CN107544415A - A kind of positioning compensation system - Google Patents
A kind of positioning compensation system Download PDFInfo
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- CN107544415A CN107544415A CN201710842110.6A CN201710842110A CN107544415A CN 107544415 A CN107544415 A CN 107544415A CN 201710842110 A CN201710842110 A CN 201710842110A CN 107544415 A CN107544415 A CN 107544415A
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Abstract
The present invention relates to technical field of semiconductors, more particularly to a kind of positioning compensation system, applied to the spray robot that spraying is tracked to automobile；Including：Conveyer；Displacement transducer, for gathering movable information and the output of conveyer；Controller, it is connected with displacement transducer, to receive and according to movable information, judge the position of automobile in a first direction；Image capture device, it is connected with controller；Controller is when judging that automobile reaches a basic body position, the actual vehicle body position of control image capture device collection automobile；Generation comparison result is compared with basic body position in the actual vehicle body position that controller gathers image capture device；Controller is connected with spray robot, to be compensated according to comparison result to the pursuit path of spray robot；It can be compensated by the physical location of automobile compared with normal place with the movement locus to spray robot, spraying is accurate, and reliability is high.
Description
Technical field
Technical field of automation of the present invention, more particularly to a kind of positioning compensation system.
Background technology
With the development of technology, automobile manufacturing field, such as body of a motor car carry out spraying and have been realized in automating, spraying
Robot synchronously carries out spray coating operations with traveling of the automobile on carrier chain, and efficiency high, spraying is uniform, can adapt to high-volume
Vehicle spray painting operation.
But conveying track required precision of the existing spray robot to automobile is higher, once motor racing track goes out
Existing deviation, spray robot are tracked spraying still according to original track, and spraying effect is bad, and vapour can be also caused when serious
Car surface and the damage of spray robot.
The content of the invention
In view of the above-mentioned problems, the present invention proposes a kind of positioning compensation system, spraying is tracked applied to automobile
Spray robot；Wherein, including：
Conveyer, for transporting the automobile on a first direction；
Displacement transducer, for gathering movable information and the output of the conveyer；
Controller, it is connected with institute displacement sensors, to receive and according to the movable information, judge the automobile in institute
State the position on first direction；
Image capture device, it is connected with the controller；
The controller is when judging that the automobile reaches a basic body position, the collecting device collection of control described image
The actual vehicle body position of the automobile；
The actual vehicle body position that the controller gathers described image collecting device and the basic body position
Generation comparison result is compared；
The controller is connected with the spray robot, with according to the comparison result to the spray robot with
Track track compensates.
Above-mentioned positioning compensation system, wherein, described image collecting device has multiple；
The basic body feature of the corresponding automobile is preset with the controller；
The actual vehicle body position of each described image collecting device collection is the reality of the corresponding basic body feature
Border position；
The controller is by by each actual vehicle body position corresponding to the basic body feature and corresponding institute
State basic body position to be compared, generate the comparison result.
Above-mentioned positioning compensation system, wherein, it is corresponding not that the different basic body features is preset in the controller
With the automobile of model.
Above-mentioned positioning compensation system, wherein, the controller is programmable logic controller (PLC).
Above-mentioned positioning compensation system, wherein, described image collecting device is camera.
Above-mentioned positioning compensation system, wherein, it is provided with lighting device at the top of described image collecting device.
Above-mentioned positioning compensation system, wherein, described image collecting device is connected by bus with the controller.
Above-mentioned positioning compensation system, wherein, the conveyer include a conveyer chain and with the transmission chain link
A drive shaft；
Institute's displacement sensors are encoder, the movable information of the rotary motion by detecting the drive shaft.
Beneficial effect：A kind of positioning compensation system proposed by the present invention, can be by the physical location and normal place of automobile
It is compared, is compensated with the movement locus to spray robot, spraying is accurate, and reliability is high.
Brief description of the drawings
Fig. 1 is the structure principle chart of positioning compensation system in one embodiment of the invention.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
In a preferred embodiment, as shown in Figure 1, it is proposed that a kind of positioning compensation system, enter applied to automobile
The spray robot 40 of line trace spraying；Wherein it is possible to including：
Conveyer (is not shown) in accompanying drawing, for transporting automobile on a first direction；
Displacement transducer 10, for gathering movable information and the output of conveyer；
Controller 20, it is connected with displacement transducer 10, to receive and according to movable information, judge automobile in a first direction
Position；
Image capture device 30, it is connected with controller 20；
For controller 20 when judging that automobile reaches a basic body position, control image capture device 30 gathers the reality of automobile
Border vehicle body position；
Generation is compared with basic body position in the actual vehicle body position that controller 20 gathers image capture device 30
Comparison result；
Controller 20 is connected with spray robot 40, to be carried out according to comparison result to the pursuit path of spray robot 40
Compensation.
In above-mentioned technical proposal, because the conveyer adjustment for conveying automobile gets up cost compared with the fortune of spray robot 40
The adjustment of dynamic rail mark is comparatively easy, therefore the present invention to the pursuit path of spray robot 40 by being adjusted；Generation
The movement locus of automobile follow can be simulated after comparison result simultaneously, but this is a kind of preferable situation, is not construed as
It is limitation of the present invention.
Specifically, all image capture devices 30 can be connected into PoE interchangers by a netting twine, without other power supply
Line is powered, and controller 20 can be industrial computer, and the industrial computer can access PoE interchangers by netting twine, realize and each
The communication of image capture device 30；Controller 20 can be divided into the first control module and and flush coater with image capture device 30
The second control module that device people 40 connects, in this case, can be used between the first controller and second controller
Profibus bus communications.
Specifically, the second control module can monitor vehicle body position, in the range of setting, send vehicle body condition monitoring
Trigger signal is taken pictures according to each task requests to the first control module, the first controller, compares feature, calculate vehicle body displacement
Whether deviation exceeds setting range, gives normally whether feedback of status to the second control module, the second control module detects super
During range state, stop carrier chain operation, and alarm, prompt operating personnel to confirm vehicle body state.
Specifically, it can be to automobile by a position sensor fixed that controller 20, which is determined up to basic body position,
Detected, the position that can be gathered before system work to vehicle body is debugged, to ensure the mark set by position sensor
The gap of quasi- vehicle body opening position, the actual vehicle body position collected and basic body position avoids without departing from default scope
Situations such as vehicle body collection apparatus is imperfect occurs.
In a preferred embodiment, image capture device 30 can have multiple；
The basic body feature of corresponding automobile can be preset with controller 20；
The actual vehicle body position that each image capture device 30 gathers is the physical location of corresponding basic body feature；
Controller 20 can be by by each actual vehicle body position corresponding to basic body feature and corresponding basic body
Position is compared, and generates comparison result.
In above-mentioned technical proposal, basic body feature corresponding to each image capture device 30 can be different, example
Basic body feature as the image capture device 30 above car door is gathered is preferably located near car door, such as automobile
Door handle, auto mirror etc.；Basic body feature corresponding to each image capture device 30 can also be according to actual conditions certainly
Row setting.
Specifically, a visual coordinate system can be established in controller 20 as actual vehicle body position and basic body position ratio
To basis, the physical location of vehicle body feature is fastened in visual coordinate can have one first coordinate, the normal bit of vehicle body feature
Put to fasten in visual coordinate and there can be one second coordinate, comparison result can specially the seat of the first coordinate and the second coordinate
Mark difference, such coordinate difference can be on mathematical expression transverse and longitudinal coordinate difference or two coordinates between
Vector representation.
Specifically, whole car can be obtained by the deviation between most table corresponding to all vehicle body features, comprehensive analysis
The offset information of body, for example, can be the angle of body sway, can also the distance that offsets in one direction of vehicle body,
Either tilt and the comprehensive of offset distance embodies.
In above-described embodiment, it is preferable that different basic body features can be preset in controller 20 and corresponds to different model
And/or the automobile of plate.
In above-mentioned technical proposal, Main classification item and subclassification item can be set to classify and store vehicle body feature, it is main
Sorting item can be the brand of automobile, and subclassification item can be the model of automobile.
In a preferred embodiment, controller 20 can be programmable logic controller (PLC), and Function Extension facilitates.
In a preferred embodiment, image capture device 30 can be camera, and collection can be image or regard
Frequently.
In a preferred embodiment, the top of image capture device 30 can be provided with lighting device, be adopted for providing
Illumination adjusting needed for collection, lighting device can be powered by 24V dc sources.
In a preferred embodiment, image capture device 30 can be connected by bus with controller 20.
In a preferred embodiment, conveyer can include a conveyer chain and the driving with transmitting chain link
Axle；
Displacement transducer can be encoder, the movable information of the rotary motion by detecting drive shaft.
In summary, a kind of positioning compensation system proposed by the present invention, applied to the spraying that spraying is tracked to automobile
Robot；Including：Conveyer；Displacement transducer, for gathering movable information and the output of conveyer；Controller, with position
Displacement sensor connects, to receive and according to movable information, judge the position of automobile in a first direction；Image capture device, with
Controller connects；Controller is when judging that automobile reaches a basic body position, the reality of control image capture device collection automobile
Border vehicle body position；Generation ratio is compared with basic body position for the actual vehicle body position that controller gathers image capture device
To result；Controller is connected with spray robot, to be compensated according to comparison result to the pursuit path of spray robot；Energy
Enough physical locations by automobile are compensated compared with normal place with the movement locus to spray robot, spraying essence
Really, reliability is high.
By explanation and accompanying drawing, the exemplary embodiments of the specific structure of embodiment are given, it is smart based on the present invention
God, it can also make other conversions.Although foregoing invention proposes existing preferred embodiment, however, these contents are not intended as
Limitation.
For a person skilled in the art, after reading described above, various changes and modifications undoubtedly will be evident.
Therefore, appended claims should regard whole variations and modifications of the true intention and scope that cover the present invention as.Weighing
Any and all scope and content of equal value, are all considered as still belonging to the intent and scope of the invention in the range of sharp claim.
Claims (8)
- A kind of 1. positioning compensation system, applied to the spray robot that spraying is tracked to automobile；It is characterised in that it includes：Conveyer, for transporting the automobile on a first direction；Displacement transducer, for gathering movable information and the output of the conveyer；Controller, it is connected with institute displacement sensors, to receive and according to the movable information, judges the automobile described the Position on one direction；Image capture device, it is connected with the controller；The controller is when judging that the automobile reaches a basic body position, described in the collecting device collection of control described image The actual vehicle body position of automobile；The actual vehicle body position that the controller gathers described image collecting device is carried out with the basic body position Compare generation comparison result；The controller is connected with the spray robot, with according to tracking rail of the comparison result to the spray robot Mark compensates.
- 2. positioning compensation system according to claim 1, it is characterised in that described image collecting device has multiple；The basic body feature of the corresponding automobile is preset with the controller；The actual vehicle body position of each described image collecting device collection is the actual bit of the corresponding basic body feature Put；The controller is by by each actual vehicle body position corresponding to the basic body feature and the corresponding mark Quasi- vehicle body position is compared, and generates the comparison result.
- 3. positioning compensation system according to claim 2, it is characterised in that the different marks is preset in the controller Quasi- vehicle body feature corresponds to the automobile of different model.
- 4. positioning compensation system according to claim 1, it is characterised in that the controller is Programmable logical controller Device.
- 5. positioning compensation system according to claim 1, it is characterised in that described image collecting device is camera.
- 6. positioning compensation system according to claim 1, it is characterised in that be provided with photograph at the top of described image collecting device Bright device.
- 7. positioning compensation system according to claim 1, it is characterised in that described image collecting device passes through bus and institute State controller connection.
- 8. positioning compensation system according to claim 1, it is characterised in that the conveyer include a conveyer chain and With a drive shaft of the transmission chain link；Institute's displacement sensors are encoder, the movable information of the rotary motion by detecting the drive shaft.
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| CN201710842110.6A CN107544415A (en) | 2017-09-18 | 2017-09-18 | A kind of positioning compensation system |
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| CN201710842110.6A CN107544415A (en) | 2017-09-18 | 2017-09-18 | A kind of positioning compensation system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110629982A (en) * | 2019-09-20 | 2019-12-31 | 广东博智林机器人有限公司 | Fluid spraying system and control method thereof |
| CN112008937A (en) * | 2020-07-28 | 2020-12-01 | 上海发那科机器人有限公司 | System and method for automatically filling foam by robot |
| CN112085796A (en) * | 2020-09-29 | 2020-12-15 | 广汽本田汽车有限公司 | Automatic coating method and device |
| CN112221890A (en) * | 2020-09-29 | 2021-01-15 | 广汽本田汽车有限公司 | Coating correction method and device |
| CN112604844A (en) * | 2020-12-09 | 2021-04-06 | 青岛金光鸿智能机械电子有限公司 | Method and device for quickly calibrating movable square cabin type automatic spraying system after transition |
| CN112720471A (en) * | 2020-12-18 | 2021-04-30 | 希美埃（芜湖）机器人技术有限公司 | Automatic spraying method for realizing online tracking of furniture industry based on robot vision |
| CN113910259A (en) * | 2021-11-03 | 2022-01-11 | 珠海格力智能装备有限公司 | Robot paint spraying system and paint spraying method |
| CN114407548A (en) * | 2021-12-29 | 2022-04-29 | 株洲飞鹿高新材料技术股份有限公司 | Intelligent spraying method and device for vehicle body identification |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| 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 |
| CN110629982A (en) * | 2019-09-20 | 2019-12-31 | 广东博智林机器人有限公司 | Fluid spraying system and control method thereof |
| CN112008937A (en) * | 2020-07-28 | 2020-12-01 | 上海发那科机器人有限公司 | System and method for automatically filling foam by robot |
| CN112085796A (en) * | 2020-09-29 | 2020-12-15 | 广汽本田汽车有限公司 | Automatic coating method and device |
| CN112221890A (en) * | 2020-09-29 | 2021-01-15 | 广汽本田汽车有限公司 | Coating correction method and device |
| CN112604844A (en) * | 2020-12-09 | 2021-04-06 | 青岛金光鸿智能机械电子有限公司 | Method and device for quickly calibrating movable square cabin type automatic spraying system after transition |
| CN112604844B (en) * | 2020-12-09 | 2021-09-17 | 青岛金光鸿智能机械电子有限公司 | Method and device for quickly calibrating movable square cabin type automatic spraying system after transition |
| CN112720471A (en) * | 2020-12-18 | 2021-04-30 | 希美埃（芜湖）机器人技术有限公司 | Automatic spraying method for realizing online tracking of furniture industry based on robot vision |
| CN113910259A (en) * | 2021-11-03 | 2022-01-11 | 珠海格力智能装备有限公司 | Robot paint spraying system and paint spraying method |
| CN114407548A (en) * | 2021-12-29 | 2022-04-29 | 株洲飞鹿高新材料技术股份有限公司 | Intelligent spraying method and device for vehicle body identification |
| CN114407548B (en) * | 2021-12-29 | 2023-11-28 | 株洲飞鹿高新材料技术股份有限公司 | Intelligent spraying method and device for vehicle body identification |
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