CN106949832A - Car body position detection method and device - Google Patents
Car body position detection method and device Download PDFInfo
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- CN106949832A CN106949832A CN201710166048.3A CN201710166048A CN106949832A CN 106949832 A CN106949832 A CN 106949832A CN 201710166048 A CN201710166048 A CN 201710166048A CN 106949832 A CN106949832 A CN 106949832A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The present invention relates to a kind of car body position detection method and device, methods described comprises the following steps：Laser detection position is determined on car body；When car body is in reference position or physical location, laser projection to laser detection position is obtained reference laser projection or practical laser is projected, obtains benchmark image information of the car body at reference position by identification laser detection position；The reference projection position that reference laser is projected in benchmark image is obtained according to benchmark image information；Same shooting angle obtains actual image information of the car body in physical location；The actual projected position that practical laser is projected in real image is obtained according to actual image information；Actual projected position and reference projection position are carried out to contrast the offset for obtaining laser detection position, when determining the offset of laser detection position not in the first reference range, then the first actuation of an alarm is carried out.The present invention can preferably avoid the occurrence of spraying bad phenomenon and the bad phenomenon that spray gun is collided with car door occurs.
Description
Technical field
The present invention relates to car body position detection technique field, more particularly to a kind of car body position detection method and device.
Background technology
Car body is generally installed on a conveyor before spraying operation and is clamped by conveying device and be delivered to spraying
Station.When car body, which is transported to, has relatively large deviation between the physical location of spray station and reference position, robot is right
Car body is carried out in spraying process, is easy to the serious bad phenomenon of vehicle body coating occur, and there is the collision of spray gun and car door so that
In the bad phenomenon that car door is scrapped, spray gun fractures.
The content of the invention
Based on this, it is necessary to overcome the defect of prior art there is provided a kind of car body position detection method and device, it can
Preferably avoid the occurrence of spraying bad phenomenon and the bad phenomenon that spray gun is collided with car door occur.
Its technical scheme is as follows：A kind of car body position detection method, comprises the following steps：Laser detection is determined on car body
Position；When the car body is in reference position, the laser detection position on the car body is recognized, by laser projection to the laser detection
Position obtains reference laser projection, and obtains benchmark image information of the car body at reference position；According to benchmark image information
Obtain the reference projection position that reference laser is projected in benchmark image；When the car body is in physical location, the car is recognized
Laser detection position on body, practical laser projection is obtained by laser projection to laser detection position, and same shooting angle is obtained
Take actual image information of the car body in physical location；Practical laser is obtained according to actual image information and is projected in actual figure
Actual projected position as in；The actual projected position and the reference projection position contrast and obtain the laser inspection
The offset of location, when determining the offset of the laser detection position not in the first reference range, then carries out first and reports
Alert action.
A kind of car body position detection means, including：Detecting position identification module, the detecting position identification module is used to recognize car
Laser detection position determined by body；Laser emitting module, the laser emitting module is used for laser projection to the laser
Detecting position；Image capturing module, described image acquisition module is used to obtain benchmark image letter of the car body at reference position
Breath, the actual image information in physical location；Laser projection position acquisition module, the laser projection position acquisition module is used for
Obtain the actual projection that the reference projection position that is projected in benchmark image of reference laser, practical laser are projected in real image
Position；Offset acquisition module, the offset acquisition module is used for the actual projected position and reference projection position
Put and carry out contrasting the offset for obtaining the laser detection position；And the first actuation of an alarm module, the first actuation of an alarm module
For carrying out the first actuation of an alarm when judging the offset of the laser detection position not in the first reference range.
Above-mentioned car body position detection method and device, the position offset of car body can pass through laser detection position on car body
Offset characterize, can so get offset of the physical location relative to reference position of car body, and accordingly judge
Whether offset is in the first reference range, if offset is in the first preset range, and car body can be sprayed
Operation；If offset is not in the first preset range, the first actuation of an alarm is carried out, so as to just prevent from carrying out next step
Spraying operation, so just can preferably avoid the occurrence of spraying bad phenomenon and occur that spray gun and car door collide it is bad existing
As.
In wherein one embodiment, the laser detection position is the straightway that length is 5cm~15cm on the car body.
The straightway can quickly be recognized by instrument, it is possible to controlled laser beam emitting device to launch length and thrown for 5cm~15cm laser
On shadow to straightway.After image capturing device is taken pictures, 5cm~15cm straightway compares protrusion substantially in photo, this
Sample just can carry out actual projected position and reference projection position to contrast the offset for obtaining laser detection position.
In wherein one embodiment, the laser detection position is arranged on the car door of the car body.On the one hand, car door compared with
To be smooth, so it is easy to find the straightway that length is 5cm~15cm on car door, i.e., can quickly selectes laser detection
Position.On the other hand, in actual spraying process, if the offset of car body is not within a preset range, spray gun easily collides car door, this reality
Example is applied by the way that laser detection position is arranged on car door, so as to just ensure that the offset of car door within a preset range, can
Enough avoid the occurrence of the bad phenomenon that spray gun collides car door.
In wherein one embodiment, two or more laser detection position is provided with the car door of the car body, is being got
Also include step after the offset of the laser detection position：Between the offset of laser detection position described in acquisition two of which
Difference, when determining the difference not in the second preset range, then carries out the second actuation of an alarm.By the way that two laser are examined
Difference between the offset of location judged, during when difference is larger, not in the second preset range, that is, represents to occur in that flase drop
Phenomenon is surveyed, then the second actuation of an alarm is carried out, to avoid the occurrence of error detection phenomenon.
In wherein one embodiment, described car body position detection method also includes step：Determining the difference
When in the second preset range, then obtain the average value of the offset of laser detection position, judge the average value whether
In first preset range, when determining the average value not in the first preset range, then the first actuation of an alarm is carried out.
In wherein one embodiment, two or more laser detection position is provided with each car door of the car body.
Thus, the physical location of the laser detection position of each car door of car body can be compared with reference position, it can determine
Whether the offset of each car door of car body is in the first preset range, as long as the offset of any one car door is not pre- first
If in scope, then carrying out the first actuation of an alarm, it just can preferably avoid the occurrence of spraying bad phenomenon and spray gun and car occur
The bad phenomenon that door knob is hit.
In wherein one embodiment, described car body position detection means also includes offset difference acquisition module and the
Two actuation of an alarm modules, the offset difference acquisition module is used between the offset of the laser detection position of acquisition two
Difference, carries out the second alarm dynamic when the second actuation of an alarm module is used to determine the difference not in the second preset range
Make.By the way that the difference between the offset of two laser detections position is judged, when difference is larger, not in the second preset range
When, that is, represent to occur in that error detection phenomenon, then the second actuation of an alarm is carried out, with the negative consequence for avoiding error detection from being brought.
In wherein one embodiment, described car body position detection means also includes offset average value acquisition module,
The offset average value acquisition module is used for the average value for obtaining the offset of the laser detection position, and first alarm is dynamic
Making module is used to carry out the first report when judging the average value of offset of the laser detection position not in the first reference range
Alert action.
In wherein one embodiment, each car door of the car body is equipped with laser detection position, the Laser emission mould
Block be with described image acquisition module it is multiple, the laser emitting module, described image acquisition module with the car door one
One relative set.
Brief description of the drawings
Fig. 1 is the flow chart of the car body position detection method described in one of embodiment of the invention；
Fig. 2 is the flow chart of the car body position detection method described in another embodiment of the present invention；
Fig. 3 is the structural representation of the car body position detection means described in one of embodiment of the invention；
Fig. 4 is the structural representation of the car body position detection means described in another embodiment of the present invention；
Fig. 5 is the structural representation of the car body position detection means described in another embodiment of the invention.
10th, detecting position identification module, 20, laser emitting module, 30, image capturing module, 40, laser projection position acquisition
Module, 50, offset acquisition module, the 60, first actuation of an alarm module, 70, offset difference acquisition module, the 80, second alarm
Action module, 90, control module.
Embodiment
To enable the above objects, features and advantages of the present invention more obvious understandable, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.Many details are elaborated in the following description to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of running counter to intension of the present invention, therefore the present invention is not limited by following public specific embodiment.
In the description of the invention, it is to be understood that term " first ", " second " are only used for describing purpose, and can not
It is interpreted as indicating or implies relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " the
One ", at least one this feature can be expressed or be implicitly included to the feature of " second ".In the description of the invention, " multiple "
It is meant that at least two, such as two, three etc., unless otherwise specifically defined.
, can be with when an element is considered as " connection " another element it should be noted that in embodiment described above
It is directly to another element or may be simultaneously present intermediary element.On the contrary, when element for be referred to as " direct " with it is another
When element is connected, in the absence of intermediary element.
As shown in figure 1, a kind of car body position detection method, comprises the following steps：
S110, the determination laser detection position on car body；
S120, when the car body is in reference position, recognize the laser detection position on the car body；
S130, laser projection to laser detection position obtained into reference laser projection, and obtain the car body in benchmark
Benchmark image information during position；It is understood that laser projection to laser detection position is referred into laser beam emitting device institute
The Laser emission of transmitting is to the laser detection position of car body, and laser and the intersection point of laser detection position are just laser projection, are shot to pre-
If after in image, the laser projection of the laser detection position in pre-set image is more highlighted, and can be convenient for image analysis processing.Separately
Outside, optimal setting positions when reference position is vehicle body coating, car body is at reference position, and spray gun will not collide car door.
S140, reference laser is obtained according to benchmark image information it is projected in reference projection position in benchmark image；
S150, when the car body is in physical location, recognize the laser detection position on the car body；
S160, by laser projection to the laser detection position obtain practical laser projection, and same shooting angle obtain institute
State actual image information of the car body in physical location；
S170, practical laser is obtained according to actual image information it is projected in actual projected position in real image；
S180, the actual projected position and the reference projection position contrast obtain the laser detection position
Offset；
S190, when determining the offset of laser detection position not in the first reference range, then carry out first and report
Alert action.It is understood that the first reference range can carry out relative set according to actual needs, for example can be -30mm
~+30mm.
Above-mentioned car body position detection method, the position offset of car body can be by the skew of laser detection position on car body
Measure to characterize, can so get offset of the physical location relative to reference position of car body, and accordingly judge offset
Whether in the first reference range, if offset is in the first preset range, spraying operation can be carried out to car body；Such as
When fruit offset is not in the first preset range, then the first actuation of an alarm is carried out, so as to just prevent from carrying out the spraying behaviour of next step
Make, so just can preferably avoid the occurrence of spraying bad phenomenon and the bad phenomenon that spray gun is collided with car door occur.
In the present embodiment, the laser detection position is the straightway that length is 5cm~15cm on the car body.The straightway
Can quickly it be recognized by instrument, it is possible to which it is 5cm~15cm laser projections to straight line to control laser beam emitting device to launch length
Duan Shang.After image capturing device is taken pictures, it is obvious that 5cm~15cm straightway compares protrusion in photo, so just can be with
Actual projected position and reference projection position are carried out to contrast the offset for obtaining laser detection position.In other embodiments, swash
Light detecting position can also be chosen to be mounting hole, projection on car body etc..
In addition, the laser detection position is arranged on the car door of the car body.On the one hand, car door is relatively smooth smooth, such as
This is easy to find the straightway that length is 5cm~15cm on car door, i.e., can quickly select laser detection position.On the other hand,
In actual spraying process, if the offset of car body is not within a preset range, spray gun easily collides car door, and the present embodiment will be by that will swash
Light detecting position is arranged on car door, so that the offset that just ensure that car door is within a preset range, i.e., can avoid the occurrence of spray
Rifle collides the bad phenomenon of car door.
Usually, after laser detection position is arranged on the metal plate outdoors of car door, the laser that laser beam emitting device is launched
Synchronized projection is understood in the door of car door on metal plate through door glass, and the image captured by such image capturing device is included outdoors
Laser projection in laser projection and door on metal plate on metal plate so that in image analysis processing, easily by metal plate in door
Laser projection error detection for laser detection position physical location.
In order to solve this problem, further, swash as shown in Fig. 2 being provided with two or more on the car door of the car body
Light detecting position, also includes step after the offset of the laser detection position is got：
Difference between the offset of laser detection position described in S181, acquisition two of which；
For example：Two offsets are respectively 10mm and 15mm, then the difference between offset is then 5mm.
S182, when determining the difference not in the second preset range, then carry out the second actuation of an alarm.It is appreciated that
, the second preset range for example can be able to be -20mm~+20mm according to actual conditions relative set.Thus, this implementation
Example is by the way that the difference between the offset of two laser detections position is judged, when difference is larger, not in the second preset range
When, that is, represent to occur in that error detection phenomenon, then the second actuation of an alarm is carried out, with the negative consequence for avoiding error detection from being brought.
In addition, described car body position detection method also includes step：The difference is being determined in the second preset range
When interior, then the average value of the offset of the laser detection position is obtained, the average value is judged whether in the first preset range,
When determining the average value not in the first preset range, then the first actuation of an alarm is carried out.
In the present embodiment, two or more laser detection position is provided with each car door of the car body.Thus, can be with
The physical location of the laser detection position of each car door of car body is compared with reference position, each of car body can be determined
Whether the offset of car door is in the first preset range, as long as the offset of any one car door is not in the first preset range,
The first actuation of an alarm is then carried out, spraying bad phenomenon just can be preferably avoided the occurrence of and occur what spray gun was collided with car door
Bad phenomenon.
As shown in figure 3, a kind of car body position detection means, including：Detecting position identification module 10, laser emitting module 20,
Image capturing module 30, laser projection position acquisition module 40, the actuation of an alarm module 60 of offset acquisition module 50 and first.
The detecting position identification module 10 is used to recognize identified laser detection position on car body.The laser emitting module
20 are electrically connected with the detecting position identification module 10, and the laser emitting module 20 is used to examine laser projection to the laser
Location.Described image acquisition module 30 is used to obtaining benchmark image information of the car body at reference position, in physical location
When actual image information.The laser projection position acquisition module 40 is electrically connected with described image acquisition module 30, described to swash
Light projected position acquisition module 40 is used to obtain reference projection position, the practical laser throwing that reference laser is projected in benchmark image
Actual projected position of the shadow in real image.The offset acquisition module 50 and the laser projection position acquisition module 40
It is electrically connected with, the offset acquisition module 50 is used to be contrasted the actual projected position with the reference projection position
Obtain the offset of the laser detection position.The first actuation of an alarm module 60 electrically connects with the offset acquisition module 50
Connect, the first actuation of an alarm module 60 is used for when judging the offset of the laser detection position not in the first reference range
Carry out the first actuation of an alarm.
Effect produced by above-mentioned car body position detection means and the effect produced by above-mentioned car body position detection method
It is identical, without repeating.
In the present embodiment, referring to Fig. 4, described car body position detection means also includes offset difference acquisition module 70
With the second actuation of an alarm module 80.The offset difference acquisition module 70 electrically connects with the second actuation of an alarm module 80
Connect, the offset difference acquisition module 70 is used to obtain the difference between the offset of two laser detection positions.It is described
Second actuation of an alarm module 80 is used to carry out the second actuation of an alarm when determining the difference not in the second preset range.Pass through
Difference between the offset of two laser detections position is judged, during when difference is larger, not in the second preset range, i.e. table
Show and occur in that error detection phenomenon, then carry out the second actuation of an alarm, with the negative consequence for avoiding error detection from being brought.
In addition, described car body position detection means also includes offset average value acquisition module.The offset is averaged
Value acquisition module is used for the average value for obtaining the offset of the laser detection position.The first actuation of an alarm module 60 with it is described
Offset average value acquisition module is electrically connected with, and the first actuation of an alarm module 60 is used to judge the laser detection position
The first actuation of an alarm is carried out when the average value of offset is not in the first reference range.
In addition, each car door of the car body is equipped with laser detection position.The laser emitting module 20 and described image
Acquisition module 30 is multiple, and the laser emitting module 20, described image acquisition module 30 are corresponding one by one to the car door
Set.Thus, the physical location of the laser detection position of each car door of car body can be compared with reference position, it can sentence
Whether the offset broken to each car door of car body is in the first preset range, as long as the offset of any one car door is not
In one preset range, then the first actuation of an alarm is carried out, just can preferably avoid the occurrence of spraying bad phenomenon and spray gun occur
The bad phenomenon collided with car door.
In yet another embodiment, referring to Fig. 5, described car body position detection means also includes control module 90.Control
Molding block 90 and detecting position identification module 10, laser emitting module 20, image capturing module 30, laser projection position acquisition module
40th, offset acquisition module 50, the first actuation of an alarm module 60, offset difference acquisition module 70 and the second actuation of an alarm module
80 are electrically connected with.Thus, control module 90 can control each module to be operated successively according to pre-set programs.
It should be noted that in said apparatus embodiment, included modules are simply drawn according to function logic
Point, but above-mentioned division is not limited to, as long as corresponding function can be realized；In addition, each functional module is specific
Title is also only to facilitate mutually distinguish, the protection domain being not intended to limit the invention.
In addition, one of ordinary skill in the art will appreciate that realizing all or part of step in the various embodiments described above method
It can be by program to instruct the hardware of correlation to complete, corresponding program can be stored in read/write memory medium.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of car body position detection method, it is characterised in that comprise the following steps：
Laser detection position is determined on car body；
When the car body is in reference position, the laser detection position on the car body is recognized, laser projection to the laser is examined
Location obtains reference laser projection, and obtains benchmark image information of the car body at reference position；
The reference projection position that reference laser is projected in benchmark image is obtained according to benchmark image information；
When the car body is in physical location, the laser detection position on the car body is recognized, laser projection to the laser is examined
Location obtains practical laser projection, and same shooting angle obtains actual image information of the car body in physical location；
The actual projected position that practical laser is projected in real image is obtained according to actual image information；
The actual projected position and the reference projection position are carried out to contrast the offset for obtaining the laser detection position, when
When determining the offset of the laser detection position not in the first reference range, then the first actuation of an alarm is carried out.
2. car body position detection method according to claim 1, it is characterised in that the laser detection position is the car body
Upper length is 5cm~15cm straightway.
3. car body position detection method according to claim 1 or 2, it is characterised in that the laser detection position is arranged on
On the car door of the car body.
4. car body position detection method according to claim 3, it is characterised in that be provided with two on the car door of the car body
Individual above laser detection position, also includes step after the offset of the laser detection position is got：Obtain two of which institute
The difference between the offset of laser detection position is stated, when determining the difference not in the second preset range, then the is carried out
Two actuation of an alarms.
5. car body position detection method according to claim 4, it is characterised in that also including step：It is described determining
When difference is in the second preset range, then the average value of the offset of the laser detection position is obtained, judges that the average value is
It is no in the first preset range, when determining the average value not in the first preset range, then carry out the first actuation of an alarm.
6. car body position detection method according to claim 3, it is characterised in that on each car door of the car body
It is provided with two or more laser detection position.
7. a kind of car body position detection means, it is characterised in that including：
Detecting position identification module, the detecting position identification module is used to recognize identified laser detection position on car body；
Laser emitting module, the laser emitting module is used for laser projection to laser detection position；
Image capturing module, described image acquisition module be used to obtaining benchmark image information of the car body at reference position,
The actual image information in physical location；
Laser projection position acquisition module, the laser projection position acquisition module is projected in reference map for obtaining reference laser
Reference projection position, practical laser as in are projected in the actual projected position in real image；
Offset acquisition module, the offset acquisition module is used for the actual projected position and the reference projection position
Carry out contrasting the offset for obtaining the laser detection position；And
First actuation of an alarm module, the first actuation of an alarm module is used to not exist in the offset for judging the laser detection position
The first actuation of an alarm is carried out when in the first reference range.
8. car body position detection means according to claim 7, it is characterised in that also including offset difference acquisition module
With the second actuation of an alarm module, the offset difference acquisition module be used to obtaining two laser detection positions offset it
Between difference, the second actuation of an alarm module is used to carrying out second when determining the difference not in the second preset range reporting
Alert action.
9. car body position detection means according to claim 7, it is characterised in that also obtain mould including offset average value
Block, the offset average value acquisition module is used for the average value for obtaining the offset of the laser detection position, first report
Alert action module is electrically connected with the offset average value acquisition module, and the first actuation of an alarm module is used for judging
State laser detection position offset average value not in the first reference range when carry out the first actuation of an alarm.
10. car body position detection means according to claim 7, it is characterised in that each car door of the car body is all provided with
Have a laser detection position, the laser emitting module be with described image acquisition module it is multiple, it is the laser emitting module, described
Image capturing module with car door relative set one by one.
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| CN108297097A (en) * | 2018-01-19 | 2018-07-20 | 汽-大众汽车有限公司 | A kind of body of a motor car paint spraying system and method |
| TWI668675B (en) * | 2018-01-29 | 2019-08-11 | 英華達股份有限公司 | Defect evaluation system |
| CN110480236A (en) * | 2019-08-26 | 2019-11-22 | 中车石家庄车辆有限公司 | Articulated car apparatus for welding and positioning, production line and welding method |
| CN112097639A (en) * | 2020-08-17 | 2020-12-18 | 中车眉山车辆有限公司 | Laser-based vehicle bottom accessory detection method |
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