Object appearance detection system with posture detection and control method thereof

An object appearance detection system with posture detection, which is used for a conveying production line including an input end where an object to be detected enters the conveying production line and an output end where the object to be detected exits the conveying production line, comprising:

• a first fixing frame disposed on the output end;
• a remote imaging device disposed on the first fixing frame and configured to capture a back image of the object to be detected in a surface detection position;
• a detection platform having a first installation surface and a second installation surface, the first installation surface being in contact with and perpendicular to the second installation surface, the second installation surface facing the conveying production line;
• a first sensor disposed adjacent to the input end, located on an edge of the first installation surface adjacent to the conveying production line, and configured to sense the object to be detected on the conveying production line;
• a second sensor spaced apart from the first sensor, disposed adjacent to the input end, located on the edge of the first installation surface adjacent to the conveying production line, and configured to sense the object to be detected on the conveying production line;
• a robotic arm disposed adjacent to the output end, located on the first installation surface, close to the conveying production line, and configured to obtain the object to be detected on the conveying production line to move the object to be detected to a posture detection position and to move and straighten the object to be detected to a surface detection position according to a posture detection result;
• a posture detection imaging device disposed adjacent to the output end, located on an edge of the second installation surface close to the conveying production line, and configured to capture a posture detection image of the object to be detected when the robotic arm moves the object to be detected to the posture detection position;
• a posture detection board disposed vertically above the posture detection imaging device, and used for posture detection of the object to be detected;
• a second fixing frame disposed on the first installation surface;
• a plurality of photographing devices disposed on the second fixing frame respectively, and configured to capture a front image, a left-side image, a right-side image, a top image and a bottom image of the object to be detected in the surface detection position respectively;
• and
• a controlling and computing device connecting to the conveying production line, the remote imaging device, the first sensor, the second sensor, the robotic arm, the posture detection imaging device, and the plurality of photographing devices, and configured to perform calculations on information received from the first sensor, the second sensor, and the posture detection imaging device to control operation of the conveying production line and the robotic arm, and to receive the back image, the front image, the left-side image, the right-side image, the top image and the bottom image of the object to be detected from the remote imaging device and the plurality of photographing devices to perform surface defect detection on the object to be detected.