CN115343289A - Automatic scratch detection system and method for whole automobile assembly pit package - Google Patents
Automatic scratch detection system and method for whole automobile assembly pit package Download PDFInfo
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- G01N21/84—Systems specially adapted for particular applications
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- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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Abstract
The invention relates to an automatic scratch detection system and method for an automobile general assembly whole pit package. The invention relates to the technical field of finished vehicle defect detection, and the system comprises: the device comprises an industrial robot, a measuring module, a fixed side head, a control system and a plate chain speed measuring device; the plate chain speed measuring device is used for correcting the plate chain speed value; the measuring module is used for measuring vehicle contour data, sending the measured data to the control system and establishing a virtual coordinate system of the vehicle body position and posture; the fixed side head is used for measuring the position of the vehicle and feeding the measured position back to the control system, and the control system starts corresponding detection according to the position of the vehicle; the industrial robot is used for collecting and detecting defects of the vehicle and transmitting collected data to the control system.
Description
Technical Field
The invention relates to the technical field of whole vehicle defect detection, in particular to an automatic scratch detection system and method for a whole vehicle pit package of an automobile final assembly.
Background
The defects of the paint surface of the automobile body mainly comprise scratches, dirty spots, polished shadows, less paint, sagging and the like. And the scratch is the most concerned when people lift or test the car. And in the inspection, the scratch is only large and can be easily seen by naked eyes.
Scratches are generated on a new vehicle due to various reasons, and the surface of the vehicle body is possibly scratched by metal parts on staff in the production and assembly processes; the painted surface scratch of the vehicle door may be caused by scratch when the vehicle door is assembled with a vehicle body by a worker. Under the common condition, if the scratch is obvious, the scratch is generally found in a quality auditing link and can not be finally delivered out of a factory; however, in the case that some scratches are not obvious, workers are not careful enough, or the quality of the detail is not strictly qualified by the manufacturer, the vehicle with the small defects may be finally introduced into the 4S shop. The dirty spots on the paint surface of the vehicle body can be the dust attached to the surface of the vehicle body in the paint spraying process of the vehicle, so that a little of projection is formed on the surface of the vehicle body after the paint is sprayed; similar to the situation that dust on the surface of a screen is not cleaned when people apply a film to a mobile phone, dirty spots on the painted surface of a car body are difficult to find compared with the film applied to the mobile phone. The finish polishing shadow is a defect type which is most difficult to detect, the polishing shadow appears on the surface of the vehicle body, and the surface of the defect appears very smooth compared with the surrounding finish by carefully looking, so that the vehicle looks like a mirror. The paint shortage defect is a defect caused by uneven paint spraying or other objects touching the paint surface under the condition that the paint surface is not dry, and the paint surface at the defect is obviously different from the surrounding area through careful observation; the touch with hands can also feel the foreign body. The sagging defect of the paint surface is a relatively common defect, and contrary to less paint, the sagging is a defect of the paint surface caused by excessive local paint liquid, after the paint liquid is dried, various irregular-shaped bulges can be generated on the surface of the vehicle paint, the attractiveness of the vehicle paint surface is influenced,
before the whole vehicle is off-line, in order to ensure the off-line quality, the appearance of the whole vehicle is finally confirmed by quality assurance, and the off-line vehicle type is ensured to have no pit bag scratch, at present, in various large whole vehicle factories, the traditional manual visual detection method is still used, so that the detection of the appearance quality is realized, and the following pain points exist: (1) the whole vehicle needs to be inspected, the paint surface area is large, the distribution is wide, and the working time is long in comprehensive inspection; (2) the appearance inspection of the whole vehicle has a visual field blind area, the lower part of the whole vehicle needs to be stooped, and the top of the vehicle cannot be comprehensively inspected; (3) visual fatigue is easy to occur after manual long-time inspection, the defect judgment is completely carried out by personnel in charge, and the risk of missed inspection exists.
The scratch problem of the whole vehicle pit package is mainly influenced by the total assembly DPU, and accounts for more than 25% of all quality problems. The finished automobile paint surface appearance detection is mainly subjective judgment of human eyes at present, the detection precision is low, and the detection standard is not clear. In order to improve the online control capability of the pit and bag scratch problem, an automatic pit and bag scratch detection station is planned to be arranged in a final assembly workshop to detect the appearance of the finished automobile paint surface. The invention mainly applies a visual camera to cooperate with an industrial robot, an industrial personal computer and a follow-up system to realize the detection of the scratch problem of the paint pit cover of the whole vehicle.
At present, as shown in fig. 1, the most similar scheme of the invention is to apply a fixed gantry mechanism to detect a passing whole vehicle, and in the detection process, a vision system is required to grab the paint surface of the passing vehicle → recognize by vision photographing → transmit the photographing result back to an industrial personal computer for rough inspection comparison → feed the comparison result back to the robot, and alarm recording is performed on the unqualified paint surface.
Patent document 1 (CN 114627378 a): the invention relates to paint surface detection equipment, in particular to portable paint surface detection equipment and a detection method based on images; the paint surface detection equipment comprises a detachable supporting device; one end of the rotary telescopic device is arranged on the detachable supporting device, and the other end of the rotary telescopic device can extend in a direction far away from the detachable supporting device; and the image acquisition device is arranged at the other end of the rotary telescopic device and acquires paint surface images at one or more angles. The portable image-based paint detection equipment is detachably arranged on the bearing object, the direction is adjusted by moving the bearing object, and the angle and the position between the image acquisition device and the detected vehicle are adjusted by using the rotary telescopic device, so that a plurality of paint images at different angles can be acquired.
Patent document 2 (CN 207596060U): the utility model provides a paint surface detection equipment, include: the product conveying mechanism to be detected is used for conveying a product to be detected to a station to be detected; the grabbing mechanism is used for grabbing a product to be detected at a station to be detected and transferring the product to be detected to a first detection station; the first detection camera is used for photographing the front side of the product to be detected at the first detection station; the detection conveying mechanism is used for conveying a product to be detected from the first detection station to the second detection station; the second detection camera is used for photographing the back face of the product to be detected at the second detection station, and the paint surface detection equipment can efficiently, automatically and accurately detect the paint surface of the product.
Patent document 3 (CN 209841868U): the utility model provides a paint surface detection device, which relates to the technical field of automobile detection and comprises a driving mechanism, an integrated mechanism, an actuating mechanism and a detection mechanism; the integrated mechanism can be driven to complete the motion of at least one degree of freedom through the driving mechanism, the detection mechanisms correspondingly connected can be driven to complete the rotation of a plurality of degrees of freedom through each actuating mechanism, the detection mechanisms can be driven to be in normal contact with the painted surface through the combined action of the driving mechanism and the actuating mechanisms, the actuating mechanisms and the detection mechanisms are arranged in plurality, when the painted surface detection device starts to operate, the detection of a plurality of detection points of a vehicle is completed through the plurality of detection mechanisms, and the driving mechanism and the actuating mechanisms operate through mechanical parts, so that the technical problems of low vehicle detection efficiency and high manual labor intensity in the prior art can be solved; a plurality of work flows can be carried out simultaneously, the workload of detection of the old motor vehicle is effectively reduced, and the method is more suitable for popularization and use.
The prior invention has the following disadvantages: various irregular defects (such as convex lines, scratches and the like) are easy to cause missed detection in the other direction only by using horizontal stripes, and the problem of paint surface has the risk of flowing out.
Disclosure of Invention
The invention overcomes the defects of the prior art, avoids the defects from being judged by subjective judgment of personnel through a stripe light reflection flaw high-definition shooting and a core algorithm, adopts automatic equipment detection, avoids the problems that visual field blind areas exist in manual detection, the bottom of the whole vehicle needs to be stooped, the top of the vehicle cannot be comprehensively detected and the like, and particularly comprises the following scheme:
the invention provides an automatic scratch detection system and method for an automobile general assembly whole pit package, and the invention provides the following technical scheme:
an automatic scratch detection system for an automobile assembly whole pit package, the system comprising: the device comprises an industrial robot, a measuring module, a fixed side head, a control system and a plate chain speed measuring device;
the plate chain speed measuring device is used for correcting the plate chain speed value;
the measuring module is used for measuring vehicle contour data, sending the measured data to the control system and establishing a virtual coordinate system of the vehicle body position and posture;
the fixed side head is used for measuring the position of the vehicle and feeding the measured position back to the control system, and the control system starts corresponding detection according to the position of the vehicle;
the industrial robot is used for collecting and detecting defects of the vehicle and transmitting collected data to the control system.
Preferably, after the fixed side head detects that the vehicle enters the plate link chain, the plate link chain speed measuring device measures a plate link chain speed value, feeds the measured value back to the control system, and the control system adjusts the plate link chain speed value.
Preferably, the measuring module adopts four 3D contour sensors, and the measured attitude virtual coordinate system data is simultaneously sent to the industrial robot.
Preferably, four industrial robots are arranged, and the industrial robots respectively detect whether the front, the left side, the right side, the top and the tail of the vehicle have defects.
Preferably, the mechanical arm or the fixed frame of the industrial robot drives a vision module to capture the sampling point on the surface of the detected vehicle, project the stripe light to the detection surface of the vehicle body through a large-size stripe screen during shooting, and collect the reflected stripe image through an imaging lens camera.
Preferably, the industrial robot performs pose adjustment according to the pose virtual coordinate system data to detect the vehicle.
An automatic scratch detection method for an automobile assembly whole vehicle pit package comprises the following steps:
step 1: starting an automatic scratch detection system for the whole automobile trunk assembly pit package to correct the position of the automobile;
and 2, step: the automatic scratch detection system for the whole automobile trunk assembly pit package is used for photographing a detection surface and detecting the defects of the automobile;
and 3, step 3: establishing a manual detection defect library according to the manual detection defect data, and finishing and classifying the collected data to perfect the defect library by continuously accumulating appearance defects;
and 4, step 4: and comparing the defect detection result of the vehicle with a manual detection defect library, judging the defect and outputting the detection result.
Preferably, the defect detection in step 2 is specifically:
step 2.1: the method comprises the steps of dividing a model into a plurality of discrete points by reading a 3d model of the automobile, then removing and screening the discrete points according to the size of an object space imaging view field of n sets of imaging lens camera sets, wherein the removing and screening are carried out according to the distance between two points, and when the distance between the two points is smaller than or equal to half of the size of the object space view field, the same view field coverage range point is reserved; when the distance between the two points exceeds the half size of the object space view field, the two points are reserved as different view field coverage range points; obtaining a series of sampling points so as to finish the positioning, detecting, dividing and planning of the surface profile of the automobile;
step 2.2: the method comprises the following steps that a mechanical arm or a fixed frame of an industrial robot drives a vision module to capture a sampling point on the surface of a detected vehicle, when shooting is carried out, stripe light is projected to a vehicle body detection surface through a large-size stripe screen, and a reflected stripe image is collected through an imaging lens camera;
step 2.3: and reading the horizontal stripe image and the vertical stripe image, and extracting appearance defects in the uniformly diffused image after binaryzation, feature extraction and feature screening are carried out on the defect image.
A computer-readable storage medium having stored thereon a computer program which is executed by a processor for implementing, for example, a method for automatic detection of a scratch of an entire trunk of an automobile.
A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that: and when the processor executes the computer program, the automatic scratch detection method for the whole automobile final assembly pit package is realized.
The invention has the following beneficial effects:
the invention detects the finish surface state of the whole automobile after assembly by the industrial robot matched with the visual camera technology, and compares the correct state through self-learning software to realize full-automatic identification of the finish surface problem;
the detection technology and the detection equipment can identify the problems of scratch of the paint surface pit of the whole automobile and the like in the process that the whole automobile runs along with the production line, and do not influence the normal production operation of the automobile assembly production line;
the invention completely feeds back and uploads the result to the paint surface problem of the whole vehicle through the industrial robot and the visual camera comparison and the automatic operation of the whole system, and compared with the original patent mode through manual inspection and the like, the invention has no missed inspection risk, reduces the labor amount of the manual inspection and can form intelligent management;
the vehicle attitude detection method can detect the vehicle attitude in real time in the detection process, and avoids the inaccuracy of the visual detection process caused by the movement of the vehicle position in the detection process.
The stripe display is irradiated on the surface of the automobile, a stripe shape is formed on the surface of the automobile, and the robot carrying an industrial camera is used for rapidly acquiring images at a fixed point; the robot can guide the cameras to sequentially collect at fixed point positions according to the three-dimensional graph of the vehicle type, synthesize three-dimensional data of the vehicle type and mark the position characteristics of defects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
The invention provides the following figures:
FIG. 1 is a prior art scheme;
FIG. 2 is a schematic diagram of an overall scheme layout;
FIG. 3 is a flow chart of the operation of the apparatus;
FIG. 4 is a detection flow;
FIG. 5 is a comparative diagram;
FIG. 6 is a timing diagram of detection;
fig. 7 is a detection example diagram.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The present invention will be described in detail with reference to specific examples.
The first embodiment is as follows:
as shown in fig. 2 to 7, the specific optimization technical solution adopted by the present invention to solve the above technical problems is: the invention relates to an automatic scratch detection system and method for an automobile general assembly whole pit package.
An automatic scratch detection system for an automobile assembly whole pit package, the system comprising: the device comprises an industrial robot, a measuring module, a fixed side head, a control system and a plate chain speed measuring device;
the plate chain speed measuring device is used for correcting the plate chain speed value;
the measuring module is used for measuring vehicle contour data, sending the measured data to the control system and establishing a virtual coordinate system of the vehicle body position and posture;
the fixed side head is used for measuring the position of the vehicle and feeding the measured position back to the control system, and the control system starts corresponding detection according to the position of the vehicle;
the industrial robot is used for collecting and detecting defects of the vehicle and transmitting collected data to the control system.
The second embodiment is as follows:
the difference between the second embodiment and the first embodiment is only that:
and when the fixed side head detects that the vehicle enters the plate chain, the plate chain speed measuring device measures the plate chain speed value and feeds the measured value back to the control system, and the control system adjusts the plate chain speed value.
The third concrete embodiment:
the difference between the third embodiment and the second embodiment is only that:
the measuring module adopts four 3D profile sensors, and the measured attitude virtual coordinate system data is simultaneously sent to the industrial robot.
The fourth concrete embodiment:
the difference between the fourth embodiment and the third embodiment is only that:
the industrial robot sets up four, whether industrial robot detects front, left surface, right flank, top and the afterbody of vehicle respectively and has the defect.
The fifth concrete embodiment:
the difference between the fifth embodiment and the fourth embodiment is only that:
the mechanical arm or the fixed frame of the industrial robot drives a vision module used for capturing the surface sampling point of the detected vehicle, projects stripe light to the detection surface of the vehicle body through a large-size stripe screen during shooting, and collects a reflection stripe image through an imaging lens camera.
The sixth specific embodiment:
the difference between the sixth embodiment and the fifth embodiment is only that:
and the industrial robot performs pose adjustment according to the pose virtual coordinate system data to detect the vehicle.
The seventh specific embodiment:
the seventh embodiment of the present application differs from the sixth embodiment only in that:
the invention provides an automatic scratch detection method for an automobile general assembly whole car pit package, which comprises the following steps:
step 1: starting an automatic scratch detection system for the whole automobile trunk assembly pit package to correct the position of the automobile;
step 2: the automatic detection system for the scratch of the whole automobile pit package of the automobile assembly is used for photographing a detection surface and detecting the defects of the automobile;
and step 3: establishing a manual detection defect library according to the manual detection defect data, and finishing and classifying the collected data to perfect the defect library by continuously accumulating appearance defects;
and 4, step 4: and comparing the defect detection result of the vehicle with a manual detection defect library, judging the defect and outputting the detection result.
The detection principle is as follows:
1. positioning, detecting and dividing the surface contour of the automobile: the method comprises the steps of dividing a model into a plurality of discrete points by reading a 3d model of the automobile, then removing and screening the discrete points according to the size of an object space imaging view field of n sets of imaging lens camera sets, wherein the removing and screening are carried out according to the distance between two points, and if the distance between the two points is smaller than or equal to half of the size of the object space view field, the same view field coverage range point is reserved; if the distance between the two points exceeds half of the object space view field, the two points are reserved as different view field coverage range points; and obtaining a series of sampling points according to the principle, thereby completing the positioning, detecting, dividing and planning of the surface profile of the automobile.
2. And (3) detection process: the mechanical arm or the fixed frame drives the vision module to capture the sampling point on the surface of the detected vehicle, and the stripe light is projected to the detection surface of the vehicle body through the large-size stripe screen during shooting, and the reflected stripe image is collected through the imaging lens camera.
3. Feature extraction: and (4) reading the horizontal stripe image and the vertical stripe image, and extracting appearance defects in the uniformly diffused image after binarization, feature extraction and feature screening are carried out on the defect image.
4. Integrating appearance defects: and the collected data is sorted and classified to form a database by continuously accumulating appearance defects. And comparing the newly extracted defect image with the characteristic defects in the defect library, thereby realizing the automatic detection of the appearance defects by the equipment.
The eighth embodiment:
the eighth embodiment of the present application differs from the seventh embodiment only in that:
the defect detection in the step 2 specifically comprises the following steps:
step 2.1: the method comprises the steps of dividing a model into a plurality of discrete points by reading a 3d model of the automobile, then removing and screening the discrete points according to the size of an object space imaging view field of n sets of imaging lens camera sets, wherein the removing and screening are carried out according to the distance between two points, and when the distance between the two points is smaller than or equal to half of the size of the object space view field, the same view field coverage range point is reserved; when the distance between the two points exceeds the half size of the object space view field, the two points are reserved as different view field coverage range points; obtaining a series of sampling points so as to finish the positioning, detecting, dividing and planning of the surface profile of the automobile;
step 2.2: the method comprises the following steps that a mechanical arm or a fixed frame of an industrial robot drives a vision module to capture a sampling point on the surface of a detected vehicle, when shooting is carried out, stripe light is projected to a vehicle body detection surface through a large-size stripe screen, and a reflected stripe image is collected through an imaging lens camera;
step 2.3: and reading the horizontal stripe image and the vertical stripe image, and extracting appearance defects in the uniformly diffused image after binaryzation, feature extraction and feature screening are carried out on the defect image.
The specific embodiment is nine:
the difference between the ninth embodiment and the eighth embodiment is only that:
the invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer-readable storage medium is characterized in that the computer program is executed by a processor and is used for realizing an automatic scratch detection method for an automobile general assembly whole crate.
The specific embodiment ten:
the difference between the tenth embodiment and the ninth embodiment is only that:
the invention provides computer equipment which comprises a storage and a processor, wherein the storage stores a computer program, and the processor executes the computer program to realize an automatic scratch detection method for an entire automobile assembly pit package of an automobile.
The areas for realizing the finished automobile paint surface detection of the automobile are as follows: the automobile comprises a cabin cover, an automobile top cover, a fender, an automobile door, a rear side wall, a rear bumper, a rear back door, a front bumper, a front grille and the like; the problems that can be detected are: dirt, scratches, pits, welding slag, orange peel, pock marks and the like.
Equipment and system operation flow:
1. the operator confirms the whole vehicle, and the vehicle enters the online measuring station along with the plate chain line at a constant speed;
2. the vehicle triggers a guide measurement sensor, four 3D profile sensors start measurement, measurement data are sent to a PLC, a virtual coordinate system of the position and the posture of the vehicle body is established, and meanwhile, the result is sent to a measurement robot;
3. triggering a plate chain speed monitoring device by a vehicle, starting plate chain speed monitoring, sending a measurement result to a PLC (programmable logic controller), correcting a plate chain speed value after the PLC calculates, and constantly monitoring the plate chain speed by the monitoring device;
4. the method comprises the following steps that when a vehicle enters a measuring area, a measuring starting sensor is triggered, 4 robots drive an industrial camera to detect defects (front face → left side face → right side face → top portion → tail portion), and self-learning software is used for recognition;
5. and (4) completing measurement, returning the robot to the original position, storing data in an industrial personal computer, and analyzing the data by industrial personal computer software.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise. Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention. The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory. It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments. In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The above description is only a preferred embodiment of the automatic detection system and method for the scratch of the whole automobile assembly pit package, and the protection range of the automatic detection system and method for the scratch of the whole automobile assembly pit package is not limited to the above embodiments, and all technical schemes belonging to the thought belong to the protection range of the invention. It should be noted that modifications and variations which do not depart from the gist of the invention will be those skilled in the art to which the invention pertains and which are intended to be within the scope of the invention.
Claims (10)
1. The utility model provides a whole car pit package fish tail automatic check out system of car final assembly, characterized by: the system comprises: the device comprises an industrial robot, a measuring module, a fixed side head, a control system and a plate chain speed measuring device;
the plate chain speed measuring device is used for correcting the plate chain speed value;
the measuring module is used for measuring vehicle contour data, sending the measured data to the control system and establishing a virtual coordinate system of the vehicle body position and posture;
the fixed side head is used for measuring the position of the vehicle and feeding the measured position back to the control system, and the control system starts corresponding detection according to the position of the vehicle;
the industrial robot is used for collecting and detecting defects of the vehicle and transmitting collected data to the control system.
2. The automatic scratch detection system for the whole automobile assembly pit package as claimed in claim 1, wherein: and when the fixed side head detects that the vehicle enters the plate chain, the plate chain speed measuring device measures the plate chain speed value and feeds the measured value back to the control system, and the control system adjusts the plate chain speed value.
3. The automatic scratch detection system for the whole automobile assembly pit package as claimed in claim 2, wherein: the measuring module adopts four 3D contour sensors, and the measured attitude virtual coordinate system data are simultaneously sent to the industrial robot.
4. The automatic scratch detection system for the whole automobile assembly pit package of claim 3, which is characterized in that: the industrial robot sets up four, whether industrial robot detects front, left surface, right flank, top and the afterbody of vehicle respectively and has the defect.
5. The automatic scratch detection system for the whole automobile assembly pit and bag as claimed in claim 4, wherein: the mechanical arm or the fixed frame of the industrial robot drives a vision module used for capturing the surface sampling point of the detected vehicle, projects stripe light to the detection surface of the vehicle body through a large-size stripe screen during shooting, and collects a reflection stripe image through an imaging lens camera.
6. The automatic scratch detection system for the whole automobile assembly pit package of claim 5, which is characterized in that: and the industrial robot performs pose adjustment according to the pose virtual coordinate system data to detect the vehicle.
7. An automatic scratch detection method for an automobile general assembly whole pit package is characterized by comprising the following steps: the method comprises the following steps:
step 1: starting an automatic scratch detection system for the whole automobile trunk assembly pit package to correct the position of the automobile;
step 2: the automatic scratch detection system for the whole automobile trunk assembly pit package is used for photographing a detection surface and detecting the defects of the automobile;
and step 3: establishing a manual detection defect library according to the manual detection defect data, and finishing and classifying the collected data to perfect the defect library by continuously accumulating appearance defects;
and 4, step 4: and comparing the defect detection result of the vehicle with a manual detection defect library, judging the defect and outputting the detection result.
8. The automatic scratch detection method for the complete crater of the automobile assembly as claimed in claim 7, which is characterized in that: the defect detection in the step 2 specifically comprises the following steps:
step 2.1: the method comprises the steps of dividing a model into a plurality of discrete points by reading a 3d model of the automobile, then removing and screening the discrete points according to the size of an object space imaging view field of n sets of imaging lens camera sets, wherein the removing and screening are carried out according to the distance between two points, and when the distance between the two points is smaller than or equal to half of the size of the object space view field, the same view field coverage range point is reserved; when the distance between the two points exceeds the half size of the object space view field, the two points are reserved as different view field coverage range points; obtaining a series of sampling points so as to finish the positioning, detecting, dividing and planning of the surface profile of the automobile;
step 2.2: the method comprises the following steps that a mechanical arm or a fixed frame of an industrial robot drives a vision module to capture a sampling point on the surface of a detected vehicle, when shooting is carried out, stripe light is projected to a vehicle body detection surface through a large-size stripe screen, and a reflected stripe image is collected through an imaging lens camera;
step 2.3: and (4) reading the horizontal stripe image and the vertical stripe image, and extracting appearance defects in the uniformly diffused image after binarization, feature extraction and feature screening are carried out on the defect image.
9. A computer-readable storage medium, on which a computer program is stored, the program being executed by a processor for implementing an automatic detection method for a scratch of an automobile final assembly crater according to claims 7-8.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that: the processor realizes the automatic scratch detection method for the automobile general assembly complete vehicle crater as claimed in claims 7-8 when executing the computer program.
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