阅读说明：本技术 自动视觉检测系统及检测方法 (Automatic vision detection system and detection method ) 是由 林存德 邹添裕 应灿 侯帮福 于 2021-06-23 设计创作，主要内容包括：本发明公开了一种自动视觉检测系统及检测方法,包括进料装置、机械手、图像采集装置、产品修整装置和工业计算机,进料装置用于将待测产品传送至机械手工作范围,进料装置包括识别器,用以识别与待测产品对应的标识,工业计算机通过标识调取与待测产品相关的产品信息,机械手用于执行工业计算机发出的操作指令,产品修整装置用于执行工业计算机发出的修整指令,排除待测产品上妨碍后续图像采集的待修整部位,图像采集装置用于执行工业计算机发出的图像采集指令,工业计算机在接收到图像采集装置采集的图像后,根据图像进行检测。自动视觉检测系统能够按照预设产品修整方案自动对待测产品修整,切除影响检测结果的部位,再进行后续图像采集和检测。(The invention discloses an automatic visual detection system and a detection method, which comprises a feeding device, a mechanical arm, an image acquisition device, a product finishing device and an industrial computer, wherein the feeding device is used for conveying a product to be detected to the working range of the mechanical arm, the feeding device comprises a recognizer used for recognizing an identifier corresponding to the product to be detected, the industrial computer calls product information related to the product to be detected through the identifier, the mechanical arm is used for executing an operation instruction sent by the industrial computer, the product finishing device is used for executing a finishing instruction sent by the industrial computer and eliminating a part to be finished, which obstructs subsequent image acquisition, on the product to be detected, the image acquisition device is used for executing an image acquisition instruction sent by the industrial computer, and the industrial computer carries out detection according to the image after receiving the image acquired by the image acquisition device. The automatic vision detection system can automatically trim the product to be detected according to a preset product trimming scheme, cut off the part influencing the detection result, and then perform subsequent image acquisition and detection.)

1. An automatic visual detection system is used for detecting products and is characterized by comprising a feeding device, a mechanical arm, an image acquisition device, a product finishing device and an industrial computer, wherein the feeding device, the mechanical arm, the image acquisition device and the product finishing device are respectively in communication connection with the industrial computer;

the feeding device is used for conveying a product to be tested to the working range of the manipulator, the feeding device comprises an identifier, the identifier is used for identifying an identifier corresponding to the product to be tested, and the industrial computer calls product information related to the product to be tested through the identifier;

the manipulator is used for executing an operation instruction sent by the industrial computer, and comprises the steps of transferring the product to be detected to the product trimming device, transferring the product to be detected from the product trimming device to a detection area of the image acquisition device, and changing the image acquisition posture of the product to be detected in the image acquisition process;

the product trimming device is used for executing a trimming instruction sent by the industrial computer and eliminating a part to be trimmed, which obstructs subsequent image acquisition, on the product to be measured;

the image acquisition device is used for executing an image acquisition instruction sent by the industrial computer, acquiring images of the product to be detected in different postures, and sending the acquired images to the industrial computer;

the industrial computer is configured to receive the product information sent by the feeding device, determine a specific part to be trimmed and the image acquisition posture according to the product information, send the operation instruction to the manipulator, enable the manipulator to transfer the product to be inspected to the product trimming device, send the trimming instruction to the product trimming device after the product to be inspected is in place in the product trimming device, remove the part to be trimmed, enable the manipulator to transfer the product to be inspected to the detection area, send the image acquisition instruction to the image acquisition device, enable the manipulator to change the image acquisition posture of the product to be inspected during image acquisition, and detect the product to be inspected according to the image after receiving a plurality of images sent by the image acquisition device, and records the relevant detection data.

2. The automated visual inspection system of claim 1, wherein: the product to be detected is loaded on a specific jig, the jig is provided with a two-dimensional code as the identification, and the recognizer is a code scanner.

3. The automated visual inspection system of claim 1, wherein: the product finishing device is a laser cutting device.

4. The automated visual inspection system of claim 1, wherein: the image acquisition device comprises a plurality of industrial cameras and a plurality of light sources, and the industrial computer selects the appropriate industrial cameras and the light sources according to the product information.

5. The automated visual inspection system of claim 1, wherein: the industrial computer comprises a display for displaying the acquired images and the related detection data in real time, so that the operation condition can be conveniently monitored manually.

6. The automated visual inspection system of claim 1, wherein: the laser signal calibration device is characterized by further comprising a calibration device, the mechanical arm is placed on a machine table, the calibration device is in communication connection with the industrial computer and comprises a laser signal transmitter fixed on the machine table and a laser probe arranged on the mechanical arm, and when the laser signal is received by the laser probe, the calibration of the mechanical arm is completed.

7. An automated visual inspection method for inspecting a product by an automated visual inspection system, comprising the steps of:

placing a product to be tested on a feeding device, wherein the feeding device comprises an identifier, the identifier identifies an identifier on the product to be tested, and an industrial computer calls product information of the product to be tested, which is associated with the identifier;

the industrial computer determines a specific product finishing scheme and an image acquisition scheme corresponding to the product to be detected according to the product information;

the manipulator moves the product to be detected to a product trimming device, and the product trimming device trims the product to be detected according to the product trimming scheme so as to remove the part to be trimmed;

the manipulator moves the trimmed product to be detected to a detection area where an image acquisition device is located, the image acquisition device acquires images of the trimmed product to be detected according to the image acquisition scheme, in the process, the industrial computer controls the manipulator to operate the product to be detected, so that the product to be detected is in different image acquisition postures, and the image acquisition device acquires images of the product to be detected in different image acquisition postures;

according to the image collected by the image collecting device, the industrial computer detects the product to be detected, records detection data, compares the detection data with the product information of the product to be detected, and judges whether the detection requirements are met.

8. The automated visual inspection method of claim 7, wherein: the image acquisition device comprises a plurality of industrial cameras and a plurality of light sources which are correspondingly configured, different detection areas are correspondingly established, the industrial computer selects the appropriate industrial cameras and the light sources according to the product information, and the manipulator transfers the product to be detected to the selected industrial cameras and the detection areas corresponding to the light sources.

9. The automated visual inspection method of claim 8, wherein: after the industrial computer receives various different product information in the detection of the same batch, the industrial computer selects different industrial cameras and different light sources according to the product information, so that the detection area of the image acquisition device meets the detection requirement of the product to be detected, and the manipulator transfers the corresponding products to be detected to the corresponding detection areas.

10. The automated visual inspection method of claim 7, wherein: after the primary detection process is completed, the industrial computer sends a calibration instruction to a calibration device so that the mechanical arm can accurately return to an initial position, a laser signal transmitter on a machine table of the automatic vision detection system and a probe on the mechanical arm are started, position coordinates of the laser signal transmitter and the probe are obtained, the industrial computer sends an instruction to the mechanical arm according to the position coordinates so that the mechanical arm drives the probe to move towards the laser signal transmitter, and after the probe receives a laser signal, calibration is completed.

11. The automated visual inspection method of claim 7, wherein: the product to be detected is a section of terminal material belt with a plurality of electric connector terminals, wherein any two adjacent electric connector terminals are at least partially overlapped with each other in a specific detection view angle, the terminal material belt is also provided with a carrier belt part and a plurality of branch parts connected to one side of the carrier belt part, each electric connector terminal is connected with the carrier belt part through one branch part, after the industrial computer acquires the information that the product is the terminal material belt from the feeding device, the industrial computer determines that the part to be trimmed is a part of the branch parts and the electric connector terminals which are correspondingly connected, in the following step, the industrial computer sends out corresponding trimming instructions to enable the manipulator and the product trimming device to be matched with each other, cuts off part of the branch parts and removes corresponding part of the electric connector terminals, so that the remaining plurality of electrical connector terminals do not overlap each other.

12. An automated visual inspection method for inspecting a product by an automated visual inspection system, comprising the steps of:

placing a product to be tested on a feeding device, wherein the feeding device comprises an identifier, the identifier identifies an identifier on the product to be tested, and an industrial computer calls product information of the product to be tested, which is associated with the identifier;

the industrial computer determines a specific image acquisition scheme corresponding to the product to be detected according to the product information;

the manipulator moves the untrimmed product to be detected to a detection area where an image acquisition device is located, the image acquisition device performs image acquisition on the product to be detected once according to an image acquisition scheme, in the process, the industrial computer controls the manipulator to operate the product to be detected, so that the product to be detected is in different image acquisition postures, and the industrial computer judges whether the product to be detected needs to be trimmed according to the image acquisition;

if the industrial computer judges that the product to be detected needs to be trimmed, a product trimming scheme is set through an input device of the industrial computer, the industrial computer controls the mechanical arm to move the product to be detected to a product trimming device, the product trimming device trims the product to be detected according to the product trimming scheme so as to remove a part to be trimmed, and the image acquisition device performs image acquisition again on the trimmed product to be detected; if the industrial computer judges that the product to be detected does not need to be trimmed, skipping the step of trimming the product;

according to the image collected by the image collecting device, the industrial computer detects the product to be detected, records detection data, compares the detection data with the product information of the product to be detected, and judges whether the detection requirements are met.

13. The automated visual inspection system of claim 12, wherein: the industrial computer also comprises a display used for displaying the acquired images and the related detection data in real time so as to facilitate manual monitoring of the operation condition.

14. The automated visual inspection system of claim 12, wherein: the image acquisition device comprises a plurality of industrial cameras and a plurality of light sources which are correspondingly configured, different detection areas are correspondingly established, the industrial computer selects the appropriate industrial cameras and the light sources according to the product information, and the manipulator transfers the product to be detected to the selected industrial cameras and the detection areas corresponding to the light sources.

15. The automated visual inspection system of claim 12, wherein: the product to be detected is a section of terminal material belt with a plurality of electric connector terminals, the terminal material belt is further provided with a carrier belt part and a plurality of branch parts connected to one side of the carrier belt part, each electric connector terminal is connected with the carrier belt part through one branch part, each branch part comprises a first part and a second part, the first part is connected with the carrier belt part, the first part and the second part are located on the same plane, the second part is connected with the electric connector terminals, the first part and the second part form an included angle with each other, so that the first part and the second part are not located on the same plane, a detection visual angle is perpendicular to the plane where the carrier belt part is located for image acquisition, the industrial computer judges that any two adjacent electric connector terminals are partially overlapped with each other in the detection visual angle according to images, the product to be detected needs to be trimmed, and the input device of the industrial computer is used for arranging the branch parts, wherein one quantity of the branch parts is separated from each other, and the branch parts are located in the first part A trimming scheme for cutting is performed.

[ technical field ] A method for producing a semiconductor device

The present invention relates to a vision inspection system and a vision inspection method, and more particularly, to an automatic vision inspection system and a vision inspection method for inspecting the external dimensions of a product.

[ background of the invention ]

Traditional product appearance detection and size measurement rely on the manual work to carry out visual inspection, including the location, the upset of the product that awaits measuring, the measurement of size, the judgement of defect etc. are carried out by the manual work, have measurement personnel's operating error, influence factors that detect the precision such as subjective error also have the operating efficiency low, factors that influence detection efficiency such as the monotonous repetition of work content.

Particularly, for some products with complex shapes, such as terminal material belts of electrical connectors, different parts of the products may overlap and shield each other, which affects machine vision detection, often requires manual trimming of the products in advance, and then the machine vision detection process can be performed, so that the efficiency of machine detection is limited by the efficiency of manual trimming.

Therefore, there is a need for an improved automatic vision inspection system and method to overcome the above problems.

[ summary of the invention ]

Aiming at the problems in the background art, the invention provides an automatic visual detection system and a detection method, which have the function of automatically trimming a product to be detected by a machine.

In order to achieve the purpose, the invention adopts the following technical means:

an automatic visual detection system is used for detecting products and comprises a feeding device, a mechanical arm, an image acquisition device, a product finishing device and an industrial computer, wherein the feeding device, the mechanical arm, the image acquisition device and the product finishing device are respectively in communication connection with the industrial computer; the feeding device is used for conveying a product to be tested to the working range of the manipulator, the feeding device comprises an identifier, the identifier is used for identifying an identifier corresponding to the product to be tested, and the industrial computer calls product information related to the product to be tested through the identifier; the manipulator is used for executing an operation instruction sent by the industrial computer, and comprises the steps of transferring the product to be detected to the product trimming device, transferring the product to be detected from the product trimming device to a detection area of the image acquisition device, and changing the image acquisition posture of the product to be detected in the image acquisition process; the product trimming device is used for executing a trimming instruction sent by the industrial computer and eliminating a part to be trimmed, which obstructs subsequent image acquisition, on the product to be measured; the image acquisition device is used for executing an image acquisition instruction sent by the industrial computer, acquiring images of the product to be detected in different postures, and sending the acquired images to the industrial computer; the industrial computer is configured to receive the product information sent by the feeding device, determine a specific part to be trimmed and the image acquisition posture according to the product information, send the operation instruction to the manipulator, enable the manipulator to transfer the product to be inspected to the product trimming device, send the trimming instruction to the product trimming device after the product to be inspected is in place in the product trimming device, remove the part to be trimmed, enable the manipulator to transfer the product to be inspected to the detection area, send the image acquisition instruction to the image acquisition device, enable the manipulator to change the image acquisition posture of the product to be inspected during image acquisition, and detect the product to be inspected according to the image after receiving a plurality of images sent by the image acquisition device, and records the relevant detection data.

Furthermore, the product to be detected is loaded on a specific jig, the jig is provided with a two-dimensional code as the identifier, and the identifier is a code scanner.

Further, the product finishing device is a laser cutting device.

Further, the image acquisition device comprises a plurality of industrial cameras and a plurality of light sources, and the industrial computer selects the appropriate industrial cameras and light sources according to the product information.

Further, the industrial computer comprises a display for displaying the collected images and the related detection data in real time, so as to facilitate manual monitoring of the operation condition.

The laser signal calibration device comprises a laser signal transmitter fixed on the machine table and a laser probe arranged on the manipulator, and when the probe receives the laser signal, the calibration of the manipulator is completed.

An automated visual inspection method for inspecting a product by an automated visual inspection system, comprising the steps of: placing a product to be tested on a feeding device, wherein the feeding device comprises an identifier, the identifier identifies an identifier on the product to be tested, and an industrial computer calls product information of the product to be tested, which is associated with the identifier; the industrial computer determines a specific product finishing scheme and an image acquisition scheme corresponding to the product to be detected according to the product information; the manipulator moves the product to be detected to a product trimming device, and the product trimming device trims the product to be detected according to the product trimming scheme so as to remove the part to be trimmed; the manipulator moves the trimmed product to be detected to a detection area where an image acquisition device is located, the image acquisition device acquires images of the trimmed product to be detected according to the image acquisition scheme, in the process, the industrial computer controls the manipulator to operate the product to be detected, so that the product to be detected is in different image acquisition postures, and the image acquisition device acquires images of the product to be detected in different image acquisition postures; according to the image collected by the image collecting device, the industrial computer detects the product to be detected, records detection data, compares the detection data with the product information of the product to be detected, and judges whether the detection requirements are met.

Further, the image acquisition device comprises a plurality of industrial cameras and a plurality of light sources which are correspondingly configured, different detection areas are correspondingly established, the industrial computer selects the appropriate industrial camera and the light source according to the product information, and the manipulator transfers the product to be detected to the selected detection area corresponding to the industrial camera and the light source.

Further, after the industrial computer receives a plurality of different product information in the same batch of detection, the industrial computer selects different industrial cameras and different light sources according to the product information, so that the detection area of the image acquisition device meets the detection requirement of the product to be detected, and the manipulator transfers the corresponding products to be detected to the corresponding detection areas.

Further, after the primary detection process is completed, the industrial computer sends a calibration instruction to a calibration device so that the manipulator can accurately return to an initial position, a laser signal transmitter located on a machine table of the automatic vision detection system and a probe located on the manipulator are started, position coordinates of the laser signal transmitter and the probe are obtained, the industrial computer sends an instruction to the manipulator according to the position coordinates so that the manipulator drives the probe to move towards the laser signal transmitter, and when the probe receives a laser signal, the calibration is completed.

Further, the product to be tested is a section of terminal material belt with a plurality of electrical connector terminals, wherein any two adjacent electrical connector terminals at least partially overlap each other in a specific detection viewing angle, the terminal material belt further has a carrier belt portion and a plurality of branch portions connected to one side of the carrier belt portion, each electrical connector terminal is connected with the carrier belt portion through one branch portion, after the industrial computer acquires information that the product is the terminal material belt from the feeding device, the industrial computer determines that a portion to be trimmed is a part of the branch portion and the corresponding connected electrical connector terminal, in the following step, the industrial computer sends a corresponding trimming instruction to enable the manipulator and the product trimming device to cooperate with each other, cuts off part of the branch portion, and removes the corresponding part of the electrical connector terminal, so that the remaining plurality of electrical connector terminals do not overlap each other.

An automated visual inspection method for inspecting a product by an automated visual inspection system, comprising the steps of: placing a product to be tested on a feeding device, wherein the feeding device comprises an identifier, the identifier identifies an identifier on the product to be tested, and an industrial computer calls product information of the product to be tested, which is associated with the identifier; the industrial computer determines a specific image acquisition scheme corresponding to the product to be detected according to the product information; the manipulator moves the untrimmed product to be detected to a detection area where an image acquisition device is located, the image acquisition device performs image acquisition on the product to be detected once according to an image acquisition scheme, in the process, the industrial computer controls the manipulator to operate the product to be detected, so that the product to be detected is in different image acquisition postures, and the industrial computer judges whether the product to be detected needs to be trimmed according to the image acquisition; if the industrial computer judges that the product to be detected needs to be trimmed, a product trimming scheme is set through an input device of the industrial computer, the industrial computer controls the mechanical arm to move the product to be detected to a product trimming device, the product trimming device trims the product to be detected according to the product trimming scheme so as to remove a part to be trimmed, and the image acquisition device performs image acquisition again on the trimmed product to be detected; if the industrial computer judges that the product to be detected does not need to be trimmed, skipping the step of trimming the product; according to the image collected by the image collecting device, the industrial computer detects the product to be detected, records detection data, compares the detection data with the product information of the product to be detected, and judges whether the detection requirements are met.

Furthermore, the industrial computer also comprises a display used for displaying the acquired images and the related detection data in real time so as to facilitate manual monitoring of the operation condition.

Further, the image acquisition device comprises a plurality of industrial cameras and a plurality of light sources which are correspondingly configured, different detection areas are correspondingly established, the industrial computer selects the appropriate industrial camera and the light source according to the product information, and the manipulator transfers the product to be detected to the selected detection area corresponding to the industrial camera and the light source.

Further, the product to be tested is a section of terminal material belt with a plurality of electric connector terminals, the terminal material belt further has a carrier belt portion and a plurality of branch portions connected to one side of the carrier belt portion, each electric connector terminal is connected with the carrier belt portion through one branch portion, each branch portion includes a first portion and a second portion, the first portion is connected with the carrier belt portion and located on the same plane, the second portion is connected with the electric connector terminals, the first portion and the second portion form an included angle with each other so that the first portion and the second portion are not located on the same plane, a detection viewing angle is perpendicular to the plane where the carrier belt portion is located for image acquisition, the industrial computer determines that any two adjacent electric connector terminals are partially overlapped with each other in the detection viewing angle according to an image, the product to be tested needs to be trimmed, and the input device of the industrial computer sets the branch portions at intervals of one number and located at the interval The first portion is a trimming scheme for cutting.

Compared with the prior art, the invention has the following beneficial effects:

(1) in some embodiments, before image acquisition, the automatic vision inspection system can automatically trim a product to be inspected according to a preset product trimming scheme, cut off a part to be trimmed which affects the inspection result, and then perform subsequent image acquisition and inspection.

(2) In some embodiments, the product to be detected does not have a preset product finishing scheme, and before image detection, the automatic visual detection system can indicate a part to be finished according to image acquisition information and can provide a function of editing and setting the product finishing scheme for monitoring personnel.

(3) Through with the product to be detected with the sign is correlated in advance, automatic vision detection system can distinguish its through scanning the sign is handling the product to be detected to further acquire the product information that the product to be detected corresponds, can be according to different types the product information correspondence of the product to be detected calls different detection program, can realize a tractor serves several purposes, the application scene that the adaptation is abundanter.

[ description of the drawings ]

FIG. 1 is a perspective view of an automated visual inspection system of the present invention;

FIG. 2 is a perspective view of another perspective of a portion of the configuration of the automated visual inspection system;

FIG. 3 is a schematic diagram of the connection of the components of FIG. 1;

FIG. 4 is a flow chart of an automated visual inspection method used by the automated visual inspection system shown in FIG. 1;

FIG. 5 is a schematic diagram of the product to be tested before trimming in FIG. 1;

FIG. 6 is a schematic diagram of trimming the product to be tested in FIG. 5;

FIG. 7 is a schematic view of the product to be tested in FIG. 5 after trimming;

FIG. 8 is a schematic diagram of image acquisition of the product to be tested in FIG. 7;

FIG. 9 is a flow chart of another embodiment of an automated visual inspection method.

The reference numbers illustrate:

feeding device 20 of automatic vision detection system 100 machine table 10

Ultrasonic cleaning device 23 for feeding track 21 recognizer 22

Hot air drying device 24 manipulator 30 image acquisition device 40

Industrial camera 41 light source 42 product finishing device 50

Display 62 of host 61 of industrial computer 60

Electric connector terminal 201 of product/terminal material belt 200 to be tested of input device 63

First portion 203a of branch 203 of carrier band portion 202

Second portion 203b of jig 300 marks 301

[ detailed description ] embodiments

For a better understanding of the objects, structure, features, and functions of the invention, reference should be made to the drawings and detailed description that follow.

As shown in fig. 1 to 3, an embodiment of an automatic vision inspection system 100 of the present invention for inspecting the appearance and measuring the dimensions of a product includes a machine table 10, a feeding device 20, a robot 30, an image capturing device 40, a product trimming device 50 and an industrial computer 60, wherein the industrial computer 60 is disposed inside the machine table 10, and the feeding device 20, the robot 30, the image capturing device 40 and the product trimming device 50 are disposed on the machine table 10 and are respectively connected to the industrial computer 60 in a communication manner.

As shown in fig. 1, fig. 2 and fig. 6, a product 200 to be tested needs to be pre-loaded on a fixture 300, and enters the automatic vision inspection system 100 together with the fixture 300, an identifier 301 is disposed on the fixture 300, the identifier 301 uniquely corresponds to the product 200 to be tested and product information thereof, and the product information corresponding to the product 200 to be tested may include a model, an application scenario, a size, a tolerance range, and the like. In this embodiment, the identifier 301 is a two-dimensional code, and in other embodiments, the two-dimensional code may be replaced by a bar code or other equivalent identifier 301 for machine vision recognition.

As shown in fig. 1 and 2, the feeding device 20 is configured to convey a product 200 to be tested to the vicinity of the manipulator 30, collect product information of the product 200 to be tested, and send the product information to the industrial computer 60. Specifically, the feeding device 20 includes a feeding track 21, an identifier 22 located above the feeding track 21, and an ultrasonic cleaning device 23 and a hot air drying device 24 located downstream of the feeding track 21. The feeding track 21 is used for conveying the product 200 to be tested. The identifier 22 is a scanner for scanning the two-dimensional code passing through the identifier 22 together with the product 200 to be tested, and the industrial computer 60 retrieves the product information associated with the product 200 to be tested according to the two-dimensional code. The ultrasonic cleaning device 23 is used for removing dirt from the product 200 to be tested, and the hot air drying device 24 is used for drying the cleaned product 200 to be tested.

As shown in fig. 1 and 2, the robot 30 is a six-axis robot 30, and is configured to execute an operation command issued by the industrial computer 60, where the operation command includes transferring the product 200 to be tested to the product trimming device 50, transferring the product 200 to be tested from the product trimming device 50 to the detection area of the image capturing device 40, changing the image capturing posture of the product 200 to be tested during image capturing, and moving the product 200 to be tested out of the detection area. Specifically, the manipulator 30 may pick and place the jig 300 by clamping, negative pressure suction, magnetic force suction, and the like, so as to indirectly pick and place the product 200 to be tested loaded on the jig 300.

As shown in fig. 1 and 2, the product trimming device 50 is configured to execute a trimming instruction sent by the industrial computer 60 to eliminate a portion to be trimmed on the product 200 to be trimmed, which obstructs subsequent image acquisition. In this embodiment, since the size of the portion to be trimmed is fine (less than 1 mm), in order to ensure the trimming accuracy, the product trimming device 50 is a laser cutting device. In other embodiments where the trimming accuracy requirement is not high, the product trimming device 50 may select other trimming methods, such as cutting the product 200 to be measured by using a mechanical cutter.

As shown in fig. 1 and fig. 2, the image capturing device 40 is configured to execute an image capturing instruction sent by the industrial computer 60, capture images of the product 200 to be tested in different postures, and send the captured images to the industrial computer 60. The image capturing device 40 has a plurality of detection areas, each of which is established by a specific industrial camera 41 and a corresponding light source 42, and is used for correspondingly detecting a specific product 200 to be tested, for example, the industrial camera 41 includes a fixed-focus large-view camera, a fixed-focus medium-view camera, and a fixed-focus small-view camera, and is correspondingly used for large-size, medium-size, and small-size products 200 to be tested, so as to avoid image capturing errors caused by camera zooming and zooming. During the operation of the automatic visual inspection system 100, depending on the amount of different product information collected by the feeding device 20, the image collecting device 40 may activate a plurality of inspection areas at the same time to inspect a plurality of products 200 to be inspected at one time; it is also possible to activate only one of the detection areas, detecting only one product 200 to be tested at a time.

As shown in fig. 1 and 3, the industrial computer 60 is configured to receive the product information sent by the feeding device 20, determine a specific portion to be trimmed and the image capturing posture according to the product information, send the operation instruction to the robot 30, cause the robot 30 to transfer the product 200 to be trimmed from the feeding device 20 to the product trimming device 50, send the trimming instruction (e.g., a cutting instruction) to the product trimming device 50 after the product 200 to be trimmed is in place in the product trimming device 50, and trim the portion to be trimmed. After removing the portion to be finished, the industrial computer 60 causes the manipulator 30 to transfer the product 200 to be measured to the detection area, and then sends the image acquisition instruction to the image acquisition device 40, and causes the manipulator 30 to change the image acquisition posture of the product 200 to be measured during the image acquisition process, so that the image acquisition device 40 can acquire images of the product 200 to be measured in different postures. After receiving the images sent by the image capturing device 40, the industrial computer 60 confirms the appearance of the product 200 to be tested according to the images, wherein the appearance includes but is not limited to determining whether the product 200 to be tested has burrs, defects, measurement related dimensions, and the like. Finally, the industrial computer 60 records the relevant inspection data and causes the robot 30 to move the inspected product out of the inspection area where the image capture device 40 is located.

Each time a detection process is completed, the manipulator 30 automatically returns to an initial position to stand by for a next detection process, the initial position refers to a calculation starting point of the industrial computer 60 for performing motion control on the manipulator 30, in order to enable the manipulator 30 to accurately return to the initial position and avoid errors from being accumulated and amplified through multiple detection processes, the automatic visual detection system 100 further has a calibration device (not numbered) which is in communication connection with the industrial computer 60 and comprises a laser signal transmitter (not numbered) fixed on the machine 10 and a laser probe (not numbered) arranged on the manipulator 30, and after the probe receives the laser signal, the calibration of the manipulator 30 is completed. Of course, the calibration device may be used in the process of associating the coordinates of the robot 30 with the coordinates of the image capturing device 40.

As shown in fig. 1 and 3, the industrial computer 60 includes a host 61, a display 62 and an input device 63, the display 62 and the input device 63 are both in communication connection with the host 61, the display 62 is integrally connected with the input device 63, the input device 63 may be a keyboard, a mouse or an operation handle, and the display 62 is used for displaying the acquired images and related detection data in real time, so as to facilitate the manual monitoring system to operate normally, and once an abnormality is found, the monitoring personnel intervenes and corrects the system through the input function of the input device 63. In other embodiments not shown, the display 62 is a touch screen and has an input function, that is, the display 62 and the input unit 63 are integrated into one.

Referring to fig. 4 to 8, a section of terminal material tape 200 having a plurality of electrical connector terminals 201 is used as a product 200 to be tested, and an automatic vision inspection method adopted by the automatic vision inspection system 100 of the present invention is described. The terminal tape 200 further includes a carrier portion 202 and a plurality of branches 203 connected to one side of the carrier portion 202, each of the electrical connector terminals 201 is connected to the carrier portion 202 through one of the branches 203, and the carrier portion 202 is a flat plate structure formed by a metal plate material of the terminal tape 200. The detection of the terminal material belt 200 belongs to sampling detection. In this embodiment, since the branch portion 203 includes a first portion 203a and a second portion 203b, the first portion 203a connects with the carrier strip portion 202 and both of them are located on the same plane, the second portion 203b connects with the electrical connector terminal 201, the first portion 203a and the second portion 203b form an angle with each other, so that both of them are not located on the same plane, and the distance between two adjacent electrical connector terminals 201 needs to satisfy the trend of miniaturization, so that any two adjacent electrical connector terminals 201 partially overlap each other in at least one specific detection viewing angle (for example, in the detection viewing angle perpendicular to the plane where the carrier strip portion 202 is located) (the overlapping portion is as shown by reference numeral X in fig. 5), the size to be tested corresponding to the overlapping portion or the existence of burr on the edge thereof cannot be detected, therefore, the trimming is needed, and the detection is convenient.

Before the start of the detection, the carrier tape unit 202 is manually or mechanically loaded on the corresponding specific jig 300, the jig 300 is clamped on the carrier tape unit 202 to obtain the best fixing effect, and the jig 300 is provided with a two-dimensional code associated with the terminal tape 200 in advance, wherein the two-dimensional code includes product information of the terminal tape 200. In the subsequent detection process, the manipulator 30 moves the terminal material tape 200 by grabbing the jig 300, so that the manipulator 30 is prevented from directly contacting and damaging the terminal material tape 200, and the accuracy of the detection result is ensured.

The detection process begins, and the automatic vision inspection system 100 performs the inspection of the terminal tape 200 by the inspection method 400 shown in fig. 4. The detection method 400 comprises the following process steps:

step S401: the product 200 to be tested is placed on the feeding device 20, the identifier 22 of the feeding device 20 identifies the identifier 301 on the product 200 to be tested, and the industrial computer 60 retrieves the product information of the product 200 to be tested, which is associated with the identifier 301.

Step S402: the industrial computer 60 determines a specific product finishing scheme and image capturing scheme corresponding to the product 200 to be tested according to the product information.

Step S403: the industrial computer 60 sends related instructions to the robot 30 and the product trimming device 50, the robot 30 moves the product 200 to be trimmed to the product trimming device 50, and the product trimming device 50 trims the product 200 to be trimmed according to a product trimming scheme, so as to exclude the portion to be trimmed.

Step S404: the industrial computer 60 sends related instructions to the manipulator 30 and the product trimming device 50, the manipulator 30 moves the trimmed product 200 to be measured to a detection area where the image acquisition device 40 is located, the image acquisition device 40 acquires an image of the trimmed product 200 to be measured according to an image acquisition scheme, in this process, the industrial computer 60 controls the manipulator 30 to operate the product 200 to be measured, so that the product 200 to be measured is in different image acquisition postures, and the image acquisition device 40 acquires images of the different image acquisition postures.

Step S405: according to the image collected by the image collecting device 40, the industrial computer 60 detects the product 200 to be detected, records the detection data, compares the detection data with the product information of the product 200 to be detected, and judges whether the detection requirements are met.

The steps are specifically described as follows:

in step S401, the terminal tape 200 is placed into the feeding device 20 along with the jig 300, and enters the automatic vision inspection system 100 through the feeding track 21, the identifier 22 scans the passing two-dimensional code and sends two-dimensional code information to the industrial computer 60, and the industrial computer 60 retrieves the product information of the associated terminal tape 200 according to the two-dimensional code.

In step S402, the industrial computer 60 accordingly knows that the product 200 to be tested is a specific terminal tape 200, and calls a preset detection program matched with the terminal tape 200, where the detection program includes an operation instruction executed by the manipulator 30, a trimming instruction (i.e., a product trimming scheme) executed by the product trimming device 50, an image capturing instruction (i.e., an image capturing scheme) executed by the image capturing device 40, and the like.

The product information is retrieved from a pre-established database by the industrial computer 60 by means of a digital key derived from the two-dimensional code.

In this embodiment, after the two-dimensional code is scanned, the terminal tape 200 is cleaned and dried. The terminal material belt 200 enters the water bath type ultrasonic cleaning device 23, oil stains and other dirt on the surface of the terminal material belt 200 are washed away, adverse effects of reflection, covering and the like on image acquisition quality caused by the dirt such as the oil stains and the like in subsequent image acquisition steps are avoided, and accuracy of visual detection is guaranteed. After the cleaning, the terminal material tape 200 enters the hot air drying device 24 to dry the moisture attached during the cleaning process. In other embodiments, the product 200 to be tested may be washed and dried before step S401.

After the cleaning and drying are completed, since at least parts of any two adjacent electric connector terminals 201 in the terminal material belt 200 are overlapped with each other in a specific detection visual angle, the detection result is affected by directly carrying out image acquisition, and the terminal material belt 200 needs to be trimmed first and then the image acquisition is carried out.

In step S403, the manipulator 30 executes the operation command, picks up the jig 300, and transfers the terminal tape 200 from the feeding device 20 to the product trimming device 50, where the product trimming device 50 is a laser cutting device. After the terminal material tape 200 is in place, the product trimming device 50 executes the trimming instruction, and emits laser L at a fixed point at a fixed time to cut off the preset portion to be trimmed, and at the same time, the manipulator 30 executes the operation instruction at this stage, so that the terminal material tape 200 moves equidistantly relative to the product trimming device 50, the position of the product 200 to be measured, which is irradiated by the laser, is changed, and the product trimming device 50 and the manipulator 30 cooperate with each other to finish trimming the terminal material tape 200 together.

The product trimming plan includes specific portions to be trimmed and trimming means, as shown in fig. 5 to 7, in this embodiment, with part of the branch portions 203 as the portions to be trimmed, the robot 30 holds the plane of the carrier tape portion 202 perpendicular to the laser beam L of the product trimming apparatus 50, cuts off at least one but less than three of every adjacent three branch portions 203, and irradiates the laser beam L at the first portions 203a of the branch portions 203 to be cut off, cuts off the trimmed branch portions 203 and the electrical connector terminals 201 connected thereto, and increases the pitch between the remaining electrical connector terminals 201 so that the remaining electrical connector terminals 201 no longer overlap each other. In order to facilitate the subsequent image acquisition, the remaining electrical connector terminals 201 are arranged at equal intervals along the carrier strip portion 202 according to a trimming scheme of cutting off the first portion 203a at intervals of one number of the branch portions 203.

After finishing trimming, the manipulator 30 executes the operation command to transfer the trimmed terminal tape 200 to a predetermined detection area in the image capturing device 40 in step S404. The image acquisition scheme comprises a preset industrial camera 41 and a light source 42 which need to be started, and a specific image acquisition gesture, wherein the image acquisition gesture is preset in the image acquisition scheme according to the detection standard of the specific product 200 to be detected. In this embodiment, the different image capturing postures are represented by different spatial angles of the product 200 to be measured relative to a preset reference system. As shown in fig. 8, the image capturing device 40 executes the image capturing instruction, starts the preset industrial camera 41 and the preset light source 42, and captures an image, and the manipulator 30 executes the operation instruction at this stage to change an image capturing posture of the terminal tape 200 in the field of view of the industrial camera 41, and the image capturing device 40 and the manipulator 30 cooperate with each other to complete image capturing of different postures of the terminal tape 200 together.

After the image acquisition is completed, step S405 is performed, the image acquisition device 40 sends the acquired image to the industrial computer 60, the industrial computer 60 performs appearance detection according to the image, including but not limited to determining whether the product 200 to be detected has burrs, defects, measurement of relevant dimensions, and the like, and meanwhile, the industrial computer 60 outputs the image and relevant detection results to the display 62 for manual monitoring of the operation condition. Finally, the industrial computer 60 records the relevant detection data, and compares the detection data with the preset data in the product information to obtain a conclusion whether the terminal material strap 200 is qualified. Finally, the industrial computer 60 makes the manipulator 30 move the terminal material tape 200 that has been detected out of the detection area where the image acquisition device 40 is located, and place the terminal material tape in a temporary storage area on the machine 10, so that the detection process is finished.

The industrial computer 60 can also bind the detection data with the two-dimensional code and upload the detection data to a database so as to conveniently count and trace the product quality.

After the primary detection process is completed, the industrial computer 60 sends a calibration instruction to the calibration device to enable the manipulator 30 to accurately return to the initial position, start the laser signal emitter and the probe, and obtain the position coordinates of the laser signal emitter and the probe, the industrial computer 60 sends an instruction to the manipulator 30 according to the position coordinates to enable the manipulator 30 to drive the probe to move towards the laser signal emitter, and after the probe receives the laser signal, the calibration is completed. After calibration is completed, the automated visual inspection system 100 may proceed to the next inspection process.

Through the above embodiments, the situation that the automatic visual inspection apparatus detects a product 200 to be inspected is described. In other embodiments, the automatic visual inspection apparatus can be used to inspect a plurality of different products 200 to be inspected simultaneously, and compared with the above embodiments, the automatic visual inspection apparatus is different in that: a plurality of products 200 to be detected are loaded on the same jig 300, the two-dimensional code simultaneously contains product information of the plurality of products 200 to be detected, and the industrial computer 60 calls a corresponding preset detection program capable of simultaneously processing the plurality of products 200 to be detected after obtaining the product information; in the product trimming stage, the product trimming device 50 and the manipulator 30 sequentially trim different products to be tested 200 according to the detection program; in the image acquisition stage, the image acquisition device 40 simultaneously starts a plurality of detection areas, and the image acquisition device 40 and the manipulator 30 sequentially or simultaneously acquire images of different products to be detected 200 according to the detection program; after receiving the images of the different products 200 to be tested, the industrial computer 60 sequentially or simultaneously detects the images and records the detection data respectively.

In the foregoing embodiments, the automatic visual inspection system 100 performs product trimming according to a preset inspection program, and in fact, not all embodiments necessarily perform product trimming. In other embodiments, if the product 200 to be detected does not affect the image acquisition, the product 200 to be detected does not need to be trimmed, and the "trimming-free" information is preset in the product information included in the two-dimensional code, and the industrial computer 60 can definitely know that the product 200 to be detected being processed does not need to be trimmed, and a preset detection program called according to the product information does not include a product trimming step.

In other embodiments, the preset product information does not explicitly inform the industrial computer 60 whether product finishing is required, in which case the detection method 400' as shown in fig. 9 is used:

step S401': the product 200 to be tested is placed on the feeding device 20, the identifier 22 of the feeding device 20 identifies the identifier 301 on the product 200 to be tested, and the industrial computer 60 retrieves the product information of the product 200 to be tested, which is associated with the identifier 301.

Step S402': the industrial computer 60 determines a specific product finishing scheme and image capturing scheme corresponding to the product 200 to be tested according to the product information.

The industrial computer 60 performs a determination step C1 according to the operation result of the step S402': the industrial computer 60 can directly obtain a product finishing plan according to the product information.

If the determination at C1 is yes, the following detection process is similar to the detection method 400, and sequentially includes: s403': the industrial computer 60 sends related instructions to the manipulator 30 and the product trimming device 50, the manipulator 30 moves the product 200 to be trimmed to the product trimming device 50, and the product trimming device 50 trims the product 200 to be trimmed according to a product trimming scheme, so as to eliminate the part to be trimmed; s404': the industrial computer 60 sends related instructions to the manipulator 30 and the image acquisition device 40, the manipulator 30 moves the product 200 to be detected to a detection area where the image acquisition device 40 is located, the image acquisition device 40 acquires images of the product 200 to be detected according to an image acquisition scheme, in the process, the industrial computer 60 controls the manipulator 30 to operate the product 200 to be detected, so that the product 200 to be detected is in different image acquisition postures, and the image acquisition device 40 acquires images of the different image acquisition postures; s405': according to the image collected by the image collecting device 40, the industrial computer 60 detects the product 200 to be detected, records the detection data, compares the detection data with the product information of the product 200 to be detected, and judges whether the detection requirements are met.

If the determination at C1 is "no", the subsequent step proceeds to S404', and then the industrial computer 60 performs a determination step C2 according to the operation result at step S404': the industrial computer 60 determines from the image whether trimming of the product 200 to be tested is required. If the judgment result of C2 is yes, the subsequent steps sequentially perform S403', S404' and S405', that is, perform product trimming, perform image acquisition on the trimmed product 200 to be detected, and finally complete detection. If the decision at C2 is "no", the subsequent steps directly perform detection at S405' from the image acquired before C2, skipping S403' and S404 '.

The automatic visual detection system and the detection method have the following beneficial effects:

(1) in some embodiments, before image acquisition, the automatic vision inspection system 100 can automatically trim the product 200 to be inspected according to a preset product trimming scheme, cut off a portion to be trimmed that affects the inspection result, and then perform subsequent image acquisition and inspection.

(2) In some embodiments, the product 200 to be inspected does not have a preset product finishing scheme, and the automatic vision inspection system 100 can indicate a part to be finished according to the image acquisition information before performing image inspection, and can provide a function of editing and setting the product finishing scheme for a monitoring person.

(3) Through with the product 200 that awaits measuring with sign 301 is associated in advance, automatic vision detection system 100 can distinguish its handling through scanning sign 301 the product 200 that awaits measuring to further acquire the product information that the product 200 that awaits measuring corresponds can be according to different types the product information of the product 200 that awaits measuring corresponds and calls different detection program, can realize a tractor serves several purposes, the application scene that the adaptation is abundanter.

(4) The image acquisition device 40 has a plurality of detection areas established by a plurality of industrial cameras 41 and light sources 42, can detect a plurality of products to be detected 200 at the same time, and is efficient.

The above detailed description is only for the purpose of illustrating the preferred embodiments of the present invention, and not for the purpose of limiting the scope of the present invention, therefore, all technical changes that can be made by applying the equivalent contents of the present specification and drawings are included in the scope of the present invention.