TWI681167B - Vehicle interior detecting system - Google Patents

Vehicle interior detecting system Download PDF

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Publication number
TWI681167B
TWI681167B TW107143597A TW107143597A TWI681167B TW I681167 B TWI681167 B TW I681167B TW 107143597 A TW107143597 A TW 107143597A TW 107143597 A TW107143597 A TW 107143597A TW I681167 B TWI681167 B TW I681167B
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Taiwan
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body positioning
positioning area
camera
studio
car
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TW107143597A
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Chinese (zh)
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TW202022320A (en
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廖俊程
黃上福
蔡明憲
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銓發科技股份有限公司
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Publication of TW202022320A publication Critical patent/TW202022320A/en

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Abstract

Present invention is related to a vehicle interior detecting system having a shooting studio placed on a parking platform. The shooting studio has a scaffold set on the parking platform and a vehicle positioning area is defined in a middle of the platform under the scaffold. The scaffold has mounted with multiple light sources and cameras toward the vehicle positioning area to provide shooting and lighting functions. A left side and a right side on a top of the scaffold have machine arms carried with the cameras. A control module is mounted besides the scaffold and is electronic connected to each light sources and cameras. When a vehicle is parked on the vehicle positioning area, the present invention is able to detect an interior or accessories of the vehicle by using the cameras to perform a visual recognition including brightness contrast in order to achieve labor saving and accelerate detecting process of the vehicle from a assembly line of a factory.

Description

汽車內裝檢測系統 Automotive interior inspection system

本發明涉及一種視覺辨識的系統，尤其涉及一種視覺辨識汽車款式與內裝的系統。 The invention relates to a system for visual recognition, in particular to a system for visually identifying the style and interior of a car.

現有汽車生產在組裝內裝或配件，例如環保標章、儀表板、里程表、車門扶手、飾板、音響、霧燈蓋、倒車雷達、輪胎、排氣貼紙、冷媒貼紙或安全氣囊警告貼紙時，是在汽車裝配場的生產線上進行。當安裝時，裝配的工人是在生產線的各站點拿取料件自動化輸送設備上預定安裝的各種料件，隨著汽車在生產線上各站點的前進，將料件依序安裝至對應的汽車上，可達到在同一生產線生產多車種與不同配備汽車的效果。 Existing automobiles are produced when assembling interiors or accessories, such as environmental labels, dashboards, odometers, door armrests, trim panels, audio, fog lamp covers, reversing radar, tires, exhaust stickers, refrigerant stickers or airbag warning stickers Is carried out on the production line of the automobile assembly plant. When installing, the assembly workers take various materials that are scheduled to be installed on the automatic conveying equipment of the material at each site of the production line. As the car progresses at each site of the production line, the materials are installed in sequence to the corresponding In the automobile, the effect of producing multiple types of vehicles and different equipped vehicles on the same production line can be achieved.

在上述的汽車裝配場中雖然能夠組裝不同種類汽車的內裝與配件，但若選擇在裝配過程中檢視安裝料件的正確與否，一旦檢測出安裝錯誤就需要將整個生產線暫停，將該汽車裝配料件的錯誤排除之後才能繼續安裝其他汽車的料件，如此一來就會為了一輛汽車的安裝錯誤停止整個生產線，造成生產效率的降低，耽誤整體生產線的生產效率。 Although it is possible to assemble the interiors and accessories of different types of vehicles in the above-mentioned automobile assembly field, if you choose to check the correctness of the installation materials during the assembly process, once the installation error is detected, you need to suspend the entire production line and the vehicle Only after the errors of the assembly materials are eliminated can the installation of the materials of other cars be continued. In this way, the entire production line will be stopped for the installation errors of a car, resulting in a reduction in production efficiency and delaying the production efficiency of the overall production line.

由於現有汽車在裝配的生產線上檢查內裝或配件會降低生產的效率。為此，本發明另在停車平台上設有安裝視覺辨識裝置的攝影棚，在攝影 棚內對安裝完內裝與配件的汽車進行檢測，達到節省人工檢測的時間而能加快汽車出廠速度，並維持優良品質管制的效果。 Because the existing cars check the interior or accessories on the assembled production line will reduce the efficiency of production. For this reason, the present invention also provides a studio equipped with a visual recognition device on the parking platform. Cars with installed interiors and accessories are inspected in the shed to save the time of manual inspection, accelerate the speed of leaving the car, and maintain the effect of excellent quality control.

為達到上述目的，本發明提供一種汽車內裝檢測系統，包括：一停車平台；一攝影棚，設置在該停車平台上並且在前後兩端分別設有一出口與一入口，該攝影棚包括一支撐在該停車平台上的攝影棚架，該攝影棚架包括兩分別設於左、右位置的側框架以及一連接在兩側框架頂緣之間的頂框架，對應該攝影棚內中間的位置，在該停車平台形成一車體定位區；以及一視覺辨識裝置，設有一控制主機，在該攝影棚架安裝多個朝向該車體定位區照明的照明光源以及多個朝向該車體定位區拍攝的攝影機，對應該車體定位區的左、右兩側，在該頂框架的左、右兩側各設有一多軸的機械手臂，在各機械手臂的自由端分別結合一活動攝影機，各活動攝影機具有一光源，各照明光源、各攝影機、各機械手臂以及各活動攝影機分別與該控制主機電連接，該控制主機能夠控制各照明光源、各攝影機、各機械手臂與各活動攝影機對汽車的多處的固定位置分別進行目標有無、亮度或對比的視覺辨識。 In order to achieve the above object, the present invention provides an automobile interior detection system, which includes: a parking platform; a studio, which is provided on the parking platform and has an exit and an entrance at the front and rear ends, respectively, and the studio includes a support A photo frame on the parking platform, the photo frame includes two side frames arranged at left and right positions, and a top frame connected between the top edges of the two side frames, corresponding to the middle position in the photo studio, A vehicle body positioning area is formed on the parking platform; and a visual recognition device is provided with a control host, a plurality of illumination light sources illuminating toward the vehicle body positioning area and a plurality of photographing towards the vehicle body positioning area are installed on the photo frame Cameras, corresponding to the left and right sides of the car body positioning area, a multi-axis robot arm is provided on the left and right sides of the top frame, and an active camera is combined at the free end of each robot arm. The activity camera has a light source, and each illumination light source, each camera, each robot arm, and each activity camera are electrically connected to the control host respectively. The control host can control each illumination light source, each camera, each robot arm, and each activity camera to the vehicle. Multiple fixed locations are used for visual identification of target presence, brightness or contrast.

進一步，本發明在所述頂框架前邊緣的中間結合一向前延伸的前延伸桿，在該頂框架後邊緣的中間結合一向後延伸的後延伸桿，在該前延伸桿的自由端結合一朝向所述車體定位區拍攝的前攝影機，在該後延伸桿的自由端結合一朝向該車體定位區拍攝的後攝影機。 Further, in the present invention, a front extension rod is extended in the middle of the front edge of the top frame, a rear extension rod is extended in the middle of the rear edge of the top frame, and an orientation is combined at the free end of the front extension rod The front camera photographed in the vehicle body positioning area is combined with a rear camera photographed toward the vehicle body positioning area at the free end of the rear extension rod.

進一步，本發明對應所述車體定位區前端的位置，在所述頂框架前半部的中間設有一多軸的前機械手臂，在該前機械手臂的自由端結合一前活動攝影機，該前活動攝影機具有一前光源，該前機械手臂與該前活動攝影機分別與所述的控制主機電連接而能夠受該控制主機控制而對汽車進行視覺辨識。 Further, the invention corresponds to the position of the front end of the vehicle body positioning area, and a multi-axis front robot arm is provided in the middle of the front half of the top frame, and a front movable camera is combined with the front end of the front robot arm. The active camera has a front light source. The front mechanical arm and the front active camera are electrically connected to the control host respectively and can be controlled by the control host to visually identify the car.

更進一步，本發明在所述的頂框架的左、右兩側各結合一沿前後方向延伸的側軌道，所述各機械手臂在頂部設有一滑動座，各滑動座以能夠前後滑動的形態結合在各側軌道固定；在該頂框架前半部的中間結合一沿左右方向延伸的前軌道，所述前機械手臂在頂部設有一前滑動座，該前滑動座以能夠左右滑動的形態結合在該前軌道固定。 Furthermore, in the present invention, a side rail extending in the front-rear direction is combined on each of the left and right sides of the top frame, and each robot arm is provided with a sliding seat at the top, and each sliding seat is combined in a form capable of sliding back and forth It is fixed on each side rail; a front rail extending in the left-right direction is combined in the middle of the front half of the top frame, and the front robot arm is provided with a front sliding seat on the top, and the front sliding seat is combined in the form of being able to slide left and right in this The front track is fixed.

較佳的，本發明在所述各側框架以及所述頂框架的鏤空處分別結合多個遮光板。 Preferably, in the present invention, a plurality of light-shielding plates are combined at the hollows of the side frames and the top frame, respectively.

較佳的，本發明在所述車體定位區的前、後兩側分別設有一車體定位裝置，各車體定位裝置在該車體定位區設有一底座，在各底座內的左、右兩側設有兩橫向滑台，在各橫向滑台的頂部設有一乘載板，該乘載板能夠相對各底座橫向滑動，在各底座內的中間結合兩線性驅動元件，此兩線性驅動元件是橫向設置並且驅動方向左右相反，在各線性驅動元件的驅動端結合一推輪塊，各推輪塊位於配合的各乘載板的內側，各推輪塊沿橫方向延伸形成一推輪部，各推輪部能夠由各乘載板的側向伸入各乘載板的上方。 Preferably, the invention is provided with a vehicle body positioning device on the front and rear sides of the vehicle body positioning area respectively, and each vehicle body positioning device is provided with a base in the vehicle body positioning area, left and right in each base Two lateral slide tables are provided on both sides, and a loading plate is provided on the top of each lateral slide table. The loading plate can slide laterally relative to each base, and two linear driving elements are combined in the middle of each base. The two linear driving elements It is arranged horizontally and the driving direction is opposite to the left and right. A push wheel block is combined at the driving end of each linear drive element, each push wheel block is located inside each mating load plate, and each push wheel block extends in the lateral direction to form a push wheel portion Each push wheel portion can extend into the upper side of each board from the side of each board.

當本發明使用時是將裝配完成的汽車由該入口行駛進入該攝影棚內，停駐在該車體定位區的適當位置，接著該控制主機令多個照明光源配合各攝影機以及各活動攝影機拍攝該汽車外部以及內部等需要檢測內裝或配件是否安裝正確的位置，透過視覺辨識的方式在汽車裝配完成後進行安裝是否正確的自動化檢測，可節省人工檢測的時間以及停止生產線的時間，因此能加快汽車的出廠速度同時還能維持優良的品質管制。 When the invention is used, the assembled car is driven into the studio through the entrance and parked at an appropriate position in the positioning area of the car body, and then the control host makes multiple illumination light sources cooperate with each camera and each active camera to shoot the The exterior and interior of the car need to detect whether the interior or accessories are installed in the correct position. Automated detection of the correct installation after the car assembly is completed through visual recognition can save the time of manual detection and the time of stopping the production line, so it can be accelerated The factory speed of the car can also maintain excellent quality control.

10‧‧‧停車平台 10‧‧‧Parking platform

20‧‧‧攝影棚 20‧‧‧ Studio

21‧‧‧側框架 21‧‧‧Side frame

22‧‧‧頂框架 22‧‧‧Top frame

221‧‧‧側軌道 221‧‧‧Side track

222‧‧‧前軌道 222‧‧‧Front track

23‧‧‧遮光板 23‧‧‧shade

24‧‧‧出口 24‧‧‧Export

25‧‧‧入口 25‧‧‧ entrance

26‧‧‧前延伸桿 26‧‧‧Front extension rod

27‧‧‧後延伸桿 27‧‧‧Extend rod

30‧‧‧視覺辨識裝置 30‧‧‧Visual recognition device

31‧‧‧控制主機 31‧‧‧Control host

311‧‧‧機體 311‧‧‧Body

312‧‧‧控制介面 312‧‧‧Control interface

32‧‧‧攝影機 32‧‧‧Camera

33‧‧‧前攝影機 33‧‧‧Previous camera

34‧‧‧後攝影機 34‧‧‧ Rear camera

35‧‧‧照明光源 35‧‧‧Light source

36‧‧‧機械手臂 36‧‧‧Robot

361‧‧‧滑動座 361‧‧‧sliding seat

37‧‧‧活動攝影機 37‧‧‧Camera

371‧‧‧光源 371‧‧‧Light source

38‧‧‧前機械手臂 38‧‧‧Front robotic arm

381‧‧‧前滑動座 381‧‧‧Front sliding seat

39‧‧‧前活動攝影機 39‧‧‧Ex-Camera

391‧‧‧前光源 391‧‧‧Front light source

40‧‧‧車體定位裝置 40‧‧‧Car body positioning device

41‧‧‧底座 41‧‧‧Base

411‧‧‧前斜面 411‧‧‧Bevel

412‧‧‧後斜面 412‧‧‧Bevel

413‧‧‧安裝凹槽 413‧‧‧Installation groove

42‧‧‧橫向滑台 42‧‧‧Horizontal slide

421‧‧‧底板 421‧‧‧Bottom plate

422‧‧‧線性滑軌 422‧‧‧Linear slide

423‧‧‧乘載板 423‧‧‧ board

424‧‧‧車輪定位條 424‧‧‧Wheel alignment strip

43‧‧‧線性驅動元件 43‧‧‧Linear drive element

431‧‧‧推輪塊 431‧‧‧Push wheel block

432‧‧‧推輪部 432‧‧‧Push Wheel Department

44‧‧‧中置底板 44‧‧‧ Center bottom plate

45‧‧‧導引線性滑軌 45‧‧‧Lead guide rail

50‧‧‧汽車 50‧‧‧Car

51‧‧‧車輪 51‧‧‧wheel

A‧‧‧車體定位區 A‧‧‧Car body positioning area

B‧‧‧攝影棚架 B‧‧‧Photographic scaffold

圖1是本發明第一較佳實施例的立體圖。 FIG. 1 is a perspective view of a first preferred embodiment of the present invention.

圖2是本發明第一較佳實施例的平面圖。 2 is a plan view of the first preferred embodiment of the present invention.

圖3是本發明第一較佳實施例的剖面圖。 3 is a cross-sectional view of the first preferred embodiment of the present invention.

圖4是本發明第一較佳實施例汽車停駐的實施示意圖。 FIG. 4 is a schematic diagram of an automobile parking according to a first preferred embodiment of the present invention.

圖5是本發明第一較佳實施例的車體定位裝置的分解圖。 5 is an exploded view of the vehicle body positioning device of the first preferred embodiment of the present invention.

圖6是本發明第一較佳實施例調整汽車定位的動作圖。 6 is an action diagram of adjusting the positioning of a car according to the first preferred embodiment of the present invention.

圖7是本發明第一較佳實施例視覺辨識的範例示意圖。 7 is a schematic diagram of an example of visual recognition according to the first preferred embodiment of the present invention.

圖8是本發明第一較佳實施例視覺辨識的範例示意圖。 8 is a schematic diagram of an example of visual recognition according to the first preferred embodiment of the present invention.

圖9是本發明第一較佳實施例視覺辨識的範例示意圖。 9 is a schematic diagram of an example of visual recognition according to the first preferred embodiment of the present invention.

圖10是本發明第一較佳實施例視覺辨識的範例示意圖。 10 is a schematic diagram of an example of visual recognition according to the first preferred embodiment of the present invention.

圖11是本發明第二較佳實施例的立體圖。 11 is a perspective view of a second preferred embodiment of the present invention.

為能詳細瞭解本發明的技術特徵及實用功效，並可依照說明書的內容來實施，進一步以如圖式所示的較佳實施例，詳細說明如下。 In order to understand the technical features and practical effects of the present invention in detail, and can be implemented in accordance with the content of the specification, the preferred embodiments shown in the drawings are further described in detail below.

請參看如圖1至圖6所示的本發明第一較佳實施例，本發明提供一種汽車內裝檢測系統，包括一停車平台10、一設於該停車平台10上的攝影棚20、一設於該攝影棚20的視覺辨識裝置30，以及一對設於該停車平台10的車體定位裝置40，在該對車體定位裝置40上能夠定位一受檢測的汽車50，其中：如圖1至圖4所示，該停車平台10可以是地面或任何可供汽車停駐的平台，如本較佳實施例是將該停車平台10設為地面。 Please refer to the first preferred embodiment of the present invention as shown in FIGS. 1 to 6, the present invention provides a vehicle interior detection system, including a parking platform 10, a studio 20 provided on the parking platform 10, a The visual recognition device 30 provided in the studio 20 and a pair of vehicle body positioning devices 40 provided on the parking platform 10 can locate a car 50 under test on the pair of vehicle body positioning devices 40, in which: As shown in FIGS. 1 to 4, the parking platform 10 may be the ground or any platform available for cars to park. As in the preferred embodiment, the parking platform 10 is set to the ground.

該攝影棚20可以是建築物內的攝影棚或是棚架組成的攝影棚，如本較佳實施例中是將該攝影棚20設為棚架與遮光板組成的攝影棚。該攝影棚20設有一攝影棚架B，該攝影棚架B包括兩分別設於左、右位置的側框架21以及一連接在兩側框架21頂緣之間的頂框架22，各側框架21以及該頂框架22分別是鏤 空的矩形框架，在各側框架21的鏤空處以及該頂框架22的鏤空處分別結合多個遮光板23，在該攝影棚20的頂側以及左、右兩側分別形成能夠遮蔽光線的牆面。 The studio 20 may be a studio in a building or a studio composed of a scaffold. In the preferred embodiment, the studio 20 is a studio composed of a scaffold and a shading plate. The photo studio 20 is provided with a photo studio frame B. The photo studio frame B includes two side frames 21 disposed at left and right positions, and a top frame 22 connected between the top edges of the two side frames 21. Each side frame 21 And the top frame 22 is carved An empty rectangular frame is combined with a plurality of light-shielding plates 23 at the hollows of the side frames 21 and the hollows of the top frame 22 respectively, and walls capable of shielding light are formed on the top side, left and right sides of the studio 20, respectively surface.

對應該攝影棚20內中間的位置，在該停車平台10形成一車體定位區A，在該攝影棚20的前端以及後端分別形成一出口24以及一入口25，該汽車50能夠由該入口25行駛進入該攝影棚20並停駐在該車體定位區A，待受檢測完畢後該汽車50再由該出口24行駛離開該攝影棚20；配合該出口24以及該入口25的位置，該攝影棚20在該頂框架22前、後邊緣的中間各結合一向前延伸的前延伸桿26以及一向後延伸的後延伸桿27。 Corresponding to the middle position in the photo studio 20, a vehicle body positioning area A is formed on the parking platform 10, and an exit 24 and an entrance 25 are formed at the front and rear ends of the photo studio 20, respectively, and the car 50 can pass through the entrance 25 Drive into the studio 20 and stop at the vehicle body positioning area A. After the inspection is completed, the car 50 will then drive away from the studio 20 through the exit 24; in accordance with the location of the exit 24 and the entrance 25, the photography The shed 20 combines a front extension rod 26 extending forward and a rear extension rod 27 extending backward at the middle of the front and rear edges of the top frame 22.

該視覺辨識裝置30在該攝影棚20旁設有一控制主機31，該控制主機31設有一機體311，該機體311設置在該停車平台10上，在該機體311的頂部設有一控制介面312；該視覺辨識裝置30對應該車體定位區A的左、右兩側以及上方，分別在兩側框架21以及該頂框架22結合多個攝影機32，在該前延伸桿26的自由端結合一前攝影機33，在該後延伸桿27的自由端結合一後攝影機34；各攝影機32、該前攝影機33以及該後攝影機34的設置方式是朝向該車體定位區A進行拍攝且分別與該控制主機31電連接而受該控制主機31控制。 The visual recognition device 30 is provided with a control host 31 next to the studio 20, the control host 31 is provided with a body 311, the body 311 is provided on the parking platform 10, and a control interface 312 is provided on the top of the body 311; The visual recognition device 30 corresponds to the left, right and upper sides of the vehicle body positioning area A, and a plurality of cameras 32 are respectively coupled to the side frames 21 and the top frame 22, and a front camera is coupled to the free end of the front extension rod 26 33. A rear camera 34 is combined at the free end of the rear extension rod 27; each camera 32, the front camera 33 and the rear camera 34 are arranged to shoot toward the vehicle body positioning area A and are respectively connected to the control host 31 It is electrically connected and controlled by the control host 31.

配合多個攝影機32、該前攝影機33以及該後攝影機34拍攝定位在該車體定位區A的汽車50的位置，在兩側框架21以及該頂框架22結合多個分別朝向該車體定位區A照明的照明光源35，如本較佳實施例中各照明光源35是使用條狀的光源，各照明光源35與該控制主機31電連接而受該控制主機31控制開啟、關閉或亮度。為了拍攝該汽車50的內部進行視覺辨識，在該頂框架22的左、右兩側各設有一多軸的機械手臂36，各機械手臂36以頂部結合在該頂框架22而懸吊在該頂框架22，在各機械手臂36的自由端分別結合一活動攝影機37，各活動攝影機37具有一光源371，各機械手臂36以及各活動攝影機37與該控制主機31電連接而受該控制主機31的控制。 Cooperate with a plurality of cameras 32, the front camera 33 and the rear camera 34 to photograph the position of the car 50 positioned in the vehicle body positioning area A, and combine a plurality of frames 21 and the top frame 22 respectively toward the vehicle body positioning area The illumination light source 35 of A illumination, as in the preferred embodiment, each illumination light source 35 is a strip-shaped light source, and each illumination light source 35 is electrically connected to the control host 31 and controlled by the control host 31 to be turned on, off, or brightness. In order to photograph the interior of the car 50 for visual recognition, a multi-axis robot arm 36 is provided on each of the left and right sides of the top frame 22, and each robot arm 36 is coupled to the top frame 22 with the top and suspended from the top frame 22 The top frame 22 is combined with an active camera 37 at the free end of each mechanical arm 36. Each active camera 37 has a light source 371. Each mechanical arm 36 and each active camera 37 are electrically connected to the control host 31 to be controlled by the control host 31 control.

如圖4至圖6所示，該對車體定位裝置40是分別結合在該車體定位區A的前、後兩側，兩車體定位裝置40的前、後距離相當於該汽車50前輪與後輪之間的軸距。各車體定位裝置40包括一底座41以及分別結合在該底座41的兩橫向滑台42以及兩線性驅動元件43，其中各底座41是沿左右方向延伸的矩形框體，在各底座41前、後兩側的頂部分別形成一前斜面411以及一後斜面412，在該底座41的中間形成一安裝凹槽413，在各安裝凹槽413底部的中間結合一中置底板44。 As shown in FIGS. 4 to 6, the pair of vehicle body positioning devices 40 are respectively coupled to the front and rear sides of the vehicle body positioning area A, and the front and rear distances of the two vehicle body positioning devices 40 are equivalent to the front wheels of the car 50 The wheelbase from the rear wheels. Each vehicle body positioning device 40 includes a base 41 and two horizontal slides 42 and two linear driving elements 43 respectively coupled to the base 41. Each base 41 is a rectangular frame extending in the left-right direction. In front of each base 41, A top inclined surface 411 and a rear inclined surface 412 are respectively formed on the tops of the rear sides. A mounting groove 413 is formed in the middle of the base 41, and a middle bottom plate 44 is combined in the middle of the bottom of each mounting groove 413.

前述的兩橫向滑台42是安裝在各安裝凹槽413內的左右兩側，兩橫向滑台42的左、右位置對應汽車50兩前輪或兩後輪的左右位置，各車體定位裝置40的兩線性驅動元件43是安裝在各中置底板44上，前述兩橫向滑台42各包括一底板421、兩線性滑軌422以及一乘載板423，兩橫向滑台42的底板421分別結合在該安裝凹槽413底部的左側以及右側，各車體定位裝置40的兩線性滑軌422分別結合在各底板421頂面的前、後兩側，各乘載板423結合在兩線性滑軌422上，使得各乘載板423能夠相對各底座41橫向地自由滑動，在各乘載板423頂面的前、後兩側分別固設一車輪定位條424，各車輪定位條424是倒V字形且沿橫方向延伸的長條體。 The aforementioned two lateral slides 42 are installed on the left and right sides of each mounting groove 413. The left and right positions of the two lateral slides 42 correspond to the left and right positions of the two front wheels or the two rear wheels of the car 50, and each body positioning device 40 The two linear driving elements 43 are mounted on each of the middle bottom plates 44. The two horizontal slide tables 42 each include a bottom plate 421, two linear slide rails 422, and a carrier plate 423. The bottom plates 421 of the two horizontal slide plates 42 are respectively combined On the left and right sides of the bottom of the mounting groove 413, the two linear slide rails 422 of each vehicle body positioning device 40 are respectively coupled to the front and rear sides of the top surface of each bottom plate 421, and each of the loading plates 423 is combined with the two linear slide rails On 422, each of the mounting plates 423 can slide freely laterally with respect to each base 41, and a wheel positioning bar 424 is fixed on the front and rear sides of the top surface of each mounting plate 423, and each wheel positioning bar 424 is inverted V A long body that is shaped like a letter and extends in the horizontal direction.

各車體定位裝置40的兩線性驅動元件43可以選用氣壓缸、油壓缸或電動滑台，如本較佳實施例是選用油壓缸作為線性驅動元件43，各車體定位裝置40的兩線性驅動元件43是以前後間隔的排列方式結合在該中置底板44上，此兩線性驅動元件43是橫向設置並且驅動方向左右相反，在各線性驅動元件43的驅動端，如本較佳實施例是在壓缸桿的前端結合一推輪塊431，在各推輪塊431的底部與配合的各中置底板44之間結合一沿左右方向延伸的導引線性滑軌45，使得各推輪塊431能沿著配合的導引線性滑軌45穩定地沿橫向滑動，各推輪塊431位於配合的各乘載板423的內側且兩者之間有間隔，在各推輪塊431的頂側沿 橫方向朝外延伸設有一凸塊狀的推輪部432，各推輪部432能夠由各乘載板423的側向伸入各乘載板423的上方。 The two linear driving elements 43 of each vehicle body positioning device 40 can be selected from pneumatic cylinders, hydraulic cylinders or electric slides. For example, in this preferred embodiment, hydraulic cylinders are used as the linear driving elements 43. The linear driving elements 43 are combined on the middle base plate 44 in a front-to-back arrangement. The two linear driving elements 43 are arranged laterally and the driving directions are opposite to each other. At the driving end of each linear driving element 43, as this preferred embodiment For example, a push wheel block 431 is combined at the front end of the cylinder rod, and a guide wire guide rail 45 extending in the left-right direction is combined between the bottom of each push wheel block 431 and the corresponding mid-set bottom plate 44 to make each push The wheel block 431 can slide steadily in the lateral direction along the mating guide wire guide rail 45, and each push wheel block 431 is located inside each mating carrier plate 423 with a gap between the two. Top side A bump-shaped push-wheel portion 432 extends outward in the lateral direction, and each push-wheel portion 432 can extend into the upper side of each of the mounting plates 423 from the side of each of the mounting plates 423.

當本發明第一較佳實施例使用時，如圖4至圖6所示，是將汽車50開至該停車平台10並停駐在該攝影棚20內的車體定位區A，過程中汽車50前、後兩側的兩車輪51是分別由各車體定位裝置40的後斜面412開上各橫向滑台42，使各車輪51位於配合的各乘載板423上，並且成對的車輪定位條424會限制各車輪51的前後位置，接著利用各車體定位裝置40調整汽車50的左右位置。 When the first preferred embodiment of the present invention is used, as shown in FIGS. 4 to 6, the car 50 is driven to the parking platform 10 and parked in the vehicle body positioning area A in the studio 20. During the process, the car 50 The two wheels 51 on the front and rear sides are respectively opened by the rear inclined surfaces 412 of the body positioning devices 40 to the lateral slides 42 so that the wheels 51 are located on the mating load plates 423 and the wheels are positioned in pairs The bar 424 restricts the front-rear position of each wheel 51, and then uses the vehicle body positioning device 40 to adjust the left-right position of the car 50.

如圖6所示，當需要將汽車50前側的位置向左移動時，是以對應的線性驅動元件43驅動左側的推輪塊431，以左側推輪塊431的推輪部432將左前方的車輪51向左推動，這時汽車50的兩個前側的車輪51會與配合的乘載板423同時向左滑動，將汽車50的前側向左移動至適當的位置後定位；當需要將汽車50的前側向右移動時，則是以另一線性驅動元件43驅動右側的推輪塊431向右推動右前方的車輪51，這時兩個前側的車輪51會與配合的乘載板423同時向右滑動至定位的位置。當需要調整汽車50後側的左右位置時，後側車體定位裝置40調整的方式與前側相同。 As shown in FIG. 6, when the position of the front side of the car 50 needs to be moved to the left, the corresponding linear driving element 43 is used to drive the left push wheel block 431, and the left push wheel block 431 push wheel portion 432 is used to move the front left The wheels 51 are pushed to the left. At this time, the two front wheels 51 of the car 50 will slide to the left at the same time with the cooperating carrier plate 423, move the front side of the car 50 to the left to the proper position, and then position; When the front side moves to the right, another linear drive element 43 drives the right wheel block 431 to push the front right wheel 51 to the right. At this time, the two front wheels 51 will slide to the right at the same time with the matching passenger board 423 To the location of the positioning. When the left and right positions of the rear side of the automobile 50 need to be adjusted, the rear side body positioning device 40 is adjusted in the same manner as the front side.

當將汽車50定位在車體定位區A後，可將汽車50的車門都打開方便對應的各攝影機32拍攝或方便各機械手臂36伸入該汽車50的內部進行拍攝。如圖1、圖2所示，當該視覺辨識裝置30對汽車50進行視覺辨識，藉此檢測該汽車50的內裝與配件是否安裝正確的作業時，該控制主機31控制設於該攝影棚架B的多個照明光源35照明該汽車50，令多個攝影機32拍攝該汽車50左右兩側以及頂側的固定位置，並且令各機械手臂36伸入該汽車50內以各活動攝影機37配合光源371的照明來拍攝該汽車50內部需要檢測的位置。 When the car 50 is positioned in the body positioning area A, the doors of the car 50 can be opened to facilitate shooting by the corresponding cameras 32 or the mechanical arms 36 can extend into the interior of the car 50 for shooting. As shown in FIGS. 1 and 2, when the visual recognition device 30 visually recognizes the automobile 50 to thereby detect whether the interior and accessories of the automobile 50 are correctly installed, the control host 31 controls the installation in the studio The plurality of illumination light sources 35 of the frame B illuminate the car 50, the plurality of cameras 32 shoots the fixed positions of the left and right sides and the top side of the car 50, and the mechanical arms 36 extend into the car 50 to cooperate with the movable cameras 37 The illumination of the light source 371 is used to photograph the position inside the car 50 that needs to be detected.

上述各攝影機32以及各活動攝影機37拍攝的位置與數量是取決於該視覺辨識裝置30要對該汽車50檢測、視覺辨識的項目，由汽車50外側需要 檢測的配件的位置與數量，在該攝影棚架B設置足以拍攝供視覺辨識的攝影機32；由汽車50內部需要檢測的配件的位置與數量，設定各機械手臂36以各活動攝影機37伸入該汽車50內進行拍攝的拍攝點。上述對該汽車50進行視覺辨識的檢測項目包括：環保標章、警音喇叭、左頭燈、右頭燈、左霧燈蓋、右霧燈蓋、水箱下飾板、出風口撥鈕、外把手、倒車雷達、輪胎尺寸、扶手飾板、椅組材質、里程表、排檔桿頭、方向盤材質、方向盤開關、室內燈、油箱尾門拉柄、天井顏色確認、安全氣囊警告標誌、冷媒標誌、牌照燈、音響。 The position and number of the above cameras 32 and each active camera 37 are determined by the items to be detected and visually recognized by the visual recognition device 30 for the car 50, which is required by the outside of the car 50 For the position and number of the detected accessories, a camera 32 sufficient for photographing for visual recognition is set on the photo frame B; the position and number of the accessories to be detected inside the car 50 are set, and each robotic arm 36 is set to extend into each of the movable cameras 37 The shooting point for shooting in the car 50. The above-mentioned inspection items for visual recognition of the car 50 include: environmental protection label, alarm horn, left headlight, right headlight, left fog lamp cover, right fog lamp cover, water tank lower trim panel, air outlet switch, external Handle, reversing radar, tire size, armrest trim, seat group material, odometer, gear lever head, steering wheel material, steering wheel switch, interior light, fuel tank tailgate handle, patio color confirmation, airbag warning sign, refrigerant sign, License plate lights, audio.

上述各攝影機32以及各活動攝影機37拍攝影像的辨識手段包括：尋找目標、尋找旋轉目標、無目標、無旋轉目標、無對比、有對比、小於亮度、標準亮度、大於亮度、相同亮度、不同亮度、標準顏色、相同顏色、不同顏色、主要顏色、無顏色、字串讀取等等視覺辨識的程序，來確定該汽車50的內裝或配件是否符合生產時設定的需求。上述視覺辨識程序的範例，如圖7所示是拍攝中央置杯架60以辨識有目標或無目標，該目標為膠墊61。如圖8所示是拍攝車內的特定位置以辨識有目標或無目標，該目標是安全氣囊的貼紙62。如圖9所示是在照明時拍攝車門內側飾板63的反光以進行大於亮度或小於亮度的辨識。如圖10所示是關閉各照明光源35後，將汽車50的霧燈64開啟以辨識霧燈64是否相對於環境發亮來進行有對比或無對比的檢測。 The identification methods of the images captured by each camera 32 and each active camera 37 include: finding a target, finding a rotating target, no target, no rotating target, no contrast, having contrast, less than brightness, standard brightness, greater than brightness, same brightness, different brightness , Standard colors, same colors, different colors, main colors, no colors, string reading and other visual recognition programs to determine whether the interior or accessories of the car 50 meet the requirements set during production. In the example of the above-mentioned visual recognition program, as shown in FIG. 7, the central cup holder 60 is photographed to recognize whether there is a target or no target, and the target is a rubber pad 61. As shown in FIG. 8, a specific position in the vehicle is photographed to identify a target or no target. The target is a sticker 62 of an airbag. As shown in FIG. 9, the reflection of the interior trim 63 of the door is photographed during the illumination to distinguish between greater than or less than brightness. As shown in FIG. 10, after turning off each illumination light source 35, the fog lamp 64 of the car 50 is turned on to identify whether the fog lamp 64 is lit relative to the environment to perform a contrast or non-contrast test.

本發明除前述第一較佳實施例，是將各照明光源35設為條狀的光源，並在該攝影棚架B的頂框架22結合多個攝影機32用於視覺辨識以外，如圖11所示的本發明第二較佳實施例，是將多個結合在該攝影棚架B的照明光源35改設為面狀的光源，並在該頂框架22的左、右兩側各結合一沿前後方向延伸的側軌道221，在該頂框架22前半部的中間結合一沿左右方向延伸的前軌道222。 In addition to the aforementioned first preferred embodiment of the present invention, each illumination light source 35 is a strip-shaped light source, and a plurality of cameras 32 are combined with the top frame 22 of the studio frame B for visual recognition, as shown in FIG. 11 The second preferred embodiment of the present invention shown is to change a plurality of illumination light sources 35 combined with the studio frame B to planar light sources, and to combine a rim on each of the left and right sides of the top frame 22 A side rail 221 extending in the front-rear direction is coupled with a front rail 222 extending in the left-right direction in the middle of the front half of the top frame 22.

在前述各機械手臂36的頂部設有一滑動座361，各滑動座361以能夠前後滑動的形態結合在各側軌道221固定；為取代原本結合在該頂框架22的多 個攝影機32，本發明第二較佳實施例另設有一多軸的前機械手臂38，在該前機械手臂38的頂部設有一前滑動座381，該前滑動座381以能夠左右滑動的形態結合在該前軌道222固定，在該前機械手臂38的自由端結合一前活動攝影機39，該前活動攝影機39具有一前光源391，該前機械手臂38以及該前活動攝影機39分別與所述的控制主機31電連接而受該控制主機31控制。本發明第二較佳實施例的其他構造以及使用方式皆與前述第一較佳實施例中所述相同。 A sliding seat 361 is provided on the top of each of the aforementioned mechanical arms 36, and each sliding seat 361 is combined with each side rail 221 in a form capable of sliding back and forth to fix; A camera 32, the second preferred embodiment of the present invention is further provided with a multi-axis front mechanical arm 38, a front sliding seat 381 is provided on the top of the front mechanical arm 38, the front sliding seat 381 can slide left and right It is fixed on the front rail 222, and a front movable camera 39 is coupled to the free end of the front robot arm 38. The front movable camera 39 has a front light source 391. The front robot arm 38 and the front movable camera 39 are respectively The control host 31 is electrically connected and controlled by the control host 31. The other configurations and usages of the second preferred embodiment of the present invention are the same as those described in the aforementioned first preferred embodiment.

以上所述僅為本發明的較佳實施例而已，並非用以限定本發明主張的權利範圍，凡其它未脫離本發明所揭示的精神所完成的等效改變或修飾，均應包括在本發明的申請專利範圍內。 The above are only preferred embodiments of the present invention and are not intended to limit the scope of the claimed rights of the present invention. Any other equivalent changes or modifications made without departing from the spirit of the present invention should be included in the present invention Within the scope of patent application.

10‧‧‧停車平台 10‧‧‧Parking platform

20‧‧‧攝影棚 20‧‧‧ Studio

21‧‧‧側框架 21‧‧‧Side frame

22‧‧‧頂框架 22‧‧‧Top frame

31‧‧‧控制主機 31‧‧‧Control host

311‧‧‧機體 311‧‧‧Body

312‧‧‧控制介面 312‧‧‧Control interface

32‧‧‧攝影機 32‧‧‧Camera

36‧‧‧機械手臂 36‧‧‧Robot

37‧‧‧活動攝影機 37‧‧‧Camera

371‧‧‧光源 371‧‧‧Light source

40‧‧‧車體定位裝置 40‧‧‧Car body positioning device

A‧‧‧車體定位區 A‧‧‧Car body positioning area

B‧‧‧攝影棚架 B‧‧‧Photographic scaffold

Claims (4)

一種汽車內裝檢測系統，包括：一停車平台；一攝影棚，設置在該停車平台上並且在前後兩端分別設有一出口與一入口，該攝影棚包括一支撐在該停車平台上的攝影棚架，該攝影棚架包括兩分別設於左、右位置的側框架以及一連接在兩側框架頂緣之間的頂框架，對應該攝影棚內中間的位置，在該停車平台形成一車體定位區；以及一視覺辨識裝置，設有一控制主機，對應該車體定位區的左、右兩側及上方在該攝影棚架安裝多個朝向該車體定位區照明的照明光源，對應該車體定位區的左、右兩側在該攝影棚安裝多個朝向該車體定位區拍攝的攝影機，對應該車體定位區的左、右兩側在該頂框架的左、右兩側各設有一多軸的機械手臂，在各機械手臂的自由端分別結合一活動攝影機，各活動攝影機具有一光源，各照明光源、各攝影機、各機械手臂以及各活動攝影機分別與該控制主機電連接，該控制主機能夠控制各照明光源、各攝影機、各機械手臂與各活動攝影機對汽車的多處的固定位置分別進行目標有無、亮度或對比的視覺辨識；對應所述車體定位區前端的位置在所述頂框架前半部的中間設有一多軸的前機械手臂，在該前機械手臂的自由端結合一前活動攝影機，該前活動攝影機具有一前光源，該前機械手臂與該前活動攝影機分別與所述的控制主機電連接而能夠受該控制主機控制而對汽車進行視覺辨識。 A car interior detection system includes: a parking platform; a studio, which is provided on the parking platform and is provided with an exit and an entrance at the front and rear ends, respectively, the studio includes a studio supported on the parking platform The photo studio frame includes two side frames arranged at left and right positions, and a top frame connected between the top edges of the two side frames, corresponding to the middle position in the photo studio, forming a car body on the parking platform Positioning area; and a visual recognition device, equipped with a control host, corresponding to the left and right sides of the vehicle body positioning area and above the studio frame, a plurality of illumination light sources illuminating the vehicle body positioning area are installed on the photo frame, corresponding to the vehicle On the left and right sides of the body positioning area, a plurality of cameras shooting towards the body positioning area are installed in the studio, and the left and right sides of the body positioning area are respectively provided on the left and right sides of the top frame There is a multi-axis mechanical arm, which is combined with an active camera at the free end of each mechanical arm. Each active camera has a light source. Each illumination light source, each camera, each mechanical arm, and each active camera are electrically connected to the control host. The control host can control each lighting source, each camera, each robot arm and each active camera to visually identify the presence or absence, brightness or contrast of multiple fixed positions of the car; corresponding to the position of the front end of the vehicle body positioning area at A multi-axis front robot arm is provided in the middle of the front half of the top frame. A free front camera is combined with the free end of the front robot arm. The front movable camera has a front light source. The front robot arm and the front movable camera They are respectively electrically connected to the control host and can be controlled by the control host to visually recognize the car. 如請求項1之汽車內裝檢測系統，其中在所述的頂框架的左、右兩側各結合一沿前後方向延伸的側軌道，所述各機械手臂在頂部設有一滑動座，各滑動座以能夠前後滑動的形態結合在各側軌道固定；在該頂框架前半部的中間結合一沿左右方向延伸的前軌道，所述前機械手臂在頂部設有一前滑動座，該前滑動座以能夠左右滑動的形態結合在該前軌道固定。 The automobile interior detection system according to claim 1, wherein a side rail extending in the front-rear direction is combined on each of the left and right sides of the top frame, and each of the mechanical arms is provided with a sliding seat on the top, and each sliding seat It is fixed on each side rail in a form capable of sliding back and forth; a front rail extending in the left-right direction is combined in the middle of the front half of the top frame, and the front robot arm is provided with a front sliding seat on the top, which is capable of The form of sliding left and right is fixed on the front rail. 如請求項1或2之汽車內裝檢測系統，其中在所述各側框架以及所述頂框架的鏤空處分別結合多個遮光板。 A vehicle interior detection system as claimed in claim 1 or 2, wherein a plurality of light shielding plates are combined at the hollows of the side frames and the top frame, respectively. 如請求項3之汽車內裝檢測系統，其中在所述車體定位區的前、後兩側分別設有一車體定位裝置，各車體定位裝置在該車體定位區設有一底座，在各底座內的左、右兩側設有兩橫向滑台，在各橫向滑台的頂部設有一乘載板，該乘載板能夠相對各底座橫向滑動，在各底座內的中間結合兩線性驅動元件，此兩線性驅動元件是橫向設置並且驅動方向左右相反，在各線性驅動元件的驅動端結合一推輪塊，各推輪塊位於配合的各乘載板的內側，各推輪塊沿橫方向延伸形成一推輪部，各推輪部能夠由各乘載板的側向伸入各乘載板的上方。 For example, the vehicle interior detection system of claim 3, wherein a body positioning device is provided on the front and rear sides of the body positioning area, and each body positioning device is provided with a base in the body positioning area. There are two horizontal slides on the left and right sides of the base, and a loading plate is provided on the top of each horizontal slide, which can slide horizontally relative to each base, and two linear driving elements are combined in the middle of each base , The two linear driving elements are arranged laterally and the driving directions are opposite to each other. A driving wheel block is combined at the driving end of each linear driving element, each pushing wheel block is located inside each mating carrier board, and each pushing wheel block is along the lateral direction A push wheel portion is extended to extend, and each push wheel portion can extend into the upper side of each board from the side of each board.
TW107143597A 2018-12-05 2018-12-05 Vehicle interior detecting system TWI681167B (en)

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TWI769485B (en) * 2020-07-15 2022-07-01 國立雲林科技大學 Optical detection system and detection method thereof

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6320654B1 (en) * 1997-07-18 2001-11-20 Audi Ag Method for the automatic recognition of surface defects in body shells and device for carrying out said method
TW201242824A (en) * 2011-03-09 2012-11-01 Nippon Steel Corp Front vehicle body structure
TW201326781A (en) * 2011-12-16 2013-07-01 Metal Ind Res & Dev Ct Automatic turning and measurement mechanism for steering wheel

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6320654B1 (en) * 1997-07-18 2001-11-20 Audi Ag Method for the automatic recognition of surface defects in body shells and device for carrying out said method
TW201242824A (en) * 2011-03-09 2012-11-01 Nippon Steel Corp Front vehicle body structure
TW201326781A (en) * 2011-12-16 2013-07-01 Metal Ind Res & Dev Ct Automatic turning and measurement mechanism for steering wheel

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