CN106949832B - Vehicle body position detection method and device - Google Patents
Vehicle body position detection method and device Download PDFInfo
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- CN106949832B CN106949832B CN201710166048.3A CN201710166048A CN106949832B CN 106949832 B CN106949832 B CN 106949832B CN 201710166048 A CN201710166048 A CN 201710166048A CN 106949832 B CN106949832 B CN 106949832B
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Abstract
The invention relates to a method and a device for detecting the position of a vehicle body, wherein the method comprises the following steps: determining a laser detection position on a vehicle body; when the vehicle body is at the reference position or the actual position, identifying the laser detection position, projecting the laser to the laser detection position to obtain reference laser projection or actual laser projection, and acquiring reference image information of the vehicle body at the reference position; acquiring a reference projection position of the reference laser projected in the reference image according to the reference image information; acquiring actual image information of the vehicle body at an actual position at the same shooting angle; acquiring an actual projection position of actual laser projection in an actual image according to actual image information; and comparing the actual projection position with the reference projection position to obtain the offset of the laser detection position, and performing a first alarm action when the offset of the laser detection position is judged not to be within a first preset range. The invention can better avoid the bad spraying phenomenon and the bad collision phenomenon of the spray gun and the vehicle door.
Description
Technical Field
The invention relates to the technical field of vehicle body position detection, in particular to a vehicle body position detection method and device.
Background
The vehicle body is typically mounted on a conveyor and held by the conveyor and transported to a painting station prior to a painting operation. When the vehicle body is conveyed to a large deviation between the actual position of the spraying station and the reference position, the robot is very easy to generate the bad phenomena of serious vehicle body spraying and the bad phenomena of vehicle door scrapping and gun breakage caused by collision of the spray gun and the vehicle door in the process of spraying the vehicle body.
Disclosure of Invention
Accordingly, it is necessary to overcome the drawbacks of the prior art and to provide a method and an apparatus for detecting a vehicle body position, which can better avoid the occurrence of poor spraying and the occurrence of a collision between a spray gun and a vehicle door.
The technical scheme is as follows: a vehicle body position detection method includes the following steps: determining a laser detection position on a vehicle body; when the vehicle body is at a reference position, identifying a laser detection position on the vehicle body, projecting laser to the laser detection position to obtain a reference laser projection, and acquiring reference image information of the vehicle body at the reference position; acquiring a reference projection position of the reference laser projected in the reference image according to the reference image information; when the vehicle body is at the actual position, identifying a laser detection position on the vehicle body, projecting laser to the laser detection position to obtain actual laser projection, and obtaining actual image information of the vehicle body at the actual position at the same shooting angle; acquiring an actual projection position of actual laser projection in an actual image according to actual image information; and comparing the actual projection position with the reference projection position to obtain the offset of the laser detection position, and performing a first alarm action when the offset of the laser detection position is judged not to be within a first preset range.
A vehicle body position detecting device comprising: the detection position identification module is used for identifying the laser detection position determined on the vehicle body; the laser emission module is used for projecting laser to the laser detection position; the image acquisition module is used for acquiring reference image information of the vehicle body at a reference position and actual image information of the vehicle body at an actual position; the laser projection position acquisition module is used for acquiring a reference projection position of reference laser projection in a reference image and an actual projection position of actual laser projection in an actual image; the offset acquisition module is used for comparing the actual projection position with the reference projection position to obtain the offset of the laser detection position; and the first alarm action module is used for carrying out first alarm action when judging that the offset of the laser detection position is not in a first preset range.
According to the method and the device for detecting the position of the vehicle body, the position offset of the vehicle body can be represented by the offset of the laser detection position on the vehicle body, so that the offset of the actual position of the vehicle body relative to the reference position can be obtained, whether the offset is within a first preset range or not is correspondingly judged, and if the offset is within the first preset range, the vehicle body can be subjected to spraying operation; if the offset is not within the first preset range, a first alarm action is carried out, so that the next spraying operation is prevented, and the bad spraying phenomenon and the bad collision phenomenon of the spray gun and the vehicle door can be well avoided.
In one embodiment, the laser detection position is a straight line segment with the length of 5 cm-15 cm on the vehicle body. The straight line segment can be quickly identified by an instrument, and the laser emitting device can be controlled to emit laser with the emitting length of 5 cm-15 cm to project on the straight line segment. After the image capturing device takes a picture, the 5 cm-15 cm straight line segment protrudes obviously in the picture, so that the actual projection position can be compared with the reference projection position to obtain the offset of the laser detection position.
In one embodiment, the laser detection site is provided on a door of the vehicle body. On one hand, the vehicle door is smooth and flat, so that a straight line segment with the length of 5-15 cm can be conveniently found on the vehicle door, and the laser detection position can be quickly selected. On the other hand, in the actual spraying process, if the offset of automobile body is not in predetermineeing the within range, the door is collided easily to the spray gun, and this embodiment is through detecting the position setting with laser on the door to just, the offset that can guarantee the door is in predetermineeing the within range, can avoid appearing the bad phenomenon that the spray gun collided the door promptly.
In one embodiment, two or more laser detection positions are arranged on a door of the vehicle body, and after the offset of the laser detection positions is obtained, the method further comprises the following steps: and acquiring a difference value between the offset values of the two laser detection positions, and performing a second alarm action when the difference value is judged not to be within a second preset range. And judging the difference value between the offset values of the two laser detection positions, and when the difference value is larger and is not in a second preset range, namely, indicating that a false detection phenomenon occurs, performing a second alarm action to avoid the occurrence of the false detection phenomenon.
In one embodiment, the vehicle body position detecting method further includes the steps of: and when the difference value is judged to be in a second preset range, acquiring an average value of the offset of the laser detection position, judging whether the average value is in a first preset range, and when the average value is judged not to be in the first preset range, performing a first alarm action.
In one embodiment, more than two laser detection positions are arranged on each door of the vehicle body. So, can all compare the actual position and the reference position of the laser detection position of each door of automobile body, can judge whether the offset of each door of automobile body is in first preset within range, as long as the offset of arbitrary door is not in first preset within range, then carry out first alarm action, alright avoid appearing the bad phenomenon of spraying and the bad phenomenon that appears spray gun and door collision betterly.
In one embodiment, the vehicle body position detection device further comprises an offset difference acquisition module and a second alarm action module, wherein the offset difference acquisition module is used for acquiring a difference between the offsets of the two laser detection positions, and the second alarm action module is used for performing a second alarm action when the difference is judged not to be within a second preset range. And judging the difference value between the offset values of the two laser detection positions, and when the difference value is larger and is not in a second preset range, namely indicating that a false detection phenomenon occurs, performing a second alarm action to avoid adverse consequences caused by false detection.
In one embodiment, the vehicle body position detection device further comprises an offset average value acquisition module, the offset average value acquisition module is used for acquiring an average value of the offsets of the laser detection positions, and the first alarm action module is used for performing a first alarm action when the average value of the offsets of the laser detection positions is judged not to be within a first preset range.
In one embodiment, each door of the vehicle body is provided with a laser detection position, the laser emission modules and the image capturing modules are multiple, and the laser emission modules and the image capturing modules are arranged corresponding to the doors one by one.
Drawings
Fig. 1 is a flowchart of a vehicle body position detection method according to an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle body position detecting method according to another embodiment of the invention;
fig. 3 is a schematic structural view of a vehicle body position detecting apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a vehicle body position detecting apparatus according to another embodiment of the present invention;
fig. 5 is a schematic structural view of a vehicle body position detecting apparatus according to still another embodiment of the present invention.
10. The device comprises a detection position identification module, 20, a laser emission module, 30, an image acquisition module, 40, a laser projection position acquisition module, 50, an offset acquisition module, 60, a first alarm action module, 70, an offset difference acquisition module, 80, a second alarm action module, 90 and a control module.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any 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, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
It should be noted that, when one element is referred to as being "connected" to another element in the above embodiments, the element may be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present.
As shown in fig. 1, a vehicle body position detecting method includes the steps of:
s110, determining a laser detection position on the vehicle body;
s120, when the vehicle body is at the reference position, identifying a laser detection position on the vehicle body;
s130, projecting laser to the laser detection position to obtain a reference laser projection, and acquiring reference image information of the vehicle body at a reference position; it can be understood that, with laser projection to laser detection position refer to the laser emission that laser emitter emitted to the automobile body and detects the position, the laser is just for laser projection with the crossing point that laser detected the position, shoots to predetermineeing in the image, predetermines that the laser projection of the laser detection position in the image is comparatively prominent, can be convenient for carry out image analysis and processing. The reference position is an optimum setting position for the vehicle body during painting, and the spray gun does not collide with the door when the vehicle body is at the reference position.
S140, acquiring a reference projection position of the reference laser projected in the reference image according to the reference image information;
s150, when the vehicle body is at the actual position, identifying a laser detection position on the vehicle body;
s160, projecting laser to the laser detection position to obtain actual laser projection, and obtaining actual image information of the vehicle body at the actual position at the same shooting angle;
s170, acquiring an actual projection position of the actual laser projection in the actual image according to the actual image information;
s180, comparing the actual projection position with the reference projection position to obtain the offset of the laser detection position;
and S190, when the offset of the laser detection position is judged not to be within a first preset range, performing a first alarm action. It is understood that the first preset range can be set according to actual requirements, and can be, for example, -30mm to +30 mm.
According to the vehicle body position detection method, the position offset of the vehicle body can be represented by the offset of the laser detection position on the vehicle body, so that the offset of the actual position of the vehicle body relative to the reference position can be obtained, whether the offset is within a first preset range or not is correspondingly judged, and if the offset is within the first preset range, the vehicle body can be subjected to spraying operation; if the offset is not within the first preset range, a first alarm action is carried out, so that the next spraying operation is prevented, and the bad spraying phenomenon and the bad collision phenomenon of the spray gun and the vehicle door can be well avoided.
In this embodiment, the laser detection position is a straight line segment with a length of 5cm to 15cm on the vehicle body. The straight line segment can be quickly identified by an instrument, and the laser emitting device can be controlled to emit laser with the emitting length of 5 cm-15 cm to project on the straight line segment. After the image capturing device takes a picture, the 5 cm-15 cm straight line segment protrudes obviously in the picture, so that the actual projection position can be compared with the reference projection position to obtain the offset of the laser detection position. In other embodiments, the laser detection position may also be selected as a mounting hole, a bump, etc. on the vehicle body.
In addition, the laser detection position is arranged on a door of the vehicle body. On one hand, the vehicle door is smooth and flat, so that a straight line segment with the length of 5-15 cm can be conveniently found on the vehicle door, and the laser detection position can be quickly selected. On the other hand, in the actual spraying process, if the offset of automobile body is not in predetermineeing the within range, the door is collided easily to the spray gun, and this embodiment is through detecting the position setting with laser on the door to just, the offset that can guarantee the door is in predetermineeing the within range, can avoid appearing the bad phenomenon that the spray gun collided the door promptly.
Generally, with the laser detection position set up back on the outer panel beating of door, the laser that laser emission device emitted passes door glass can be synchronous projection on the interior panel beating of door, including the laser projection on the outer panel beating of door and the laser projection on the panel beating in the door in the image that image acquisition device shot like this for when image analysis handles, easily with the laser projection mistake detection on the interior panel beating of door for the actual position of laser detection position.
In order to solve the problem, as shown in fig. 2, two or more laser detection positions are provided on a door of the vehicle body, and after acquiring an offset amount of the laser detection position, the method further includes the steps of:
s181, acquiring a difference value between the offset values of two laser detection positions;
for example: the two offsets are 10mm and 15mm respectively, then the difference between the offsets is 5 mm.
And S182, when the difference value is judged not to be in the second preset range, performing a second alarm action. It is understood that the second preset range can be set according to practical situations, and can be, for example, -20mm to +20 mm. Therefore, in the embodiment, the difference between the offsets of the two laser detection positions is judged, and when the difference is larger and is not within the second preset range, that is, the false detection phenomenon is indicated, a second alarm action is performed, so that adverse consequences caused by false detection are avoided.
In addition, the vehicle body position detection method further includes the steps of: and when the difference value is judged to be in a second preset range, acquiring an average value of the offset of the laser detection position, judging whether the average value is in a first preset range, and when the average value is judged not to be in the first preset range, performing a first alarm action.
In this embodiment, each door of the vehicle body is provided with two or more laser detection positions. So, can all compare the actual position and the reference position of the laser detection position of each door of automobile body, can judge whether the offset of each door of automobile body is in first preset within range, as long as the offset of arbitrary door is not in first preset within range, then carry out first alarm action, alright avoid appearing the bad phenomenon of spraying and the bad phenomenon that appears spray gun and door collision betterly.
As shown in fig. 3, a vehicle body position detecting apparatus includes: the system comprises a detection position identification module 10, a laser emitting module 20, an image capturing module 30, a laser projection position obtaining module 40, an offset obtaining module 50 and a first alarm action module 60.
The detection position identification module 10 is used for identifying the determined laser detection position on the vehicle body. The laser emitting module 20 is electrically connected to the detection position identification module 10, and the laser emitting module 20 is configured to project laser onto the laser detection position. The image capturing module 30 is configured to obtain reference image information of the vehicle body at a reference position and actual image information of the vehicle body at an actual position. The laser projection position obtaining module 40 is electrically connected to the image capturing module 30, and the laser projection position obtaining module 40 is configured to obtain a reference projection position of the reference laser projection in the reference image and an actual projection position of the actual laser projection in the actual image. The offset obtaining module 50 is electrically connected to the laser projection position obtaining module 40, and the offset obtaining module 50 is configured to compare the actual projection position with the reference projection position to obtain an offset of the laser detection position. The first alarm action module 60 is electrically connected to the offset obtaining module 50, and the first alarm action module 60 is configured to perform a first alarm action when it is determined that the offset of the laser detection position is not within a first preset range.
The effect of the vehicle body position detection device is the same as that of the vehicle body position detection method, and is not described in detail.
In this embodiment, please refer to fig. 4, the vehicle body position detecting apparatus further includes an offset difference obtaining module 70 and a second alarm action module 80. The offset difference obtaining module 70 is electrically connected to the second alarm action module 80, and the offset difference obtaining module 70 is configured to obtain a difference between offsets of the two laser detection positions. The second alarm action module 80 is configured to perform a second alarm action when it is determined that the difference is not within a second preset range. And judging the difference value between the offset values of the two laser detection positions, and when the difference value is larger and is not in a second preset range, namely indicating that a false detection phenomenon occurs, performing a second alarm action to avoid adverse consequences caused by false detection.
In addition, the vehicle body position detection device further comprises an offset average value acquisition module. The offset average value obtaining module is used for obtaining an average value of the offset of the laser detection position. The first alarm action module 60 is electrically connected with the offset average value obtaining module, and the first alarm action module 60 is used for performing a first alarm action when the average value of the offset of the laser detection position is judged not to be within a first preset range.
In addition, each door of the vehicle body is provided with a laser detection position. The laser emitting module 20 and the image capturing module 30 are both provided in plurality, and the laser emitting module 20 and the image capturing module 30 are both arranged corresponding to the vehicle door one by one. So, can all compare the actual position and the reference position of the laser detection position of each door of automobile body, can judge whether the offset of each door of automobile body is in first preset within range, as long as the offset of arbitrary door is not in first preset within range, then carry out first alarm action, alright avoid appearing the bad phenomenon of spraying and the bad phenomenon that appears spray gun and door collision betterly.
In another embodiment, referring to fig. 5, the vehicle body position detecting device further includes a control module 90. The control module 90 is electrically connected to the detection position recognition module 10, the laser emitting module 20, the image capturing module 30, the laser projection position obtaining module 40, the offset obtaining module 50, the first alarm action module 60, the offset difference obtaining module 70, and the second alarm action module 80. Thus, the control module 90 can control the modules to work in sequence according to a preset program.
It should be noted that, in the above apparatus embodiment, each included module is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be implemented; in addition, the specific names of the functional modules are only for convenience of distinguishing from each other and are not used for limiting the protection scope of the present invention.
In addition, it can be understood by those skilled in the art that all or part of the steps in the method for implementing the embodiments described above may be implemented by instructing the relevant hardware through a program, and the corresponding program may be stored in a readable storage medium.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A vehicle body position detection method is characterized by comprising the following steps:
determining a laser detection position on a vehicle body;
when the vehicle body is at a reference position, identifying the laser detection position on the vehicle body, projecting laser to the laser detection position to obtain a reference laser projection, and acquiring reference image information of the vehicle body at the reference position;
acquiring a reference projection position of the reference laser projected in a reference image according to the reference image information;
when the vehicle body is at an actual position, identifying the laser detection position on the vehicle body, projecting laser to the laser detection position to obtain actual laser projection, and obtaining actual image information of the vehicle body at the actual position at the same shooting angle;
acquiring an actual projection position of actual laser projection in an actual image according to the actual image information;
comparing the actual projection position with the reference projection position to obtain the offset of the laser detection position, and performing a first alarm action when the offset of the laser detection position is judged not to be within a first preset range;
more than two laser detection positions are arranged on the vehicle body, the difference value between the offset values of the two laser detection positions is obtained, and when the difference value is judged not to be within a second preset range, a second alarm action is carried out;
further comprising the steps of: and when the difference value is judged to be in a second preset range, acquiring an average value of the offset of the laser detection position, judging whether the average value is in a first preset range, and when the average value is judged not to be in the first preset range, performing a first alarm action.
2. The vehicle body position detecting method according to claim 1, wherein the laser detection position is a straight line segment of 5cm to 15cm in length on the vehicle body.
3. The vehicle body position detecting method according to claim 1 or 2, wherein the laser detection position is provided on a door of the vehicle body.
4. The vehicle body position detecting method according to claim 3, wherein two or more laser detection positions are provided on each door of the vehicle body.
5. The vehicle body position detecting method according to claim 1 or 2, characterized in that the first preset range is-30 mm to +30 mm.
6. The vehicle body position detecting method according to claim 1 or 2, characterized in that the second preset range is-20 mm to +20 mm.
7. The vehicle body position detecting method according to claim 1, wherein the laser detection site is a mounting hole on the vehicle body.
8. The vehicle body position detecting method according to claim 1, wherein the laser detection site is a bump on the vehicle body.
9. A vehicle body position detecting device characterized by comprising:
the detection position identification module is used for identifying the laser detection position determined on the vehicle body;
the laser emission module is used for projecting laser to the laser detection position;
the image acquisition module is used for acquiring reference image information of the vehicle body at a reference position and actual image information of the vehicle body at an actual position;
the laser projection position acquisition module is used for acquiring a reference projection position of reference laser projection in a reference image and an actual projection position of actual laser projection in an actual image;
the offset acquisition module is used for comparing the actual projection position with the reference projection position to obtain the offset of the laser detection position;
the first alarm action module is used for carrying out first alarm action when judging that the offset of the laser detection position is not in a first preset range;
the device comprises an offset difference value acquisition module and a second alarm action module, wherein the offset difference value acquisition module is used for acquiring a difference value between the offsets of two laser detection positions, and the second alarm action module is used for performing a second alarm action when the difference value is judged not to be within a second preset range; and
the device comprises an offset average value acquisition module, wherein the offset average value acquisition module is used for acquiring the average value of the offset of the laser detection position, the first alarm action module is electrically connected with the offset average value acquisition module, and the first alarm action module is used for carrying out first alarm action when the average value of the offset of the laser detection position is judged not to be within a first preset range.
10. The apparatus according to claim 7, wherein each door of the vehicle body is provided with a laser detection position, the laser emission module and the image capture module are provided in plurality, and the laser emission module and the image capture module are provided in one-to-one correspondence with the doors.
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| CN108297097B (en) * | 2018-01-19 | 2024-02-20 | 一汽-大众汽车有限公司 | Automobile body paint spraying system and method |
| CN108226231A (en) * | 2018-01-29 | 2018-06-29 | 英华达（上海）科技有限公司 | Defect estimation system |
| CN110480236B (en) * | 2019-08-26 | 2021-07-20 | 中车石家庄车辆有限公司 | Railway flatcar welding positioning device, 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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