Inspection system, inspection method, and robot system

Abstract

An inspection system (100) is provided with a processing unit (61) that performs: a process for acquiring inspection images (21) of a plurality of workpieces (200) by moving an inspection unit (20) provided to each of a plurality of robots (10) and inspecting the workpieces (200); and a process for integrating, as data (62a), the positions of objects (201) detected from the plurality of inspection images (21).

Description

Inspection system, inspection method, and robot system

[0001] The present disclosure relates to an inspection system, an inspection method, and a robotic system.

[0002] Conventionally, inspection systems have been known. For example, Japanese Patent Application Laid-Open Publication No. 2004-125407 discloses a defect marking device for vehicle painted surfaces, which includes two robots, imaging devices disposed on the two robots, an image processing device, and a plotter. In this defect marking device for vehicle painted surfaces, an imaging device disposed on one of the two robots captures an image of the vehicle's top surface, and an imaging device disposed on the other of the two robots captures an image of the vehicle's side surface. The image processing device detects vehicle defects based on the captured images. The image processing device then projects defects detected on the vehicle's top surface onto a horizontal two-dimensional projection plane and stores the two-dimensional positions in a memory unit. The image processing device also projects defects detected on the vehicle's side surface onto a vertical two-dimensional projection plane and stores the two-dimensional positions in a memory unit. The plotter irradiates the vehicle's top surface with laser light based on the data of the two-dimensional positions of the defects projected onto the horizontal two-dimensional projection plane stored in the memory unit. The plotter also irradiates the side of the vehicle with a laser beam based on the data of the two-dimensional position of the defect projected onto the vertical two-dimensional projection plane stored in the storage unit, thereby indicating the position of the defect on the vehicle with the laser beam.

[0003] Japanese Patent Application Laid-Open No. 2004-125407

[0004] However, in the defect marking device for vehicle painted surfaces described in JP 2004-125407 A, the two-dimensional position data of defects on the vehicle's top surface and the two-dimensional position data of defects on the vehicle's side surfaces are stored separately in a 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 the vehicle defect data stored in the memory unit from, for example, another computer, it is necessary to refer to both the two-dimensional position data of defects on the vehicle's top surface and the two-dimensional position data of defects on the vehicle's side surfaces. This poses a problem in that handling the defect data as a workpiece becomes complicated.

[0005] This disclosure has been made to solve the above-mentioned problems, and one purpose of this disclosure is to provide an inspection system, an inspection method, and a robot system that can easily handle target data for a workpiece even when the workpiece is inspected by multiple robots.

[0006] An inspection system according to a first aspect of this disclosure includes a plurality of robots; an inspection unit disposed on each of the plurality of robots for inspecting a workpiece; and a processing unit that performs the following processes: acquiring inspection images of the plurality of workpieces from each inspection unit by moving the inspection unit disposed on each of the plurality of robots relative to the workpiece; detecting objects of the workpieces in the plurality of inspection images; and integrating the positions of the objects detected from the plurality of inspection images as data.

[0007] As described above, the inspection system according to the first aspect of this disclosure includes a processing unit that performs processing to integrate, as data, the positions of objects detected from multiple inspection images acquired by the inspection units disposed on each of the multiple robots. As a result, since the positions of objects on workpieces inspected by the multiple robots are integrated as data, the positions of all objects on the workpieces can be referenced by simply referencing this integrated data once from, for example, another computer. As a result, even when workpieces are inspected by multiple robots, the handling of object data on the workpieces can be facilitated.

[0008] An inspection method according to a second aspect of this disclosure comprises inspecting the workpiece by moving an inspection unit disposed on each of a plurality of robots relative to the workpiece, thereby obtaining inspection images of the workpiece from each inspection unit, detecting objects of the workpiece in the plurality of inspection images, and integrating the positions of the objects detected from the plurality of inspection images as data.

[0009] As described above, the inspection method according to a second aspect of this disclosure includes integrating, as data, the positions of objects detected from multiple inspection images acquired by inspection units disposed on each of multiple robots. As a result, since the positions of objects on workpieces inspected by multiple robots are integrated as data, the positions of all objects on the workpieces can be referenced by simply referencing this integrated data once, for example, from another computer. As a result, an inspection method can be provided that makes it easy to handle the data on objects on workpieces, even when workpieces are inspected by multiple robots.

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

[0011] As described above, a robot system according to a third aspect of this disclosure includes a processing unit that performs processing to integrate, as data, the positions of objects detected from multiple inspection images acquired by the inspection units disposed on each of the multiple robots. As a result, since the positions of objects on workpieces inspected by the multiple robots are integrated as data, the positions of all objects on the workpieces can be referenced by simply referencing this integrated data once from, for example, another computer. As a result, a robot system can be provided that makes it easy to handle data on objects on workpieces even when workpieces are inspected by multiple robots.

[0012] As described above, the inspection system, inspection method, and robot system disclosed herein can easily handle target data for a workpiece even when the workpiece is inspected using multiple robots.

[0013] 1 is a diagram showing a robot of the inspection system according to the first embodiment. FIG. 2 is a diagram showing a robot and a turntable of the inspection system according to the first embodiment. FIG. 3 is a block diagram showing the inspection system according to the first embodiment. FIG. 4 is a flowchart for explaining control processing of the inspection system according to the first embodiment. FIG. 5 is a diagram for explaining generation of a movement path of the robot according to the first embodiment. FIG. 6 is a diagram for explaining generation of coordinate transformation information according to the first embodiment. FIG. 7 is a diagram for explaining coordinate transformation information when converting coordinate values ​​of the inspection coordinate system to the robot coordinate system according to the first embodiment. FIG. 8 is a diagram for explaining coordinate transformation information when converting coordinate values ​​of the inspection coordinate system to the workpiece coordinate system according to the first embodiment. FIG. 9 is a diagram showing a state in which the surface of a workpiece is scanned by a line camera according to the first embodiment. FIG. 10 is a diagram showing a state in which a workpiece is inspected according to the first embodiment. FIG. 11 is a diagram showing overlapping inspection ranges in one robot according to the first embodiment. FIG. 12 is a diagram showing overlapping inspection ranges between multiple robots according to the first embodiment. FIG. 13 is a diagram for explaining an inspection image according to the first embodiment. FIG. 14 is a diagram for explaining coordinate transformation according to the first embodiment. FIG. 15 is a diagram for explaining displaying the position of an object on a three-dimensional image of the workpiece according to the first embodiment. FIG. 16 is a block diagram showing a robot system according to a second embodiment. 10 is a diagram showing a robot of a robot system according to a second embodiment. FIG. 11 is a flowchart for explaining a control process of the robot system according to the second embodiment.

[0014] Hereinafter, embodiments embodying the present disclosure will be described with reference to the drawings.

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

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

[0017] The inspection system 100 includes a robot 10, an inspection unit 20, an instruction unit 30, a robot controller 40, an image processing device 50, a result display device 60, and a turntable 210 shown in Fig. 2. The turntable 210 is an example of a workpiece transport device.

[0018] In the first embodiment, as shown in FIG. 2 , a plurality of robots 10 are provided. For example, three robots 10 are provided, and the following description will refer to the three robots 10 as robot 10a, robot 10b, and robot 10c. Because the three robots 10 have similar configurations, the following description will focus on one robot 10. As shown in FIG. 1 , the robot 10 moves an inspection unit 20 relative to a workpiece 200. The robot 10 is a vertical articulated robot. The robot 10 includes a base 11 and an arm 12 connected to the base 11. The base 11 is fixed to an installation surface such as a floor, wall, or ceiling. The base 11 may be attached to a movable carriage. The arm 12 has a plurality of joints. Each of the plurality of joints has a servo motor as a drive source. The tip of the arm 12 holds the inspection unit 20 and the instruction unit 30. The robot 10 drives a plurality of joints of the arm unit 12 to move the inspection unit 20 and the instruction unit 30 held at the tip of the arm unit 12 relative to a fixed workpiece 200. The robots 10a, 10b, and 10c are examples of a first robot, a second robot, and a third robot, respectively.

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

[0020] The instruction unit 30 is arranged on each of the multiple robots 10, and indicates the position of an object 201 (described later) obtained by inspection to the workpiece 200. The instruction unit 30 is a laser irradiation unit that irradiates a laser beam to indicate the position of the object 201 to the workpiece 200.

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

[0022] One image processing device 50 is provided in common for the multiple robots 10. Note that a separate image processing device 50 may be provided for each of the multiple robots 10. The image processing device 50 performs image processing on images captured by the inspection unit 20. The image processing device 50 also controls the timing of image capture by the inspection unit 20. The image processing device 50 includes a processing unit 51 and a storage unit 52. The processing unit 51 includes a processor, and performs various processes related to the images captured by the inspection unit 20 and the timing of image capture by the inspection unit 20. The storage unit 52 includes a non-volatile memory, and stores the inspection image 21, which will be described later, and the like.

[0023] The result display device 60 displays the inspection results of the workpiece 200. The result display device 60 includes a processing unit 61, a storage unit 62, a display unit 63, and an operation unit 64. The processing unit 61 includes a processor and performs various processes related to the display of the inspection results of the workpiece 200. The storage unit 62 includes a non-volatile memory and stores coordinate transformation information 72, a three-dimensional image of the workpiece 200, and the like. The display unit 63 includes a monitor such as an LCD monitor and displays a screen showing the inspection results of the workpiece 200, and the like. The operation unit 64 includes input devices such as a mouse and a keyboard and accepts input operations from the user. Note that the display unit 63 and the operation unit 64 may be integrated. In other words, the display unit 63 and the operation unit 64 may be configured as an operation unit and display unit such as a touch panel.

[0024] In the first embodiment, as shown in FIG. 2 , a plurality of workpieces 200 are placed on a turntable 210, and the turntable 210 rotates the placed workpieces 200. Specifically, the turntable 210 includes a rotating unit 211, a driving unit 212 shown in FIG. 3 , and a workpiece placement unit 213. The rotating unit 211 has a disk shape and rotates around an axis perpendicular to the floor surface on which the robot 10 is placed. The driving unit 212 rotates the turntable 210. The driving unit 212 is, for example, a motor. The workpiece placement unit 213 is disposed on the rotating unit 211 and rotates together with the rotating unit 211. For example, three workpiece placement units 213 are disposed. The workpiece placement units 213 have, for example, an L-shape, and the workpieces 200 are leaned against them. The driving unit 212 is, for example, controlled by the processing unit 41 of the robot controller 40. Furthermore, a host control unit that controls the robot controller 40 may be provided, and the drive unit 212 may be controlled by the host control unit.

[0025] In the first embodiment, the multiple robots 10 inspect different surfaces of the workpiece 200. Specifically, in the first embodiment, the robot 10a inspects the first surface 200a of the workpiece 200. The robot 10b inspects the second surface 200b of the workpiece 200. The 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 outer surfaces of the workpiece 200.

[0026] (Control Processing of Inspection System) The control processing of the inspection system 100 will be described.

[0027] 4, as shown in FIG. 5, the processing unit 41 of the robot controller 40 performs processing to generate a movement path 13 for the robot 10 when the robot 10 moves the inspection unit 20 relative to the workpiece 200 and the inspection unit 20 inspects the workpiece 200. The movement path 13 is a path for operating the arm unit 12 of the robot 10, and multiple movement paths 13 are generated to inspect the workpiece 200. In addition, a 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.

[0028] For example, the processing unit 41 of each of the robots 10a, 10b, and 10c receives instructions from a user regarding the operation of the arm unit 12, and performs processing to generate movement paths 13 for the robots 10a, 10b, and 10c based on the received instructions. Also, for example, the processing unit 41 of each of the robots 10a, 10b, and 10c performs processing to automatically generate movement paths 13 without relying on instructions from a user regarding the operation of the arm unit 12. Also, the processing unit 41 performs processing to generate movement paths 13 that follow the surface of the workpiece 200, such as a curved surface.

[0029] In step S2 shown in FIG. 4 , the processing units 41 of the robots 10 a, 10 b, and 10 c each perform processing to generate coordinate transformation information 71 and 72 based on the generated movement path 13. The coordinate transformation information 71 and 72 are information for converting coordinate values ​​in an inspection coordinate system of an inspection image 21 (described later) acquired by the inspection unit 20 inspecting the workpiece 200 into coordinate values ​​in a robot coordinate system and a workpiece coordinate system, which are three-dimensional coordinate systems. The inspection coordinate system is a Cartesian coordinate system with two mutually orthogonal axes, and the three-dimensional coordinate system is a Cartesian coordinate system with three mutually orthogonal axes. Details of the coordinate transformation using the coordinate transformation information 71 and 72 will be described later.

[0030] As shown in FIG. 6 , the processing unit 41 of each of the robots 10a, 10b, and 10c acquires coordinate values ​​in a three-dimensional coordinate system at first intervals D1 along the movement path 13 and generates coordinate transformation information 71 and 72. The processing unit 41 then actually moves the inspection unit 20 along the movement path 13 relative to the workpiece 200, acquiring coordinate values ​​in the three-dimensional coordinate system at first intervals D1. The first intervals D1 are the intervals between the control points 14a. The processing unit 41 acquires the coordinate values ​​in the three-dimensional coordinate system of the control points 14a at first intervals D1. When the inspection unit 20 is an imaging unit, the control point 14a is set to the focal position of the imaging unit 20. The focal position of the imaging unit 20 is set near the surface of the workpiece 200. The control point 14a is provided for acquiring the coordinate values ​​in the three-dimensional coordinate system.

[0031] For convenience, only one movement path 13 is shown in FIG. 6, but the processing unit 41 acquires coordinate values ​​in a three-dimensional coordinate system for all movement paths 13 and performs processing to generate coordinate conversion information 71 and 72.

[0032] 7 and 8, the coordinate conversion information 71 and 72 are coordinate conversion tables that associate the movement amount of the robot 10 in a direction along the movement path 13 with coordinate values ​​in a three-dimensional coordinate system. In Figures 7 and 8, the path number represents the number of the movement path 13, the position number represents the number of the control point 14, the movement amount represents the movement amount of the control point 14a of the robot 10 along the movement path 13, and the coordinate value represents the coordinate value of the control point 14a in the three-dimensional coordinate system. That is, in the coordinate conversion information 71 and 72, for each movement path 13, the movement amount of the robot 10 for each control point 14a is associated with the coordinate value of the control point 14a in the three-dimensional coordinate system.

[0033] 7, in the coordinate transformation information 71, the three-dimensional coordinate system is a robot coordinate system for the robot 10. The robot coordinate system is a coordinate system based on the base unit 11. The coordinate transformation information 71 is a coordinate transformation table that associates the movement amount of the robot 10 with the coordinate values ​​in the robot coordinate system. In the coordinate transformation information 71, coordinate values ​​that indicate the position and orientation of the control point 14a in the robot coordinate system are used as the coordinate values.

[0034] 8, in the coordinate conversion information 72, the three-dimensional coordinate system is a workpiece coordinate system related to the workpiece 200. The workpiece coordinate system is a coordinate system based on the workpiece 200. The coordinate conversion information 72 is a coordinate conversion table that associates the movement amount of the robot 10 with the coordinate values ​​of the workpiece coordinate system. In the coordinate conversion information 72, coordinate values ​​that indicate the position of the control point 14a in the workpiece coordinate system are used as the coordinate values.

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

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

[0037] 4, as shown in FIG. 9, the processing unit 41 of each robot controller 40 of the robot 10a, the robot 10b, and the robot 10c operates the robot 10a, the robot 10b, and the robot 10c based on the movement path 13, and performs processing to inspect the workpiece 200 using the inspection unit 20. Then, the processing unit 51 of the image processing device 50 performs processing to acquire a plurality of inspection images 21 based on the output results of each inspection unit 20. The inspection images 21 are captured images of the surface of the workpiece 200 captured by the inspection unit 20.

[0038] As shown in FIG. 10 , the processing unit 51 operates the inspection unit 20 to inspect the workpiece 200 at second intervals D2 along the movement path 13, thereby acquiring the inspection image 21. Specifically, the processing unit 51 operates the inspection unit 20 to capture an image of the workpiece 200 at second intervals D2, thereby scanning and capturing the image of the workpiece 200. More specifically, the processing unit 41 outputs a pulse signal to the processing unit 51 at second intervals D2. Based on the pulse signal from the processing unit 41, the processing unit 51 outputs a trigger signal to the inspection unit 20 at second intervals D2. Based on the trigger signal, the inspection unit 20 captures an image of the workpiece 200 at second intervals D2. Note that the second intervals D2 are the intervals between control points 14b. When the inspection unit 20 is an imaging unit, the control point 14b is set to the focal position of the imaging of the inspection unit 20. Furthermore, the focal position of the imaging of the inspection unit 20 is set near the surface of the workpiece 200. The control point 14b is provided for the inspection unit 20 to perform a process of capturing an image of the workpiece 200.

[0039] 10 shows only one movement path 13 for convenience, the processing unit 41 performs processing to inspect the workpiece 200 by the inspection unit 20 for all movement paths 13. The processing unit 51 also performs processing to acquire inspection images 21 for all movement paths 13.

[0040] 11 , in each of the robots 10a, 10b, and 10c, the inspection ranges 22 of the inspection units 20 are set so as to partially overlap with each other on adjacent movement paths 13. That is, the inspection range 22 of the inspection unit 20 for a certain movement path 13 partially overlaps with the inspection range 22 of the inspection unit 20 for a movement path 13 adjacent to the certain movement path 13. This makes it possible to prevent inspection omissions. Note that the inspection range 22 is the imaging range when scanning and imaging is performed along the movement path 13.

[0041] In the first embodiment, as shown in FIG. 12 , the inspection ranges of the inspection units 20 of the robots 10a, 10b, and 10c for the workpiece 200 overlap with each other. Specifically, the inspection range A of the robot 10a inspecting the first surface 200a of the workpiece 200 and the inspection range B of the robot 10b inspecting the second surface 200b overlap with each other. The overlapping inspection ranges are located near the boundary between the first surface 200a and the second surface 200b. Similarly, the inspection range A of the robot 10a inspecting the first surface 200a of the workpiece 200 and the inspection range C of the robot 10c inspecting the third surface 200c overlap with each other. The overlapping inspection ranges are located near the boundary between the first surface 200a and the third surface 200c. In FIG. 12, for the sake of simplicity, the first surface 200a, the second surface 200b, and the third surface 200c are shown as planes.

[0042] 2 , workpieces 200A, 200B, and 200C are placed on the turntable 210. The workpieces 200A, 200B, and 200C are the same workpiece. In the first embodiment, one robot 10 among the plurality of robots 10 inspects one surface of one workpiece 200 placed on the turntable 210, and the other robots 10 among the plurality of robots 10 inspect other surfaces of the other workpieces 200 placed on the turntable 210, which are different from the one surface. Specifically, the robot 10a inspects the first surface 200a of the workpiece 200A placed on the turntable 210. The robots 10b and 10c inspect the second surface 200b and the third surface 200c of the workpiece 200B placed on the turntable 210, respectively. When the turntable 210 is rotated and the workpiece 200A is placed in front of the robot 10a and the workpiece 200B is placed in front of the robots 10b and 10c, the robots 10a, 10b, and 10c start inspection. Then, for example, if the inspection by the robot 10a is completed first, the robot 10a waits until the inspections by the robots 10b and 10c are completed.

[0043] In the first embodiment, the processing unit 41 of the robot controller 40 performs a process of rotating the turntable 210 after the robot 10a has finished inspecting the workpiece 200A and the robots 10b and 10c have finished inspecting the workpiece 200B. As a result, the workpiece 200B is placed in front of the robot 10a, and the uninspected workpiece 200C is placed in front of the robots 10b and 10c. The robots 10b and 10c then inspect the second surface 200b and the third surface 200c of the uninspected workpiece 200C, respectively. The robot 10a also inspects the first surface 200a of the workpiece 200B after inspection by the robots 10b and 10c has been completed.

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

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

[0046] 4, as shown in FIG. 14, the processing unit 41 of the robot controller 40 performs processing to convert the coordinate values ​​of the inspection coordinate system of the object 201 into coordinate values ​​of the robot coordinate system based on the coordinate transformation information 71. Also, in step S5, the processing unit 61 of the result display device 60 performs processing to convert the coordinate values ​​of the inspection coordinate system of the object 201 into coordinate values ​​of the workpiece coordinate system based on the coordinate transformation information 72. First, the processing of the processing unit 41 will be described. Note that the following processing of the processing unit 41 is performed by the processing unit 41 of each of the robot controllers 40 of the robots 10a, 10b, and 10c.

[0047] 14 , the processing unit 41 performs processing to identify the number of the movement path 13 in the coordinate transformation information 71 based on the number of the movement path 13 corresponding to the inspection image 21. Then, the processing unit 41 performs processing to acquire the movement amount of the robot 10 in the coordinate transformation information 71 corresponding to the coordinate value of the inspection coordinate system in the Y-axis direction along the movement path 13 of the object 201 for the identified number of the movement path 13. At this time, the processing unit 41 performs processing to acquire the movement amount of the robot 10 that is closest to the coordinate value of the inspection coordinate system in the Y-axis direction of the object 201 as the corresponding movement amount of the robot 10. Then, the processing unit 41 performs processing to acquire the coordinate value of the robot coordinate system in the coordinate transformation information 71 that corresponds to the movement amount of the robot 10 in the acquired coordinate transformation information 71. As a result, the coordinate value of the robot coordinate system corresponding to the coordinate value of the inspection coordinate system in the Y-axis direction of the object 201 is acquired.

[0048] On the other hand, the coordinate values ​​in the robot coordinate system of the acquired coordinate transformation information 71 do not reflect the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201, and therefore contain a deviation corresponding to that. For this reason, the processing unit 41 performs a process of correcting the coordinate values ​​in the robot coordinate system of the acquired coordinate transformation information 71 based on the coordinate values ​​of the inspection coordinate system in the X-axis direction perpendicular to the movement path 13 of the object 201. At this time, the processing unit 41 performs a process of correcting the coordinate values ​​in the robot coordinate system of the coordinate transformation information 71 by adding the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201. As a result, the processing unit 41 performs a process of acquiring the coordinate values ​​of the robot coordinate system of the object 201. Furthermore, the processing unit 41 performs a process of converting the coordinate values ​​for all of the objects 201 to acquire the coordinate values ​​of the robot coordinate system.

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

[0050] The processing of the processing unit 41 of the robot controller 40 has been described above. However, the processing of the processing unit 61 of the result display device 60 is similar except for the use of the coordinate transformation information 72. The processing unit 61 of the result display device 60 described below is executed on a plurality of inspection images 21 acquired by the inspection units 20 of the robots 10a, 10b, and 10c. Specifically, the processing unit 61 performs processing to identify the number of the movement path 13 in the coordinate transformation information 72 based on the number of the movement path 13 corresponding to the inspection image 21. The processing unit 61 then performs processing to acquire, for the identified number of the movement path 13, the movement amount of the robot 10 in the coordinate transformation information 72 corresponding to the coordinate value of the inspection coordinate system in the Y-axis direction along the movement path 13 of the object 201. At this time, the processing unit 61 performs processing to acquire, as the corresponding movement amount of the robot 10, the movement amount of the robot 10 that is closest to the coordinate value of the inspection coordinate system in the Y-axis direction of the object 201. The processing unit 61 then performs processing to acquire the coordinate value of the workpiece coordinate system in the coordinate transformation information 72 corresponding to the movement amount of the robot 10 in the acquired coordinate transformation information 72. As a result, coordinate values ​​in the work coordinate system corresponding to coordinate values ​​in the inspection coordinate system in the Y-axis direction of the object 201 are acquired.

[0051] On the other hand, the coordinate values ​​of the workpiece coordinate system in the acquired coordinate transformation information 72 do not reflect the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201, and contain a corresponding deviation. For this reason, the processing unit 61 performs a process of correcting the coordinate values ​​of the workpiece coordinate system in the acquired coordinate transformation information 72 based on the coordinate values ​​of the inspection coordinate system in the X-axis direction perpendicular to the movement path 13 of the object 201. At this time, the processing unit 61 performs a process of correcting the coordinate values ​​of the workpiece coordinate system in the coordinate transformation information 72 by adding the coordinate values ​​of the inspection coordinate system in the X-axis direction of the object 201. As a result, the processing unit 61 performs a process of acquiring the coordinate values ​​of the workpiece coordinate system of the object 201. Furthermore, the processing unit 61 performs a process of converting the coordinate values ​​for all of the objects 201 to acquire the coordinate values ​​of the workpiece coordinate system.

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

[0053] Furthermore, in the first embodiment, when the positions of the objects 201 detected in the multiple inspection images 21 acquired by the inspection units 20 of the robots 10a, 10b, and 10c are the same, the processing unit 61 of the result display device 60 performs processing to treat the objects 201 at the same positions as the same object 201. As described above, the inspection range A of the robot 10a and the inspection range B of the robot 10b overlap each other. Therefore, the same object 201 may be detected by both the inspection unit 20 of the robot 10a and the inspection unit 20 of the robot 10b. In this case, the coordinate values ​​in the workpiece coordinate system of the object 201 detected by the inspection unit 20 of the robot 10a and the coordinate values ​​in the workpiece coordinate system of the object 201 detected by the inspection unit 20 of the robot 10b are the same, so the processing unit 61 of the result display device 60 treats the objects 201 with the same coordinate values ​​in the workpiece coordinate system as the same object 201. In practice, even if the coordinate values ​​of the work coordinate system of multiple objects 201 are different from one another, as long as the difference in coordinate values ​​is equal to or less than a predetermined threshold, the processing unit 61 will treat them as the same object 201. Then, the storage unit 62 stores the coordinate values ​​of the work coordinate system of one object 201 that is treated as the same object 201.

[0054] In step S7 shown in FIG. 4 , as shown in FIG. 15 , the processing unit 61 of the result display device 60 performs a process of displaying the object 201 detected from the multiple inspection images 21 acquired by the inspection units 20 of the robots 10 a, 10 b, and 10 c on a three-dimensional image of the workpiece 200. Specifically, the processing unit 61 of the result display device 60 performs a process of indicating the position of the object 201 on the three-dimensional image of the workpiece 200 based on the coordinate values ​​of the object 201 converted into coordinate values ​​in the workpiece coordinate system. That is, the processing unit 61 performs a process of superimposing an image indicating the position of the object 201 on the three-dimensional image of the workpiece 200. The processing unit 61 then performs a process of displaying the three-dimensional image of the workpiece 200 on which the image indicating the position of the object 201 is superimposed on the display unit 63. Note that the three-dimensional image of the workpiece 200 on which the image indicating the position of the object 201 is superimposed can be enlarged, reduced, or rotated based on a user's operation using the operation unit 64.

[0055] In step S8 shown in FIG. 4 , as shown in FIG. 16 , the processing unit 41 of the robot controller 40 performs processing to indicate the position of the target 201 on the actual workpiece 200 based on the coordinate values ​​of the converted target 201 in the three-dimensional coordinate system. Specifically, the processing unit 41 operates the robot 10 based on the coordinate values ​​of the target 201 converted into coordinate values ​​in the robot coordinate system, and performs processing to indicate the position of the target 201 on the actual workpiece 200 via the instruction unit 30. That is, the processing unit 41 operates the robot 10 to move the instruction unit 30 to a predetermined position where the position of the target 201 can be indicated. Then, with the instruction unit 30 positioned at the predetermined position, the processing unit 41 irradiates a laser beam from the instruction unit 30 to indicate the position of the target 201 on the actual workpiece 200. Note that while FIG. 16 shows a state in which one robot 10c irradiates the third surface 200c of the workpiece 200 with laser beam, the robots 10a and 10b can also irradiate the workpiece 200 with laser beam.

[0056] (Effects of First Embodiment) The inspection system 100 includes a processing unit 61 that performs processing to integrate, as data 62a, the positions of the targets 201 detected from the multiple inspection images 21 acquired from the inspection units 20 disposed on each of the multiple robots 10. As a result, the positions of the targets 201 of the workpieces 200 inspected by the multiple robots 10 are integrated as data 62a, so that the positions of all of the targets 201 of the workpieces 200 can be referenced by simply referring to this integrated data 62a once from, for example, another computer. As a result, even when the workpieces 200 are inspected by the multiple robots 10, the data 62a of the targets 201 of the workpieces 200 can be easily handled.

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

[0058] The inspection ranges of the workpieces 200 of the inspection units 20 arranged on each of the multiple robots 10 overlap with each other. This prevents the occurrence of areas on the surface of the workpiece 200 that are not included in the inspection range, thereby preventing inspection omissions.

[0059] When the positions of the objects 201 detected from the multiple inspection images 21 are the same, the processing unit 51 performs processing to treat the objects 201 at the same positions as the same object 201. This makes it possible to prevent the same object 201 from being converted into data as different objects 201.

[0060] The multiple robots 10 inspect different surfaces of the workpiece 200. As a result, a relatively large range of the workpiece 200 is inspected by the multiple robots 10, so that the workpiece 200 can be easily inspected even if the workpiece 200 is relatively large.

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

[0062] The workpiece 200 placed on the turntable 210 includes a first surface 200a, a second surface 200b that intersects with the first surface 200a, and a third surface 200c that intersects with the first surface 200a and faces the second surface 200b. The multiple robots 10 include a robot 10a that inspects the first surface 200a, a robot 10b that inspects the second surface 200b, and a robot 10c that inspects the third surface 200c. This allows the time required for inspection to be shortened compared to when a single robot 10 inspects all of the first surface 200a, the second surface 200b, and the third surface 200c.

[0063] After the robots 10a, 10b, and 10c have finished inspecting the workpiece 200, the processing unit 41 of the robot controller 40 performs processing to rotate the turntable 210, and the robots 10b and 10c respectively inspect the second surface 200b and the third surface 200c of the workpiece 200 that have not been inspected, and the robot 10a inspects the first surface 200a of the workpiece 200 that has been inspected by the robots 10b and 10c. As a result, the inspection of the workpiece 200 is performed by the robots 10a, 10b, and 10c in an assembly line manner, which further reduces the time required to inspect the workpiece 200.

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

[0065] The inspection system 100 includes a storage unit 62 that stores data 62a that integrates the positions of the target 201 detected from multiple inspection images 21. This makes it possible to confirm the position of the target 201 by referring to the data 62a stored in the storage unit 62, even if a period of time has passed since the inspection of the workpiece 200 was completed. In addition, the data 62a stored in the storage unit 62 can be referenced from a server or the like that is separate from the inspection system 100.

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

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

[0068] As shown in FIG. 17 , the robot system 300 includes a working unit 310 and a working unit control device 320 in addition to the robot 10, the inspection unit 20, the instruction unit 30, the robot controller 40, the image processing device 50, the result display device 60, and the turntable 210 included in the inspection system 100 of the first embodiment. As shown in FIG. 18 , the working unit 310 is disposed on the robot 10 and performs work on the workpiece 200. For example, the working unit 310 is a painting unit that performs painting work on the workpiece 200. In this case, for example, the working unit 310 is a painting unit that sprays paint by inkjet and is moved along the surface of the workpiece 200 by the robot 10 to apply paint to the surface of the workpiece 200, thereby performing painting work on the workpiece 200. Note that while FIG. 18 illustrates one robot 10, the robot system 300 may include, for example, three robots 10, similar to the inspection system 100 of the first embodiment.

[0069] The working unit control device 320 shown in Fig. 17 controls the timing of work by the working unit 310. The working unit control device 320 includes a processing unit 321 and a storage unit 322. The processing unit 321 includes a processor and performs various processes related to the timing of work by the working unit 310. The storage unit 322 includes non-volatile memory and stores various information such as programs for controlling the timing of work by the working unit 310. The other configurations of the robot system 300 of the second embodiment are similar to the configurations of the inspection system 100 of the first embodiment.

[0070] (Control Processing of Robot System) The control processing of the robot system 300 will be described.

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

[0072] In step S2a shown in Figure 19, similar to step S2 of the first embodiment shown in Figure 4, the 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.

[0073] 19 , the processing unit 41 of each robot controller 40 of the robot 10a, the robot 10b, and the robot 10c operates the robot 10a, the robot 10b, and the robot 10c based on the movement path 13 to perform a process of inspecting the workpiece 200 with the inspection unit 20 while the working unit 310 performs a work on the workpiece 200. Specifically, the processing unit 321 of the work unit control device 320 causes the working unit 310 to perform a work on the workpiece 200 at second distance intervals D2 along the movement path 13, for example, as shown in FIG. 10 . If the working unit 310 is a painting unit that sprays paint using an inkjet, the processing unit 321 executes a process of spraying paint onto the working unit 310 at second distance intervals D2. Specifically, the processing unit 41 of the robot controller 40 executes a process of outputting a pulse signal to the processing unit 321 of the work unit control device 320 at second distance intervals D2. The processing unit 321 performs processing to output a trigger signal to the working unit 310 at every second distance interval D2 based on the pulse signal from the processing unit 41. The working unit 310 sprays paint onto the workpiece 200 at every second distance interval D2 based on the trigger signal. Note that the distance at which the painting unit sprays paint does not have to be every second distance interval D2. Furthermore, in parallel with the processing of spraying paint by the working unit 310, the processing unit 51 of the image processing device 50 operates the inspection unit 20 to inspect the workpiece 200 along the movement path 13 at every second distance interval D2, as in the first embodiment, to perform processing to acquire the inspection image 21. Specifically, the processing unit 51 operates the inspection unit 20 to image the workpiece 200 at every second distance interval D2, thereby scanning and imaging the workpiece 200.

[0074] 19, similarly to step S4 in the first embodiment, as shown in Fig. 13, the processing unit 51 of the image processing device 50 performs processing to detect the target 201 of the workpiece 200 in the plurality of inspection images 21 acquired by the inspection units 20 of the plurality of robots 10. Note that if the working unit 310 is a painting unit that sprays paint by inkjet, the target 201 is uneven paint or the like.

[0075] 19, similarly to step S5 in the first embodiment, as shown in Fig. 14, the processing unit 41 of the robot controller 40 performs processing to convert the coordinate values ​​of the inspection coordinate system of the object 201 into coordinate values ​​of the robot coordinate system based on the coordinate conversion information 71. Also, in step S5a, the processing unit 61 of the result display device 60 performs processing to convert the coordinate values ​​of the inspection coordinate system of the object 201 into coordinate values ​​of the workpiece coordinate system based on the coordinate conversion information 72.

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

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

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

[0079] (Effects of the Second Embodiment) In the second embodiment, similarly to the first embodiment, the positions of the targets 201 of the workpieces 200 inspected by the plurality of robots 10 are integrated as data 62a, so that by simply referring to this integrated data 62a once from, for example, another computer, it is possible to refer to the positions of all of the targets 201 of the workpieces 200. As a result, even when the workpieces 200 are inspected by the plurality of robots 10, it is possible to easily handle the data 62a of the targets 201 of the workpieces 200.

[0080] In parallel with the operation of the working unit 310 on the workpiece 200, the inspection unit 20 inspects the workpiece 200. This allows the operation and inspection of the workpiece 200 to be performed simultaneously, thereby reducing the time required for the operation and inspection of the workpiece 200.

[0081] (Modifications) The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present disclosure is defined by the claims, not by the description of the above-mentioned embodiments, and further includes all modifications (modifications) within the meaning and scope equivalent to the claims.

[0082] For example, in the first embodiment described above, an example was shown in which the inspection system is an appearance inspection system that inspects the appearance of a workpiece, but the present disclosure is not limited to this. In the present disclosure, the inspection system may be an inspection system that inspects the interior of a workpiece. In this case, the inspection unit may be an ultrasonic flaw detector that inspects the workpiece by transmitting ultrasonic waves to the interior of the workpiece and receiving ultrasonic waves reflected from the interior of the workpiece. Using the ultrasonic flaw detector, it is possible to detect objects such as defects inside the workpiece.

[0083] In addition, in the first and second embodiments described above, an example was shown in which the robot was a vertical articulated robot, but the present disclosure is not limited to this. In the present disclosure, the robot may be an industrial robot other than a vertical articulated robot.

[0084] In the first and second embodiments, an example is shown in which the robot moves the imaging unit to move the inspection unit relative to the workpiece, but the present disclosure is not limited to this. In the present disclosure, the robot may move the workpiece to move the inspection unit relative to the workpiece.

[0085] Furthermore, in the first and second embodiments, examples have been described in which the processing unit of the robot controller, the processing unit of the image processing device, and the processing unit of the result display device share the responsibilities of performing various processes. However, the present disclosure is not limited to this. In the present disclosure, the number and configuration of the processing units are not particularly limited. One processing unit may perform the various processes of the above embodiments, or multiple processing units may perform the various processes of the above embodiments. The configuration of the storage unit is also not limited. The configurations of the robot controller, the image processing device, and the result display device are also not limited. The robot controller, the image processing device, and the result display device may be configured as an integrated unit, or may be configured separately as in the above embodiments. Furthermore, the robot controller, the image processing device, and the result display device may be further configured separately. For example, an operation device for operating the result display device may be provided separately from the result display device.

[0086] Furthermore, in the first and second embodiments, examples have been described in which the target is a defect in a workpiece, but the present disclosure is not limited to this. For example, the target may be something other than a defect in a workpiece. For example, the target may be a teaching point for the operation of a robot, an inspection path along which an inspection unit moves, an inspectable area of ​​the inspection unit, etc.

[0087] In addition, in the first and second embodiments, examples have been shown in which the inspection ranges of the workpieces of the inspection units arranged on each of the multiple robots overlap, but the present disclosure is not limited to this. For example, the inspection ranges of the workpieces of the inspection units arranged on each of the multiple robots may not overlap. This prevents different inspection units from detecting the same target in an overlapping manner.

[0088] In the first and second embodiments, the processing unit performs processing in which, when the positions of objects detected from multiple inspection images are the same, the objects with the same positions are treated as the same object. However, the present disclosure is not limited to this. For example, the processing unit may treat the objects as separate objects even if their positions are the same. Then, when displaying the positions of the objects on the display unit, the processing unit may indicate that the positions of these objects are the same. This prevents objects that are approximately the same but not identical from being treated as the same object.

[0089] In the first and second embodiments, three robots inspect mutually intersecting surfaces, but the present disclosure is not limited to this. For example, a relatively large surface along a horizontal plane or a relatively large curved surface may be inspected by a plurality of robots.

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

[0091] Furthermore, in the first embodiment, an example was described in which multiple robots inspect stationary workpieces placed on a turntable, and in the second embodiment, an example was described in which multiple robots perform work and inspection on stationary workpieces placed on a turntable. However, the present disclosure is not limited to this. For example, multiple robots may inspect, or perform both work and inspection on, moving workpieces placed on a conveyor or an automated guided vehicle. For example, in a case in which workpieces are placed on a conveyor or an automated guided vehicle and the workpieces move while the inspection units provided on the multiple robots are stationary, the processing unit of the robot controller performs processing to output pulse signals to the processing unit of the inspection unit at predetermined intervals in synchronization with the movement of the conveyor or the automated guided vehicle. The processing unit of the inspection unit outputs trigger signals to the inspection unit at predetermined intervals based on the pulse signals, and the inspection unit captures images of the workpieces at predetermined intervals based on the trigger signals. Alternatively, the workpieces may be stationary and multiple robots may be moved by a traveling axis.

[0092] Furthermore, although the first and second embodiments have described an example in which three robots are arranged for inspecting workpieces, the present disclosure is not limited to this. For example, a number of robots other than three may be arranged for inspecting workpieces.

[0093] In the first and second embodiments, the processing unit performs processing to superimpose the detected objects from the multiple inspection images on the image of the workpiece displayed on the display unit, but the present disclosure is not limited to this. For example, the detected objects may be superimposed on the image of the workpiece and printed out on a paper medium.

[0094] In addition, in the above-described first and second embodiments, examples have been shown in which both a process for displaying the position of the target on the actual workpiece and a process for displaying the position of the target on a three-dimensional image of the workpiece are performed, but the present disclosure is not limited to this. In the present disclosure, only one of a process for displaying the position of the target on the actual workpiece and a process for displaying the position of the target on a three-dimensional image of the workpiece may be performed.

[0095] In the first and second embodiments, the processing unit displays the target on a three-dimensional image of the workpiece, but the present disclosure is not limited to this. For example, the processing unit may display information about which robot detected the target on the display unit, along with the target.

[0096] In addition, in the above-described first and second embodiments, examples have been shown in which the positions of objects detected from multiple inspection images are integrated as data, but the present disclosure is not limited to this. For example, when a process such as painting is performed on a workpiece by multiple robots, information about which robot processed the area in which the detected object exists may be linked to the position of the object and integrated as data.

[0097] In the first and second embodiments, the processing unit performs processing to integrate the positions of objects detected from multiple inspection images as three-dimensional data, but the present disclosure is not limited to this. For example, when inspecting the surface of a flat workpiece using multiple robots, the positions of the detected objects are integrated as two-dimensional data.

[0098] In the first and second embodiments, the workpieces 200A, 200B, and 200C are the same workpiece, but the present disclosure is not limited to this. For example, the workpieces 200A, 200B, and 200C may be different workpieces. Furthermore, the workpieces 200A, 200B, and 200C may be the same type or different types.

[0099] 16 , the first and second embodiments have shown an example in which the position of the target 201 on the actual workpiece 200 is irradiated with laser light by the robot 10c that inspected the workpiece 200, but the present disclosure is not limited to this. For example, the position of the target 201 on the workpiece 200 may be irradiated with laser light by a robot used in a process subsequent to the process of inspecting the workpiece 200.

[0100] Furthermore, in the above first and second embodiments, an example has been shown in which one robot 10 among the plurality of robots 10 inspects one surface of one workpiece 200 placed on the turntable 210, and another robot 10 among the plurality of robots 10 inspects another surface different from the one surface of another workpiece 200 placed on the turntable 210, but the present disclosure is not limited to this. For example, the same surface of the workpiece 200 may be inspected by the plurality of robots 10.

[0101] In the second embodiment, the inspection unit 20 inspects the workpiece 200 in parallel with the work performed by the working unit 310, but the present disclosure is not limited to this. For example, the inspection unit 20 may inspect the workpiece 200 after all of the work performed by the working unit 310 on the workpiece 200 has been completed.

[0102] Furthermore, in the second embodiment, an example was shown in which the working unit is a painting unit, but the present disclosure is not limited to this. For example, the working unit may be a dispenser that applies a sealant to a workpiece. The working unit may also be an application unit that applies a sealant or tape to a workpiece. The working unit may also be a polishing unit that polishes, deburrs, grinds, buffs, etc. the workpiece. The working unit may also be a sewing unit that sews the workpiece. The working unit may also be an application unit that applies a highly viscous liquid such as sauce, mayonnaise, or chocolate to the workpiece. The working unit may also be a car washing unit that washes a workpiece such as a car.

[0103] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, 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 is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0104] [Aspects] The above-described embodiments are specific examples of the following aspects.

[0105] (Aspect 1) An inspection system comprising: a plurality of robots; an inspection unit disposed on each of the plurality of robots for inspecting a workpiece; and a processing unit that performs the following processes: acquiring inspection images of the workpiece from each of the inspection units by moving the inspection unit disposed on each of the plurality of robots relative to the workpiece to inspect the workpiece; detecting objects of the workpiece in the plurality of inspection images; and integrating the positions of the objects detected from the plurality of inspection images as data.

[0106] (Aspect 2) The inspection system according to aspect 1, wherein the target includes a defect in the workpiece.

[0107] (Aspect 3) The inspection system according to aspect 1 or aspect 2, wherein the inspection ranges of the inspection units disposed on each of the plurality of robots for the workpiece overlap each other.

[0108] (Aspect 4) The inspection system according to any one of Aspects 1 to 3, wherein the processing unit performs processing to treat the objects detected in the multiple inspection images at the same position as the same object when the positions of the objects are the same.

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

[0110] (Aspect 6) An inspection system according to Aspect 5, comprising a workpiece transport device on which a plurality of the workpieces are placed and which transports the placed workpieces, wherein one robot of the plurality of robots inspects one side of one of the workpieces placed on the workpiece transport device, and another robot of the plurality of robots inspects another side of another workpiece placed on the workpiece transport device, the other side being different from the one side.

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

[0112] (Aspect 8) The inspection system described in Aspect 7, wherein the workpiece placed on the turntable includes a first surface, a second surface intersecting the first surface, and a third surface intersecting the first surface and facing the second surface, and the plurality of robots include a first robot that inspects the first surface, a second robot that inspects the second surface, and a third robot that inspects the third surface.

[0113] (Aspect 9) The inspection system described in Aspect 8, wherein the processing unit performs a process of rotating the turntable after the first robot, the second robot, and the third robot have completed inspection of the workpiece, the second robot and the third robot each inspecting the second surface and the third surface of the workpiece that have not been inspected, and the first robot inspects the first surface of the workpiece that has been inspected by the second robot and the third robot.

[0114] (Aspect 10) The inspection system according to any one of Aspects 1 to 9, wherein the processing unit performs processing to display the object detected from the plurality of inspection images on the image of the workpiece.

[0115] (Aspect 11) The inspection system according to any one of Aspects 1 to 10, further comprising a storage unit that stores the data that integrates the positions of the target detected from a plurality of the inspection images.

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

[0117] (Aspect 13) An inspection method comprising: acquiring multiple inspection images of the workpiece from each of multiple inspection units by inspecting the workpiece by moving an inspection unit disposed on each of multiple robots relative to the workpiece; detecting an object of the workpiece in the multiple inspection images; and integrating the positions of the object detected from the multiple inspection images as data.

[0118] (Aspect 14) A robot system comprising: a plurality of robots; a working unit disposed on each of the plurality of robots and performing work on a workpiece; an inspection unit disposed on each of the plurality of robots and inspecting the workpiece on which work has been performed by the working unit; and a processing unit that performs the following processes: acquiring inspection images of the workpiece from each of the inspection units by moving the inspection unit disposed on each of the plurality of robots relative to the workpiece; detecting an object of the workpiece in the plurality of inspection images; and integrating the positions of the object detected from the plurality of inspection images as data.

[0119] (Aspect 15) The robot system according to aspect 14, wherein the inspection unit inspects the workpiece in parallel with the operation of the working unit on the workpiece.

Claims

1. An inspection system comprising: a plurality of robots; an inspection unit disposed on each of the plurality of robots for inspecting a workpiece; and a processing unit that performs the following processes: acquiring inspection images of the workpiece from each of the inspection units by moving the inspection unit disposed on each of the plurality of robots relative to the workpiece to inspect the workpiece; detecting an object of the workpiece in the plurality of inspection images; and integrating the positions of the object detected from the plurality of inspection images as data.

2. The inspection system of claim 1, wherein the object includes a defect in the workpiece.

3. The inspection system according to claim 1, wherein the inspection ranges of the inspection units arranged on each of the plurality of robots for the workpiece overlap each other.

4. The inspection system according to claim 1, wherein the processing unit performs processing for treating the objects detected in the same position as the same object when the positions of the objects detected in the multiple inspection images are the same.

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

6. An inspection system as described in claim 5, comprising a work transport device on which a plurality of the workpieces are placed and which transports the placed workpieces, one of the plurality of robots inspects one side of one of the workpieces placed on the work transport device, and another of the plurality of robots inspects another side of another workpiece placed on the work transport device, the other side being different from the one side.

7. The inspection system according to claim 6, wherein the workpiece transport device includes a turntable that rotates the workpiece placed thereon.

8. The inspection system described in claim 7, wherein the workpiece placed on the turntable includes a first surface, a second surface intersecting the first surface, and a third surface intersecting the first surface and facing the second surface, and the plurality of robots include a first robot that inspects the first surface, a second robot that inspects the second surface, and a third robot that inspects the third surface.

9. The inspection system described in claim 8, wherein the processing unit performs a process of rotating the turntable after inspection of the workpiece is completed by the first robot, the second robot, and the third robot, the second robot and the third robot respectively inspect the second surface and the third surface of the workpiece that have not been inspected, and the first robot inspects the first surface of the workpiece that has been inspected by the second robot and the third robot.

10. The inspection system according to claim 1, wherein the processing unit performs processing to display the object detected from the multiple inspection images on the image of the workpiece.

11. The inspection system according to claim 1, further comprising a memory unit that stores the data integrating the positions of the object detected from a plurality of the inspection images.

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

13. An inspection method comprising: inspecting a work by moving an inspection unit disposed on each of a plurality of robots relative to the work, thereby obtaining a plurality of inspection images of the work from each of the inspection units; detecting an object of the work in the plurality of inspection images; and integrating the positions of the object detected from the plurality of inspection images as data.

14. A robot system comprising: a plurality of robots; a working unit disposed on each of the plurality of robots for performing work on a workpiece; an inspection unit disposed on each of the plurality of robots for inspecting the workpiece on which work has been performed by the working unit; and a processing unit that performs the following processes: a process of obtaining inspection images of the workpiece from each of the inspection units by moving the inspection unit disposed on each of the plurality of robots relatively to the workpiece to inspect the workpiece; a process of detecting an object of the workpiece in the plurality of inspection images; and a process of integrating the positions of the object detected from the plurality of inspection images as data.

15. The robot system according to claim 14, wherein the inspection unit inspects the workpiece in parallel with the operation of the working unit on the workpiece.

Images