2d and 3D vision inspection device provided with three-axis gantry mobile platform

Abstract

Disclosed in the present invention is a 2D and 3D vision inspection device provided with a three-axis gantry mobile platform, comprising a conveyor belt, a 2D inspection assembly, a 3D inspection assembly, a compensation assembly, and a compensation control module. The present invention can adjust the product conveying process on the basis of distribution positions of unacceptable products to enhance product inspection efficiency. When the products undergo 2D vision inspection, if there are three or fewer unacceptable products distributed adjacent to each other, compensation is performed on inspection stations where products are missing, thereby reducing the occurrence of situations where no products are conveyed into a 3D inspection area for inspection, and ensuring that the 3D inspection assembly can continuously perform surface quality inspection on the products. If it is detected that more than three acceptable products are adjacent to each other in the current stage of the products, the maximum conveying speed of the products is calculated, and product conveyance is accelerated, thus saving the time required for conveying the products from a 2D inspection area to the 3D inspection area, and improving product inspection efficiency.

Description

A 2D and 3D visual inspection device with a three-axis gantry mobile platform Technical Field

[0001] The present invention relates to the field of visual inspection technology, and in particular to a 2D and 3D visual inspection device with a three-axis gantry moving platform. Background Art

[0002] Visual inspection involves replacing the human eye with machines for measurement and judgment. This involves using machine vision products to convert captured objects into image signals, which are then transmitted to a dedicated image processing system. These signals are then converted into digital signals based on pixel distribution, brightness, color, and other information. The image processing system then performs various operations on these signals to extract the object's features. This analysis then controls on-site equipment based on the results, making it a valuable mechanism for production, assembly, and packaging. Visual inspection systems primarily employ two methods: One is 2D inspection, which uses industrial cameras to capture surface images. Computers then analyze these images using algorithms such as machine vision image analysis to automatically identify defects and assess surface quality. The other is 3D inspection, which utilizes laser triangulation, combining industrial cameras with linear lasers to capture deep defects and assess surface quality. Both inspection methods have their strengths. Currently, for products requiring three-dimensional inspection, the inspection process is typically divided into multiple stations, with the product undergoing 2D inspection followed by 3D inspection.

[0003] The product inspection process is that the products are first evenly distributed on the conveyor belt and moved horizontally, and then moved to the 2D inspection device area to inspect the surface quality of the products. If the product is unqualified, the product is directly pushed off the conveyor belt. If the product is qualified, the product is continued to be transported to the 3D inspection device area for product surface quality inspection, and the product is transported to different product unloading areas according to the inspection results. During 2D inspection, the products are always transported at equal distances, but after passing the 2D inspection, some products may be unqualified. Since unqualified products will be pushed directly off the conveyor belt, the subsequent product transportation will not be evenly distributed. This will easily lead to the situation where no products are transported for inspection in the 3D inspection area, but the 2D inspection is always carried out. In this way, there are no products in the 3D inspection area, which will cause the 3D inspection to be reduced, thereby reducing the efficiency of the entire product inspection work.

[0004] Summary of the Invention

[0005] The object of the present invention is to provide a 2D and 3D visual inspection device with a three-axis gantry mobile platform to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: a 2D and 3D visual inspection device with a three-axis gantry mobile platform, comprising a conveyor belt, a 2D inspection component, a 3D inspection component, a compensation component and a compensation control module, wherein the conveyor belt is used to drive the product to move, the 2D inspection component is arranged above the conveyor belt, the 2D inspection component is used to inspect the surface quality of the product, the 3D inspection component is arranged above the conveyor belt, the 3D monitoring device is used to detect the deep surface defects of the product, the compensation component is arranged between the 2D inspection component and the 3D inspection component, and the compensation component is located above the conveyor belt, the compensation component comprises a compensation head and a correction head, the compensation head is used to adjust the spacing between the products, the correction head is used to correct the position of the product, and the compensation control module is used to control the operation of the compensation component.

[0007] Furthermore, the compensation head includes a clamping jaw 1, a linear electric guide 1, a linear electric guide 2 and a linear electric guide 3. The linear electric guide 2 is vertically distributed on the top of the linear electric guide 1, and the linear electric guide 1 drives the linear electric guide 2 to move, and the linear electric guide 2 drives the linear electric guide 3 to move. The outer wall of the linear electric guide 3 is provided with a slider 1, and the linear electric guide 3 drives the slider 1 to move. The clamping jaw 1 is provided at the bottom of the slider 1, and the clamping jaw 1 moves synchronously with the slider 1. The inner side of the clamping jaw 1 is provided with an object detection sensor 1, and the clamping jaw 1 is used to grab the product.

[0008] Furthermore, the correction head includes a clamping jaw 2, a linear electric guide rail 4 and a connecting plate, one end of the connecting plate is fixedly connected to the slider 1, the linear electric guide rail 4 is located at the bottom of the connecting plate, a slider 2 is provided on the outer wall of the linear electric guide rail 4, the linear electric guide rail 4 drives the slider 2 to move, the clamping jaw 2 is provided at the bottom of the slider 2, the clamping jaw 2 moves synchronously with the slider 2, an object detection sensor 2 is provided on the inner side of the clamping jaw 2, and the clamping jaw 2 is used to correct the position of the product.

[0009] Furthermore, the 2D detection component includes a 2D vision camera and a three-axis gantry mobile platform. The three-axis gantry mobile platform drives the 2D vision camera to move, and the 2D vision camera is used to obtain surface image information of the product.

[0010] Furthermore, a pushing assembly is provided on the top of the conveyor belt on one side of the 2D detection assembly, and the pushing assembly is used to discharge products that fail the inspection. The pushing assembly includes a push plate and a cylinder. The push plate is fixed to the telescopic end of the cylinder, and a discharge port is provided on one side of the conveyor belt.

[0011] Furthermore, the 3D detection component includes a 3D vision camera and a three-axis gantry mobile platform 2, the three-axis gantry mobile platform 2 drives the 3D vision camera to move, and the 3D vision camera is used to obtain depth image information of the product.

[0012] Furthermore, the compensation control component includes a position sensor, a compensation calculation unit and an adjustment unit. The position sensor is used to detect the conveying position of the product, the compensation calculation unit is used to calculate the conveying rate of the conveyor belt, and the adjustment unit is used to adjust the distance between the correction head and the compensation head.

[0013] Furthermore, the specific steps of the compensation control component are:

[0014] Step S1: Receive the inspection results of the 2D inspection component, generate a conveying model, and predict the distribution location of unqualified products;

[0015] Step S2: If there are three or more consecutive unqualified products distributed adjacent to each other, the conveying speed of the conveyor belt is adjusted; if there are less than three unqualified products distributed adjacent to each other, the compensation head is controlled to grab the next qualified product to fill the position; if there are no unqualified products, the compensation head and the correction head are used to correct the position of the product.

[0016] Furthermore, in step S2,

[0017] If there are no unqualified products, the conveyor belt will transport the products at the set constant speed V, and adjust the distance between the compensation head and the correction head so that the distance between them is the same as the distance between two adjacent products. The two can correct the positions of two adjacent products at the same time.

[0018] If there are three or more consecutive unqualified products distributed adjacent to each other, the product delivery rate Va is calculated according to the following formula: Va=[S max , S min ] / (Dd)

[0019] Where D is the distance between two adjacent qualified products, S max It is the upper limit of the detection efficiency when the product is subjected to 2D visual inspection. min It is the lower limit of the inspection efficiency when the product undergoes 2D visual inspection;

[0020] According to the above calculation, the product delivery rate set [Va max , Va min ], at this time the delivery efficiency of the output product is Va min , adjust the conveying speed of the conveyor belt according to this value.

[0021] Furthermore, in step S2, if there are three or fewer unqualified products distributed adjacent to each other, the number of unqualified products is obtained, and the distance between the correction head and the compensation head is adjusted so that the distance between the two is the distance between two adjacent qualified products. The compensation head is controlled to grab the next qualified product and compensate it to the missing inspection station. When the correction head corrects the product, the inspection station is inspected again. If it detects an inspection station with missing products, the conveying rate of the conveyor belt is calculated and adjusted again.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention can adjust the product conveying process according to the distribution position of unqualified products after 2D inspection to improve the inspection efficiency of products. When there are three or fewer unqualified products distributed adjacently after the product passes the 2D visual inspection, a pair of grippers are used to grab the qualified products behind the inspection station of the missing products and compensate them to the inspection station of the missing products, so as to compensate the products to an equidistant distribution state, so as to avoid blanks in the 3D inspection area and reduce the situation where products are not conveyed for inspection in the 3D inspection area, so as to ensure that the 3D inspection component can continuously perform surface quality inspection on products and improve the overall inspection efficiency of products. If it is detected that there are three or more qualified products distributed adjacently in the products at the current stage, the qualified products can be grabbed by the grippers and compensated to the inspection station of the missing products. At the beginning, the maximum conveying speed that ensures that the product can complete 2D visual inspection can be calculated. Combined with the maximum adjustable rate of the conveyor belt, the speed of the conveyor belt is adjusted to accelerate the conveying of the product. This can save the time of conveying the product from the 2D inspection area to the 3D inspection area, and can further improve the inspection efficiency of the product; if it is determined that there are no unqualified products in the current stage of the product, the position of the passing product can be corrected by using clamp one and clamp two at the same time, so that the product is transported in the middle position, thereby ensuring the smooth progress of subsequent 3D inspection operations. The simultaneous correction of the two claws can not only improve the correction efficiency, but also maximize the utilization of resources, avoid the situation where the compensation head waits for work for a long time, and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] FIG1 is a schematic diagram of the overall three-dimensional structure of the present invention;

[0026] FIG2 is a schematic diagram of the three-dimensional structure of the present invention from another angle;

[0027] FIG3 is a schematic diagram of the three-dimensional structure of the compensation component of the present invention;

[0028] FIG4 is a schematic diagram of the distribution of products on the conveyor belt of the present invention;

[0029] In the figure: 1. Conveyor belt; 2. 2D detection component; 3. 3D detection component; 4. Compensation component; 5. Compensation head; 6. Correction head; 7. Gripper 1; 8. Linear electric guide 1; 9. Linear electric guide 2; 10. Linear electric guide 3; 11. Slider 1; 12. Gripper 2; 13. Linear electric guide 4; 14. Connecting plate; 15. Slider 2; 16. 2D vision camera; 17. Three-axis gantry mobile platform 1; 18. Pusher component; 19. Pusher plate; 20. Cylinder; 21. Unloading port; 22. 3D vision camera; 23. Three-axis gantry mobile platform 2. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Please refer to Figures 1 to 4. The present invention provides a technical solution: a 2D and 3D visual inspection device with a three-axis gantry mobile platform, including a conveyor belt 1, a 2D inspection component 2, a 3D inspection component 3, a compensation component 4 and a compensation control module, wherein the conveyor belt 1 is used to drive the product to move, the 2D inspection component 2 is arranged above the conveyor belt 1, the 2D inspection component 2 is used to inspect the surface quality of the product, the 3D inspection component 3 is arranged above the conveyor belt 1, the 3D monitoring device is used to detect deep surface defects of the product, the compensation component 4 is arranged between the 2D inspection component 2 and the 3D inspection component 3, and the compensation component 4 is located above the conveyor belt 1, the compensation component 4 includes a compensation head 5 and a correction head 6, the compensation head 5 is used to adjust the spacing between the products, the correction head 6 is used to correct the position of the product, and the compensation control module is used to control the operation of the compensation component 4.

[0032] The compensation head 5 includes a clamping jaw 7, a linear electric guide 8, a linear electric guide 2 9 and a linear electric guide 3 10. The linear electric guide 2 9 is vertically distributed on the top of the linear electric guide 8, and the linear electric guide 8 drives the linear electric guide 2 9 to move, and the linear electric guide 2 9 drives the linear electric guide 3 10 to move. The outer wall of the linear electric guide 3 10 is provided with a slider 11, and the linear electric guide 3 10 drives the slider 11 to move. The clamping jaw 7 is provided at the bottom of the slider 11, and the clamping jaw 7 and the slider 11 move synchronously. An object detection sensor 1 is provided on the inner side of the clamping jaw 7. The clamping jaw 7 is used to grab the product. An object detection sensor 1 is provided inside the clamping jaw 7. When the clamping jaw 7 is controlled to grab the item, if the item is not grabbed, the sensor will sound an alarm. When the clamping jaw 7 grabs the item, the slider 11 can be driven to move through the linear electric guide rail 3 10, thereby driving the clamping jaw 7 to move in the Z-axis direction. The linear electric guide rail 2 9 can control the clamping jaw 7 to move in the Y-axis direction. The linear electric guide rail 8 can drive the clamping jaw 7 to move in the X-axis, thereby realizing the three-axis displacement of the clamping jaw 7.

[0033] The correction head 6 includes a clamping jaw 2 12, a linear electric guide rail 4 13 and a connecting plate 14, one end of the connecting plate 14 is fixedly connected to the slider 11, the linear electric guide rail 4 13 is located at the bottom of the connecting plate 14, and a slider 2 15 is provided on the outer wall of the linear electric guide rail 4 13, and the linear electric guide rail 4 13 drives the slider 2 15 to move, the clamping jaw 2 12 is located at the bottom of the slider 2 15, the clamping jaw 2 12 and the slider 2 15 are displaced synchronously, and an object detection sensor 2 is provided on the inside of the clamping jaw 2 12, and the clamping jaw 2 12 is used to correct the position of the product. The object detection sensor 2 inside the clamping jaw 2 12 can send an alarm signal when the clamping jaw 2 12 does not clamp the object. The linear electric guide rail 4 13 can drive the slider 2 15 to move, thereby driving the clamping jaw 2 12 to move in the X-axis, and the linear electric guide rail 2 9 can simultaneously drive the clamping jaw 2 12 to move in the Y-axis when driving the slider 11 to move.

[0034] The 2D detection component 2 includes a 2D vision camera 16 and a three-axis gantry mobile platform 17. The three-axis gantry mobile platform 17 drives the 2D vision camera 16 to move. The 2D vision camera 16 is used to obtain surface image information of the product.

[0035] A pushing assembly 18 is provided at the top of the conveyor belt 1 on one side of the 2D detection assembly 2. The pushing assembly 18 is used to unload products that fail the inspection. The pushing assembly 18 includes a push plate 19 and a cylinder 20. The push plate 19 is fixed to the telescopic end of the cylinder 20. A discharge port 21 is provided on one side of the conveyor belt 1. The telescopic end of the cylinder 20 can drive the push plate 19 to move, so that the push plate 19 can push the product off the conveyor belt 1.

[0036] The 3D detection component 3 includes a 3D vision camera 22 and a three-axis gantry moving platform 23. The three-axis gantry moving platform 23 drives the 3D vision camera 22 to move. The 3D vision camera 22 is used to obtain depth image information of the product.

[0037] The compensation control component includes a position sensor, a compensation calculation unit and an adjustment unit. The position sensor is used to detect the conveying position of the product. The position sensor can be set on one side of the conveyor belt 1 to detect the distance between two connected qualified products. The compensation calculation unit is used to calculate the conveying rate of the conveyor belt 1. The adjustment unit is used to adjust the distance between the correction head 6 and the compensation head 5.

[0038] The specific steps of the compensation control component are:

[0039] Step S1: Receive the detection results of the 2D detection component 2, generate a conveying model, and predict the distribution location of unqualified products;

[0040] Step S2: If there are three or more consecutive unqualified products distributed adjacent to each other, the conveying speed of the conveyor belt 1 is adjusted; if there are less than three unqualified products distributed adjacent to each other, the compensation head 5 is controlled to grab the next qualified product to fill the position; if there are no unqualified products, the compensation head 5 and the correction head 6 are used to correct the position of the product.

[0041] In the step S2,

[0042] If there are no unqualified products, the conveyor belt 1 conveys the products at the set constant speed V, and adjusts the distance between the compensation head 5 and the correction head 6 so that the distance between them is the same as the distance between two adjacent products. The two can correct the positions of two adjacent products at the same time.

[0043] If there are three or more consecutive unqualified products distributed adjacent to each other, the product delivery rate Va is calculated according to the following formula: Va=[S max , S min ] / (Dd)

[0044] Where D is the distance between two adjacent qualified products, S max It is the upper limit of the detection efficiency when the product is subjected to 2D visual inspection.min It is the lower limit of the inspection efficiency when the product undergoes 2D visual inspection;

[0045] According to the above calculation, the product delivery rate set [Va max , Va min ], at this time the delivery efficiency of the output product is Va min , and adjust the conveying speed of conveyor belt 1 according to this value.

[0046] In step S2, if there are three or fewer unqualified products distributed adjacent to each other, the number of unqualified products is obtained, and the distance between the correction head 6 and the compensation head 5 is adjusted so that the distance between the two is the distance between two adjacent qualified products. The compensation head 5 is controlled to grab the next qualified product and compensate it to the missing inspection station. When the correction head 6 corrects the product, it inspects the inspection station again. If it detects an inspection station with a missing product, the conveying rate of the conveyor belt 1 is calculated and adjusted again.

[0047] The specific implementation method is as follows: when in use, the product is placed on the conveyor belt 1 at an equal distance from the loading end of the conveyor belt 1. The conveyor belt 1 will drive the product to move and transport the product to the 2D detection area. The surface quality of the product is detected by the 2D visual camera 16. If the product fails the inspection, the push plate is used to push the product off the conveyor belt 1. The unqualified product here falls into the unloading area through the unloading port 21, and the information of the unqualified product here is sent to the compensation control module. The information of the unqualified product sent is the product missing station, and the remaining qualified products continue to be transported to the 3D detection area. After the compensation control module receives the information of the unqualified product detected by the 2D detection component 2, it predicts the classification of the unqualified product. If it is determined that there are no unqualified products in the products of the current stage, it means that the products are equidistantly distributed. At this time, the distance between the correction head 6 and the compensation head 5 is adjusted to be equal to the distance between two adjacent products. At this time, the correction head 6 and the compensation head 5 can be used to correct the position of the passing products. The second clamping jaw 12 and the first clamping jaw 7 in the correction head 6 and the compensation head 5 can instantly clamp the passing products from both sides to the middle, so that the products are transported in the middle position, thereby ensuring the smooth progress of subsequent 3D inspection operations; if the information of unqualified products detected by the 2D inspection component 2 is received and it is determined that there are three or less (including three) unqualified products distributed adjacently in the products of the current stage, this The distance between the compensation head 5 and the correction head 6 can be adjusted so that the distance between the compensation head 5 and the correction head 6 is the distance between the adjacent qualified products on both sides of the inspection station of the missing product. At this time, the qualified products behind the inspection station of the missing product are grabbed by the clamping claw 7 and compensated to the inspection station of the missing product, and the qualified products in front of it are also qualified products. The products are compensated to an equidistant distribution state to avoid blanks in the 3D inspection area, ensure that the 3D inspection component 3 can continuously perform surface quality inspection on the product, and improve the overall inspection efficiency of the product; after receiving the information of the unqualified products detected by the 2D inspection component 2, it is determined that there are more than three (not including three) unqualified products distributed adjacently in the products at the current stage. When they are together, the distance between the qualified products on both sides of the inspection station of the missing product is measured, and then the maximum conveying speed is calculated to ensure that the product can complete 2D visual inspection. Combined with the adjustable maximum rate of conveyor belt 1, after the 3D inspection component 3 completes the inspection of all qualified products in front of the inspection station of the missing product, the speed of conveyor belt 1 is adjusted according to the maximum conveying speed of the product to accelerate the transportation of the product. This can save the time of transporting the product from the 2D inspection area to the 3D inspection area, and can further improve the inspection efficiency of the product. When there is a product to be inspected in the 3D inspection area, the speed of conveyor belt 1 is immediately adjusted to the set constant rate to ensure that the product can undergo 3D inspection operation.

[0048] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A 2D and 3D visual inspection device with a three-axis gantry mobile platform, characterized in that: The invention comprises a conveyor belt (1), a 2D detection component (2), a 3D detection component (3), a compensation component (4) and a compensation control module, wherein the conveyor belt (1) is used to drive the product to move, the 2D detection component (2) is arranged above the conveyor belt (1), the 2D detection component (2) is used to detect the surface quality of the product, the 3D detection component (3) is arranged above the conveyor belt (1), the 3D monitoring device is used to detect the deep surface defects of the product, the compensation component (4) is arranged between the 2D detection component (2) and the 3D detection component (3), and the compensation component (4) is located above the conveyor belt (1), the compensation component (4) comprises a compensation head (5) and a correction head (6), the compensation head (5) is used to adjust the spacing between the products, the correction head (6) is used to correct the position of the products, and the compensation control module is used to control the operation of the compensation component (4).

2. A 2D and 3D visual inspection device with a three-axis gantry mobile platform according to claim 1, characterized in that: The compensation head (5) comprises a clamping jaw 1 (7), a linear electric guide 1 (8), a linear electric guide 2 (9) and a linear electric guide 3 (10); the linear electric guide 2 (9) is vertically distributed on the top of the linear electric guide 1 (8), and the linear electric guide 1 (8) drives the linear electric guide 2 (9) to move, and the linear electric guide 2 (9) drives the linear electric guide 3 (10) to move, the outer wall of the linear electric guide 3 (10) is provided with a slider 1 (11), and the linear electric guide 3 (10) drives the slider 1 (11) to move, the clamping jaw 1 (7) is provided at the bottom of the slider 1 (11), the clamping jaw 1 (7) moves synchronously with the slider 1 (11), the inner side of the clamping jaw 1 (7) is provided with an object detection sensor 1, and the clamping jaw 1 (7) is used to grasp the product.

3. The 2D and 3D visual inspection device with a three-axis gantry mobile platform according to claim 2, characterized in that: The correction head (6) comprises a clamping jaw 2 (12), a linear electric guide rail 4 (13) and a connecting plate (14), one end of the connecting plate (14) is fixedly connected to the slider 1 (11), the linear electric guide rail 4 (13) is located at the bottom of the connecting plate (14), a slider 2 (15) is arranged on the outer wall of the linear electric guide rail 4 (13), the linear electric guide rail 4 (13) drives the slider 2 (15) to move, the clamping jaw 2 (12) is arranged at the bottom of the slider 2 (15), the clamping jaw 2 (12) moves synchronously with the slider 2 (15), the inner side of the clamping jaw 2 (12) is provided with an object detection sensor 2, and the clamping jaw 2 (12) is used to correct the position of the product.

4. The 2D and 3D visual inspection device with a three-axis gantry mobile platform according to claim 1, characterized in that: The 2D detection component (2) comprises a 2D visual camera (16) and a three-axis gantry mobile platform (17); the three-axis gantry mobile platform (17) drives the 2D visual camera (16) to move; the 2D visual camera (16) is used to obtain surface image information of the product.

5. The 2D and 3D visual inspection device with a three-axis gantry mobile platform according to claim 4, characterized in that: A pushing assembly (18) is provided at the top of the conveyor belt (1) on one side of the 2D detection assembly (2), and the pushing assembly (18) is used to discharge products that fail the detection. The pushing assembly (18) comprises a pushing plate (19) and a cylinder (20), and the pushing plate (19) is fixedly arranged at the telescopic end of the cylinder (20). A discharge port (21) is provided on one side of the conveyor belt (1).

6. The 2D and 3D visual inspection device with a three-axis gantry mobile platform according to claim 1, characterized in that: The 3D detection component (3) comprises a 3D vision camera (22) and a three-axis gantry mobile platform (23); the three-axis gantry mobile platform (23) drives the 3D vision camera (22) to move; and the 3D vision camera (22) is used to obtain depth image information of the product.

7. The 2D and 3D visual inspection device with a three-axis gantry mobile platform according to claim 1, characterized in that: The compensation control component comprises a position sensor, a compensation calculation unit and an adjustment unit, wherein the position sensor is used to detect the conveying position of the product, the compensation calculation unit is used to calculate the conveying rate of the conveyor belt (1), and the adjustment unit is used to adjust the distance between the correction head (6) and the compensation head (5).

8. The 2D and 3D visual inspection device with a three-axis gantry mobile platform according to claim 7, characterized in that: The specific steps of the compensation control component are: Step S1, receiving the detection results of the 2D detection component (2), generating a conveying model, and predicting the distribution location of unqualified products; Step S2: if there are three or more consecutive unqualified products distributed adjacent to each other, the conveying speed of the conveyor belt (1) is adjusted; if there are less than three unqualified products distributed adjacent to each other, the compensation head (5) is controlled to grab the next qualified product to fill the position; if there are no unqualified products, the compensation head (5) and the correction head (6) are used to correct the position of the products.

9. A 2D and 3D visual inspection device with a three-axis gantry mobile platform according to claim 8, characterized in that: In the step S2, If there are no unqualified products, the conveyor belt (1) conveys the products at a set constant speed V, and adjusts the distance between the compensation head (5) and the correction head (6) so that the distance between the two is the same as the distance between two adjacent products, and the two can correct the positions of two adjacent products at the same time; If there are three or more consecutive unqualified products distributed adjacent to each other, the product delivery rate Va is calculated according to the following formula: Go=[S max ,S min ] / (Dd) Where D is the distance between two adjacent qualified products, d is the distance between adjacent equally distributed products, S max It is the upper limit of the inspection efficiency when the product is inspected by 2D vision. min It is the lower limit of the inspection efficiency when the product is subjected to 2D visual inspection; According to the above calculation, the product delivery rate set [Va max , Va min ], at this time the delivery efficiency of the output product is Va min , and the conveying speed of the conveyor belt (1) is adjusted according to this value.

10. A 2D and 3D visual inspection device with a three-axis gantry mobile platform according to claim 9, characterized in that: In the step S2, if there are three or less unqualified products distributed adjacent to each other, the number of unqualified products is obtained, the distance between the correction head (6) and the compensation head (5) is adjusted, and the compensation head (5) is controlled to grab a qualified product and compensate it to the missing inspection station. When the correction head (6) is used to correct the product, the inspection station is inspected again. If it detects an inspection station with a missing product, the conveying rate of the conveyor belt (1) is calculated and adjusted again.

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