 obtained from the inspection units 21 of each of the robots 10a, 10b, and 10c into data 62a as shown in Figure 3. Specifically, the processing unit 61 integrates the coordinate values ​​of the workpiece coordinate system of the objects 201 obtained from the plurality of inspection images 21 obtained from the inspection units 21 of each of the robots 10a, 10b, and 10c into a three-dimensional data 62a. The integrated data 62a is stored, for example, in a file. Furthermore, the memory unit 62 of the result display device 60 stores the integrated data 62a.

[0052] Furthermore, in the first embodiment, when the positions of objects 201 detected by the plurality of inspection images 21 obtained from the inspection units 20 of robots 10a, 10b, and 10c are the same, the processing unit 61 of the result display device 60 performs processing to treat objects 201 at the same position as the same object 201. As mentioned above, the inspection range A of robot 10a and the inspection range B of robot 10b overlap. Therefore, there may be a situation where the same object 201 is detected by both the inspection units 20 of robot 10a and robot 10b. In this case, the coordinate values ​​of the workpiece coordinate system of the object 201 detected by the inspection unit 20 of robot 10a and the workpiece coordinate system of the object 201 detected by the inspection unit 20 of robot 10b are the same. Therefore, the processing unit 61 of the result display device 60 treats objects 201 with the same workpiece coordinate system coordinate values ​​as the same object 201. Furthermore, in practical use, even if the workpiece coordinate system coordinates of the plurality of objects 201 are different from each other, as long as the difference in coordinate values ​​is below a predetermined threshold, the processing unit 61 will still regard them as the same object 201. Moreover, the memory unit 62 will remember the workpiece coordinate system coordinate values ​​of one of the objects 201 that are regarded as the same object 201.

[0053] In step S7 shown in Figure 4, as shown in Figure 15, the processing unit 61 of the result display device 60 processes the display of objects 201 detected by the inspection units 20 of robots 10a, 10b, and 10c from the acquired plurality of inspection images 21 on the three-dimensional image of the workpiece 200. Specifically, the processing unit 61 of the result display device 60 processes the display of the position of object 201 in the three-dimensional image of the workpiece 200 based on the coordinate values ​​of object 201 converted into workpiece coordinates. That is, the processing unit 61 processes the overlay of the image showing the position of object 201 onto the three-dimensional image of the workpiece 200. Furthermore, the processing unit 61 processes the display of the three-dimensional image of the workpiece 200 with the overlaid image showing the position of object 201 on the display unit 63. In addition, the three-dimensional image of the workpiece 200 with the overlaid image showing the position of object 201 can be zoomed in, zoomed out, or rotated according to the operation of the user using the operation unit 64.

[0054] In step S8 shown in Figure 4, as shown in Figure 16, the processing unit 41 of the robot controller 40 performs the process of displaying the position of the object 201 on the solid workpiece 200 based on the coordinate values ​​of the object 201 in the converted three-dimensional coordinate system. Specifically, the processing unit 41 performs the process of moving the robot 10 according to the coordinate values ​​of the object 201 converted into the robot coordinate system and displaying the position of the object 201 on the solid workpiece 200 by means of the indicator unit 30. That is, the processing unit 41 performs the process of moving the robot 10 and moving the indicator unit 30 to a predetermined position where the position of the object 201 can be displayed. Furthermore, the processing unit 41 performs the process of irradiating laser light from the indicator unit 30 while the indicator unit 30 is positioned in the predetermined position, thereby displaying the position of the object 201 on the solid workpiece 200. In addition, Figure 16 shows the state in which a robot 10c irradiates the third surface 200c of the workpiece 200 with laser light, but robots 10a and 10b can also irradiate the workpiece 200 with laser light in the same way.

[0055] (Effects of the first implementation mode) The inspection system 100 includes a processing unit 61 that integrates the positions of objects 201 detected from a plurality of inspection images 21 into data 62a. These inspection images 21 are acquired by the inspection units 20 of each of the plurality of robots 10. By integrating the positions of objects 201 of the workpiece 200 inspected by the plurality of robots 10 into data 62a, the positions of all objects 201 of the workpiece 200 can be referenced at once, for example, by referring to this integrated data 62a from another computer. As a result, even when the workpiece 200 is inspected by a plurality of robots 10, the processing of the data 62a of objects 201 of the workpiece 200 is simplified.

[0056] Object 201 contains defects in workpiece 200. In this way, the locations of defects in workpiece 200 inspected by a plurality of robots 10 are integrated into data 62a, thereby simplifying the processing of data 62a of defects in workpiece 200.

[0057] The inspection units 20 of each of the plurality of robots 10 have overlapping inspection ranges for the workpiece 200. Therefore, it avoids the occurrence of areas on the surface of the workpiece 200 that are not within the inspection range, and prevents inspection omissions.

[0058] When the positions of objects 201 detected from multiple inspection images 21 are the same, the processing unit 51 performs the process of treating objects 201 with the same position as the same object 201. In this way, it can prevent the situation where, although they are the same object 201, they are treated as different objects 201 and data is processed.

[0059] Multiple robots 10 inspect the different surfaces of the workpiece 200. In this way, a larger area of ​​the workpiece 200 can be inspected by multiple robots 10, so even if the workpiece 200 is large, it can be easily inspected.

[0060] The inspection system 100 includes a turntable 210 for holding and rotating a plurality of workpieces 200. One of the plurality of robots 10 inspects one surface of a workpiece 200 placed on the turntable 210, while the other robots 10 inspect a different surface of another workpiece 200 placed on the turntable 210. This eliminates the need for robot 10 movement; instead, the turntable 210 moves the workpiece 200, allowing multiple robots 10 to inspect the same workpiece 200. Furthermore, since the workpiece 200 is rotated via the turntable 210, the system's layout area for moving the workpiece 200 is significantly reduced compared to systems using conveyor belts or similar means to move the workpiece 200 one-dimensionally.

[0061] The workpiece 200 arranged 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. A plurality of robots 10 include: a robot 10a for inspecting the first surface 200a, a robot 10b for inspecting the second surface 200b, and a robot 10c for inspecting the third surface 200c. Therefore, compared to using a single robot 10 to inspect all of the first surface 200a, second surface 200b, and third surface 200c, the inspection time can be shortened.

[0062] After robots 10a, 10b, and 10c finish inspecting workpiece 200, the processing unit 41 of the robot controller 40 rotates the turntable 210. This causes robots 10b and 10c to inspect the second surface 200b and third surface 200c of workpiece 200, which have not yet been inspected, while robot 10a inspects the first surface 200a of workpiece 200, which has already been inspected by robots 10b and 10c. Thus, the inspection of workpiece 200 is performed by robots 10a, 10b, and 10c in a continuous flow, thereby significantly reducing the time required for workpiece 200 inspection.

[0063] The processing unit 61 processes the images of the objects 201 detected from the plurality of inspection images 21 and displays them on the workpiece 200. In this way, the user can easily confirm the position of the objects 201 by visually confirming the image of the workpiece 200.

[0064] The inspection system 100 includes a memory unit 62, which stores and integrates data 62a showing the positions of objects 201 detected from a plurality of inspection images 21. Therefore, even if a period of time has passed since the completion of the inspection of the workpiece 200, the position of the object 201 can be confirmed by referring to the data 62a stored in the memory unit 62. Furthermore, the data 62a stored in the memory unit 62 can be referenced from a server or other device independent of the inspection system 100.

[0065] The processing unit 61 performs processing to integrate the positions of the objects 201 detected from the plurality of inspection images 21 into three-dimensional data 62a. This allows for easy integration of the positions of the objects 201 when the workpiece 200 is three-dimensional. Furthermore, unlike the case where the detected positions of the objects 201 are projected onto a two-dimensional plane and the positions of the objects 201 are obtained as positions on the two-dimensional plane, the positions of the objects 201 can be obtained more accurately on a three-dimensional workpiece 200.

[0066] [Second Implementation Mode] (The composition of a robot system) The configuration of the robot system 300 in the second embodiment is described. The robot system 300 operates on the workpiece 200 in parallel with the work unit 310, while the inspection unit 20 inspects the workpiece 200.

[0067] As shown in Figure 17, in addition to the robot 10, inspection unit 20, instruction unit 30, robot controller 40, image processing device 50, result display device 60, and turntable 210 included in the inspection system 100 of the first embodiment, the robot system 300 also includes: a work unit 310 and a work unit control device 320. As shown in Figure 18, the work unit 310 is disposed on the robot 10 and performs work on the workpiece 200. For example, the work unit 310 is a painting unit that performs painting operations on the workpiece 200. In this case, for example, the work unit 310 is a painting unit that sprays paint by inkjet, and the work unit 310 uses the robot 10 to move along the surface of the workpiece 200 to apply paint to the surface of the workpiece 200, thereby performing the painting operation on the workpiece 200. In addition, although Figure 18 shows one robot 10, the robot system 300, like the inspection system 100 of the first embodiment, contains, for example, three robots 10.

[0068] 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 memory unit 322. The processing unit 321 includes a processor and performs various processes related to the work timing performed by the work unit 310. The memory unit 322 includes non-volatile memory and stores various information, such as the program used to control the work timing performed by the work unit 310. Furthermore, the other components of the robot system 300 in the second embodiment are the same as those of the inspection system 100 in the first embodiment.

[0069] (Control and processing of the robot system) The control processing of robot system 300 is explained.

[0070] In step S1a shown in Figure 19, similar to step S1 in the first embodiment shown in Figure 4, the processing unit 41 of the robot controller 40 processes the movement path 13 of the robot 10 when the inspection unit 20 moves relative to the workpiece 200 by the robot 10 and when the work unit 310 performs work on the workpiece 200 and when the inspection unit 20 inspects the workpiece 200.

[0071] In step S2a shown in Figure 19, similarly to step S2 in the first embodiment shown in Figure 4, the processing units 41 of each of the robots 10a, 10b and 10c perform processing to generate coordinate transformation information 71 shown in Figure 7 and coordinate transformation information 72 shown in Figure 8 based on the generated movement path 13.

[0072] In step S3a shown in Figure 19, the processing unit 41 of the robot controller 40 of each of robots 10a, 10b, and 10c performs a process of moving robots 10a, 10b, and 10c according to the movement path 13 and performing work on the workpiece 200 by the work unit 310, while simultaneously inspecting the workpiece 200 by the inspection unit 20. Specifically, the processing unit 321 of the work unit control device 320 performs work on the workpiece 200 by the work unit 310 along the movement path 13, for example, as shown in Figure 10, at second distance intervals D2. When the work unit 310 is a coating unit that sprays paint by inkjet, the processing unit 321 performs a process of spraying paint by the work unit 310 at second distance intervals D2. In detail, the processing unit 41 of the robot controller 40 performs a process of outputting pulse signals to the processing unit 321 of the work unit control device 320 at second distance intervals D2. The processing unit 321 processes the pulse signal from the processing unit 41 to output a trigger signal to the work unit 310 at second distance intervals D2. The work unit 310 sprays paint onto the workpiece 200 at second distance intervals D2 according to the trigger signal. However, the distance at which the paint is sprayed by the coating unit may not be at second distance intervals D2. Furthermore, in parallel with the paint spraying process performed by the work unit 310, the processing unit 51 of the image processing device 50, similar to the first embodiment, processes the inspection unit 20 to inspect the workpiece 200 along the movement path 13 at second distance intervals D2, thereby obtaining an inspection image 21. Specifically, the processing unit 51 scans and captures images of the workpiece 200 by causing the inspection unit 20 to take pictures of the workpiece 200 at second distance intervals D2.

[0073] In step S4a shown in Figure 19, similar to step S4 in the first embodiment, as shown in Figure 13, the processing unit 51 of the image processing device 50 processes the object 201 of the workpiece 200 within the plurality of inspection images 21 obtained by the inspection units 20 of each of the plurality of robots 10. Furthermore, when the work unit 310 is a coating section where paint is sprayed using inkjet printing, the object 201 may have uneven coating, etc.

[0074] In step S5a shown in Figure 19, similar to step S5 in the first embodiment, as shown in Figure 14, the processing unit 41 of the robot controller 40 performs the process of converting the coordinate values ​​of the inspection coordinate system of the object 201 into the coordinate values ​​of the robot coordinate system based on the coordinate conversion information 71. Furthermore, in step S5a, the processing unit 61 of the result display device 60 performs the process of converting the coordinate values ​​of the inspection coordinate system of the object 201 into the coordinate values ​​of the workpiece coordinate system based on the coordinate conversion information 72.

[0075] In step S6a shown in FIG19, similar to step S6 in the first embodiment, the processing unit 61 of the result display device 60 performs processing to integrate the positions of the objects 201 detected from the plurality of inspection images 21 obtained from the inspection units 20 of each of the robots 10a, 10b and 10c into data 62a as shown in FIG17.

[0076] In step S7a shown in FIG19, similar to step S7 in the first embodiment, as shown in FIG15, the processing unit 61 of the result display device 60 processes the object 201 detected by the plurality of inspection images 21 obtained from the inspection units 20 of each of the robots 10a, 10b and 10c to display a three-dimensional image of the workpiece 200.

[0077] In step S8a shown in Figure 19, similar to step S8 in the first embodiment, as shown in Figure 16, the processing unit 41 of the robot controller 40 performs the process of displaying the position of the object 201 on the solid workpiece 200 based on the coordinate values ​​of the three-dimensional coordinate system of the converted object 201.

[0078] (Effects of the second implementation mode) The second embodiment is similar to the first embodiment in that the positions of objects 201 of the workpiece 200 inspected by a plurality of robots 10 are integrated into data 62a. Therefore, for example, by referring to this integrated data 62a from another computer, the positions of all objects 201 of the workpiece 200 can be referenced at once. As a result, even when the workpiece 200 is inspected by a plurality of robots 10, the processing of data 62a of objects 201 of the workpiece 200 can be simplified.

[0079] The inspection unit 20 inspects the workpiece 200 in parallel with the operation of the work unit 310. Therefore, the operation and inspection of the workpiece 200 can be performed simultaneously, thus shortening the time required for the operation and inspection of the workpiece 200.

[0080] (Modified Example) Furthermore, all points in the embodiments disclosed herein should be considered as illustrative rather than limiting. The scope of this disclosure is not limited to the description of the aforementioned embodiments, but rather to all variations (examples of variations) within the scope and meaning of the patent application, as indicated by the patent application claims.

[0081] For example, while the first embodiment described above shows an appearance inspection system for inspecting the exterior of a workpiece, this disclosure is not limited to this. In this disclosure, the inspection system can also be an inspection system for inspecting the interior of a workpiece. In this case, the inspection unit can be an ultrasonic flaw detector unit, which transmits ultrasonic waves to the interior of the workpiece and receives the ultrasonic waves reflected from the interior of the workpiece, thereby inspecting the workpiece. Using an ultrasonic flaw detector unit, defects and other defects inside the workpiece can be detected.

[0082] Furthermore, although the first and second embodiments described above show examples of vertical joint robots, this disclosure is not limited to this. In this disclosure, the robot may also be an industrial robot other than a vertical joint robot.

[0083] Furthermore, while the first and second embodiments described above illustrate examples of the robot moving the imaging unit, thereby causing the inspection unit to move relatively relative to the workpiece, this disclosure is not limited to this. In this disclosure, the robot can also move the workpiece, thereby causing the inspection unit to move relatively relative to the workpiece.

[0084] Furthermore, while the first and second embodiments described above show examples of the robot controller's processing unit, the image processing device's processing unit, and the result display device's processing unit performing various processes, this disclosure is not limited to this. The number and configuration of the processing units are not specifically limited in this disclosure. The various processes of the above embodiments can be performed by a single processing unit, or by multiple processing units. Furthermore, the configuration of the memory unit is not limited. Moreover, the configuration of the robot controller, the image processing device, and the result display device is not limited. The robot controller, the image processing device, and the result display device can be integrated as a single unit, or they can be separately configured as in the above embodiments. Furthermore, the robot controller, the image processing device, and the result display device can also be configured more independently. For example, the operating device for operating the result display device can be provided separately from the result display device.

[0085] Furthermore, although the first and second embodiments described above show examples of the object being a defect in a workpiece, this disclosure is not limited to this. For example, the object may also be something other than a defect in a workpiece. For example, the object may also be: a teaching point for the robot's movement, an inspection path that moves the inspection unit, an inspectable area of ​​the inspection unit, etc.

[0086] Furthermore, although the first and second embodiments described above show examples of overlapping inspection ranges of the workpieces by the inspection units of the plurality of robots, this disclosure is not limited to this. For example, the inspection ranges of the workpieces by the inspection units of the plurality of robots may not overlap. This avoids the situation where different inspection units repeatedly inspect the same object.

[0087] Furthermore, while the first and second embodiments described above illustrate how the processing unit treats objects with the same position as the same object when the detected positions of objects from multiple inspection images are identical, this disclosure is not limited to this. For example, even if the positions of objects are identical, the processing unit may treat them as independent objects. Moreover, when displaying the positions of objects on the display unit, the processing unit may also display content indicating that the positions of these objects are identical. This avoids the situation where objects with substantially the same position but not being the same object are treated as the same object.

[0088] Furthermore, although the first and second embodiments described above show examples of three robots inspecting intersecting surfaces separately, this disclosure is not limited to this. For example, multiple robots can also share the task of inspecting surfaces that are broad along a horizontal plane or large curved surfaces.

[0089] Furthermore, although the first and second embodiments described above show examples of multiple workpieces arranged on a turntable, this disclosure is not limited to this. For example, multiple workpieces may also be placed on a workpiece handling device such as a conveyor belt. In this case, multiple robots are arranged along the conveyor belt. Furthermore, although the embodiments described above show examples of robot 10a waiting until the inspections performed by robots 10b and 10c are completed when the inspection performed by robot 10a is finished, when multiple workpieces are arranged on a conveyor belt, robot 10a may also begin inspecting the next workpiece 200 without waiting for the inspections of robots 10b and 10c to finish.

[0090] Furthermore, while the first embodiment described above shows an example of multiple robots inspecting a stationary workpiece placed on a turntable, and the second embodiment described an example of multiple robots performing both operation and inspection on a stationary workpiece placed on a turntable, this disclosure is not limited to these examples. For instance, multiple robots can also inspect or perform both operation and inspection on a moving workpiece placed on a conveyor belt or an automated guided vehicle (AGV). For example, when a workpiece is placed on a conveyor belt or an AGV and moved, and the inspection unit of multiple robots is stationary, the processing unit of the robot controller can also synchronize with the movement of the conveyor belt or AGV and process pulse signals output to the processing unit of the inspection unit at predetermined distance intervals. The processing unit of the inspection unit outputs trigger signals to the inspection unit at predetermined distance intervals based on the pulse signals, and the inspection unit takes pictures of the workpiece at predetermined distance intervals based on the trigger signals. Moreover, it is also possible for the workpiece to be stationary while multiple robots move along a travel axis.

[0091] Furthermore, although the first and second embodiments described above show examples of three robots being configured to inspect the workpiece, this disclosure is not limited to this. For example, a plurality of robots other than three may also be configured to inspect the workpiece.

[0092] Furthermore, although the display processing unit performs the process of overlaying and displaying the image of the object detected from a plurality of inspection images with the image of the workpiece displayed on the display unit in the first and second embodiments described above, this disclosure is not limited to this. For example, the processing unit may also overlay the image of the detected object with the image of the workpiece and print it onto paper media.

[0093] Furthermore, although the first and second embodiments described above show examples of both displaying the object's position on a physical workpiece and displaying the object's position on a three-dimensional image of the workpiece, this disclosure is not limited to this. In this disclosure, it is also possible to perform only either the process of displaying the object's position on a physical workpiece or the process of displaying the object's position on a three-dimensional image of the workpiece.

[0094] Furthermore, although the display processing unit performs processing to display a three-dimensional image of the object on the workpiece in the first and second embodiments described above, this disclosure is not limited to this. For example, the processing unit may also perform processing to display information about which robot detected the object on the display unit, along with the object itself.

[0095] Furthermore, while the first and second embodiments described above illustrate examples of integrating the positions of objects detected from multiple inspection images into data, this disclosure is not limited to this. For example, when multiple robots perform processes such as painting on workpieces, information about which robot performed the processing on the area where the detected object exists can be integrated into data in a manner that establishes a corresponding association with the position of the object.

[0096] Furthermore, although the display processing unit performs the process of integrating the positions of objects detected from a plurality of inspection images into three-dimensional data in the first and second embodiments described above, this disclosure is not limited to this. For example, when multiple robots inspect the surface of a flat workpiece, the positions of the detected objects can also be integrated into two-dimensional data.

[0097] Furthermore, although the first and second embodiments described above show examples of workpieces 200A, 200B, and 200C being the same workpiece, this disclosure is not limited to this. For example, workpieces 200A, 200B, and 200C may also be different workpieces. Moreover, workpieces 200A, 200B, and 200C may be of the same type or different types.

[0098] Furthermore, although FIG16 shows an example of irradiating the position of object 201 of physical workpiece 200 with laser light by means of robot 10c inspecting workpiece 200, the present disclosure is not limited to this. For example, laser light can also be irradiated at the position of object 201 of workpiece 200 by means of a robot used in a process further downstream of the inspection process of workpiece 200.

[0099] Furthermore, while the first and second embodiments described above illustrate examples where one of the plurality of robots 10 inspects a surface of a workpiece 200 placed on the turntable 210, and other robots 10 inspect a surface different from that of other workpieces 200 placed on the turntable 210, this disclosure is not limited to this. For example, the same surface of a workpiece 200 can also be inspected by a plurality of robots 10.

[0100] Furthermore, although the second embodiment described above shows an example where the inspection unit 20 inspects the workpiece 200 in parallel with the operation of the work unit 310 on the workpiece 200, this disclosure is not limited to this. For example, the inspection unit 20 may inspect the workpiece 200 after the operation of the work unit 310 on the workpiece 200 has been completely completed.

[0101] Furthermore, although the second embodiment described above shows the work unit as an example of a painting unit, this disclosure is not limited to this. For example, the work unit can also be a dispenser for applying sealant to a workpiece. Moreover, the work unit can also be an application unit for attaching sealant or tape to a workpiece. Furthermore, the work unit can also be a grinding unit for grinding, deburring, polishing, and buffing workpieces. Furthermore, the work unit can also be a sewing unit for cutting workpieces. Furthermore, the work unit can also be a coating unit for applying highly viscous liquids such as sauces, mayonnaise, and chocolate sauce to workpieces. Furthermore, the work unit can also be a car wash unit for washing workpieces such as cars.

[0102] The functions of the components disclosed in this specification can be executed using circuits or processing circuits comprising: general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor, because it contains transistors or other circuitry, can be considered a processing circuit or circuit. In this disclosure, a circuit, unit, or means is hardware that performs the listed functions, or hardware programmed to perform the listed functions. The hardware can be the hardware disclosed in this specification, or other known hardware programmed or configured to perform the listed functions. In the case where the hardware is a processor that can be conceived as a type of circuit, the circuit, means, or unit is a combination of hardware and software, with the software used in the configuration of the hardware and / or processor.

[0103] [State / Appearance] The above-described implementation type is a specific example of the following type.

[0104] (State 1) An inspection system, comprising: Multiple robots; The inspection unit, located in each of the aforementioned plurality of robots, inspects the workpieces; and The processing department performs the following processes: The process involves moving the inspection units of each of the aforementioned plurality of robots relative to the aforementioned workpiece to inspect the workpiece, thereby obtaining inspection images of the plurality of aforementioned workpieces from each of the aforementioned inspection units; Processing for detecting objects of the aforementioned workpiece within a plurality of the aforementioned inspection images; and The processing that integrates the locations of the aforementioned objects detected from a plurality of the aforementioned inspection images into data.

[0105] (State 2) The inspection system as described in Sample 1, wherein the aforementioned object includes defects in the aforementioned workpiece.

[0106] (State 3) The inspection system as described in Sample 1 or Sample 2, wherein, The inspection ranges of the aforementioned inspection units configured in each of the aforementioned plurality of robots overlap with each other for the aforementioned workpieces.

[0107] (State 4) The inspection system described in any of the states 1 to 3, wherein, When the positions of the aforementioned objects are detected to be the same from a plurality of the aforementioned inspection images, the aforementioned processing unit performs the processing of treating the aforementioned objects with the same position as the same object.

[0108] (Style 5) The inspection system described in any of the states 1 to 4, wherein the aforementioned plurality of robots inspect the different surfaces of the aforementioned workpiece.

[0109] (Style 6) The inspection system described in sample 5 includes a workpiece transport device for holding and transporting a plurality of the aforementioned workpieces. One of the aforementioned plurality of robots inspects a surface of a workpiece placed on one of the aforementioned workpiece handling devices; The other robots among the aforementioned plurality of robots inspect a different surface of another workpiece placed on the aforementioned workpiece handling device, which is different from the aforementioned surface.

[0110] (Style 7) The inspection system described in sample 6, wherein the aforementioned workpiece handling device includes a turntable that rotates the aforementioned workpiece.

[0111] (Style 8) The inspection system as described in sample 7, wherein, The aforementioned workpiece placed on the aforementioned turntable comprises: First surface; The second surface intersects with the aforementioned first surface; The third surface intersects with the aforementioned first surface and faces the aforementioned second surface. The aforementioned plurality of robot systems include: The first robot is used to inspect the aforementioned first surface; The second robot is used to inspect the aforementioned second surface; The third robot is responsible for inspecting the aforementioned third surface.

[0112] (Style 9) The inspection system described in sample 8, wherein, After the inspection of the workpiece by the aforementioned first robot, the aforementioned second robot, and the aforementioned third robot is completed, the aforementioned processing unit performs a process to rotate the aforementioned turntable; The aforementioned second robot and the aforementioned third robot respectively inspect the aforementioned second surface and the aforementioned third surface of the workpiece that have not yet been inspected; The aforementioned first robot inspects the aforementioned first surface of the aforementioned workpiece, which has been inspected by the aforementioned second robot and the aforementioned third robot.

[0113] (Style 10) The inspection system described in any one of the states 1 to 9, wherein the aforementioned processing unit performs processing of images of the aforementioned objects detected from a plurality of the aforementioned inspection images and displays them on the aforementioned workpiece.

[0114] (Style 11) The inspection system described in any of the states 1 to 10 has a memory unit that stores the aforementioned data, which integrates the location of the aforementioned object detected from a plurality of the aforementioned inspection images.

[0115] (Style 12) The inspection system described in any one of the states 1 to 11, wherein the aforementioned processing unit performs processing to integrate the positions of the aforementioned objects detected from a plurality of the aforementioned inspection images into three-dimensional data.

[0116] (Style 13) An inspection method, comprising: The inspection units of each of the plurality of robots are moved relative to the workpiece to inspect it, thereby obtaining inspection images of the plurality of workpieces from each of the aforementioned inspection units; The objects of the aforementioned workpieces within a plurality of the aforementioned inspection images were detected; and The locations of the aforementioned objects detected from a plurality of the aforementioned inspection images are integrated into data.

[0117] (Style 14) A robot system, comprising: Multiple robots; The work unit is located in each of the aforementioned plurality of robots and performs operations on the workpiece; The inspection unit is configured in each of the aforementioned plurality of robots and inspects the aforementioned workpieces that have already been processed by the aforementioned work units; and The processing department performs the following processes: The process involves moving the inspection units of each of the aforementioned plurality of robots relative to the aforementioned workpiece to inspect the workpiece, thereby obtaining inspection images of the plurality of aforementioned workpieces from each of the aforementioned inspection units; Processing for detecting objects of the aforementioned workpiece within a plurality of the aforementioned inspection images; and The processing that integrates the locations of the aforementioned objects detected from a plurality of the aforementioned inspection images into data.

[0118] (Style 15) The robot system described in section 14, wherein the inspection unit inspects the workpiece in parallel with the operation of the aforementioned work unit on the aforementioned workpiece.

[0119] 10: Robot 10a: Robot 10b: Robot 10c: Robot 11: Base section 12: Arms 13: Movement Path 14a: Control Points 14b: Control Points 20: Inspection Department 21: Check the image 22: Scope of Inspection 30: Instruction Section 40: Robot Controller 41: Processing Department 42: Memory Department 50: Image processing device 51: Processing Department 52: Memory Department 60: Result display device 61: Processing Department 62: Memory Department 62a: Data 63: Display Section 64: Operations Department 71: Coordinate Conversion Information 72: Coordinate Conversion Information 100: Inspection System 200: Workpiece 200a: First surface 200b: Second surface 200c: Third Surface 200A, 200B, 200C: Workpiece 201: Object 210: Turntable 211: Rotating part 212: Drive Unit 213: Workpiece mounting section 300: Robotic Systems 310: Operations Department 320: Operations Department Control Device 321: Processing Department 322: Memory Department A, B, C: Scope of Inspection D1: First distance interval D2: Second distance interval S1: Steps S2: Steps S3: Steps S4: Steps S5: Steps S6: Steps S7: Steps S8: Steps

Claims

1. An inspection system comprising: a plurality of robots; an inspection unit disposed in each of the plurality of robots and inspecting a workpiece; a processing unit performing the following processes: moving the inspection units disposed in each of the plurality of robots relative to the workpiece to inspect the workpiece, thereby acquiring inspection images of the plurality of workpieces from each of the inspection units; detecting defects in the workpieces within the plurality of inspection images; and integrating the locations of the defects detected from the plurality of inspection images into data; and a turntable for holding the plurality of workpieces and rotating the held workpieces; the workpieces held on the turntable comprising: a first surface; a second surface intersecting the first surface; and a third surface intersecting the first surface and facing the second surface; the plurality of robots comprising: a first robot for inspecting the first surface; The second robot inspects the aforementioned second surface; and the third robot inspects the aforementioned third surface; the aforementioned processing unit performs the following processing: integrating the coordinate values ​​of the workpiece coordinate system of the aforementioned defects detected from the plurality of inspection images obtained from the inspection units of the aforementioned first robot, the aforementioned second robot, and the aforementioned third robot into a three-dimensional data stored in a file; the aforementioned processing unit performs the following processing: when the difference between the coordinate values ​​of the workpiece coordinate system of the plurality of aforementioned defects detected from the plurality of aforementioned inspection images is less than a predetermined threshold, the plurality of aforementioned defects are regarded as the same defect.

2. The inspection system as described in claim 1, wherein, The inspection ranges of the aforementioned inspection units configured in each of the aforementioned plurality of robots overlap with each other for the aforementioned workpieces.

3. The inspection system as described in claim 1, wherein after the inspection of the workpiece by the aforementioned first robot, the aforementioned second robot and the aforementioned third robot is completed, the aforementioned processing unit performs a process of rotating the aforementioned turntable; the aforementioned second robot and the aforementioned third robot respectively inspect the aforementioned second surface and the aforementioned third surface of the workpiece that have not yet been inspected; the aforementioned first robot inspects the aforementioned first surface of the aforementioned workpiece whose inspection by the aforementioned second robot and the aforementioned third robot has been completed.

4. The inspection system as described in claim 1, wherein, The aforementioned processing unit performs the following: processing the image of the aforementioned workpiece from the plurality of aforementioned inspection images showing the aforementioned defects detected therefrom.

5. The inspection system as described in claim 1 includes a memory unit that stores the aforementioned data, which integrates the coordinate values ​​of the workpiece coordinate system detected from a plurality of the aforementioned inspection images for the aforementioned defects.

6. An inspection method comprising: moving inspection units disposed in each of a plurality of robots relative to a workpiece to inspect the workpiece, thereby acquiring inspection images of the plurality of workpieces from each of the inspection units; detecting defects in the workpieces within the plurality of inspection images; and integrating the locations of the defects detected from the plurality of inspection images into data; wherein the plurality of workpieces are placed on a turntable for rotating the workpieces, and the plurality of workpieces comprises: a first surface; a second surface intersecting the first surface; and a third surface intersecting the first surface and facing the second surface; wherein the plurality of robots comprises: a first robot for inspecting the first surface; and a second robot for inspecting the second surface; The third robot is used to inspect the aforementioned third surface; The process of integrating the locations of the aforementioned defects detected from a plurality of the aforementioned inspection images into data includes: integrating the coordinate values ​​of the workpiece coordinate system of the aforementioned defects detected from the plurality of inspection images obtained from the inspection units of the aforementioned first robot, the aforementioned second robot, and the aforementioned third robot into a three-dimensional data stored in a file; the process of detecting defects of the aforementioned workpiece in the plurality of the aforementioned inspection images includes: when the difference between the coordinate values ​​of the workpiece coordinate system of the plurality of aforementioned defects detected from the plurality of the aforementioned inspection images is less than a predetermined threshold, the plurality of the aforementioned defects are regarded as the same defect.

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