Appearance detecting method and device based on automatic route planning

The invention provides an appearance detecting method based on automatic route planning. The appearance detecting method is applied to an appearance detecting system. The appearance detecting method comprises the steps that the deviation position of a part to be detected is firstly determined, then a motion route of a multi-shaft motion mechanism is planned in real time according to the deviationposition, the multi-shaft motion mechanism and a shooting device are controlled to move according to the planned motion route, so that the shooting device passes through areas to be detected of the part to be detected in the moving process and is controlled to perform shooting at a preset shooting moment in the moving process so as to obtain multiple to-be-detected images, finally detection itemsare identified in the to-be-detected images, and whether the detection items pass detection or not is judged. By adopting the appearance detecting method, the deviation position of the part to be detected is automatically dete