CN107702653A - A kind of robot coating three-dimensional information vision inspection apparatus and method - Google Patents
A kind of robot coating three-dimensional information vision inspection apparatus and method Download PDFInfo
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- CN107702653A CN107702653A CN201711117756.4A CN201711117756A CN107702653A CN 107702653 A CN107702653 A CN 107702653A CN 201711117756 A CN201711117756 A CN 201711117756A CN 107702653 A CN107702653 A CN 107702653A
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0616—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of coating
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a kind of robot coating three-dimensional information vision inspection apparatus and method, for width, height and the continuity of colloid during detection robot coating in real time, including drive mechanism（1）, detection sensor（2）, hollow shaft（3）, the drive mechanism（1）Including motor（101）, support for fixing motor（104）, driving gear（102）, driven gear（103）, the detection sensor（2）Inside is provided with horizontally disposed a pair of indication lasers（201）, a pair of measurement lasers（202）With a pair of measurement cameras（203）, above-mentioned laser, camera inward slant identical angle；The present invention is by analyzing adhesive tape three-dimensional data, it is possible to achieve the calculating of adhesive tape width and height, compared with existing detection method, add the detection to adhesive tape elevation information, in addition, apparatus of the present invention and method are not disturbed by adhesive tape color and by painting workpiece color, strong robustness.
Description
Technical field
The present invention relates to a kind of gluing on-line detecting system, is regarded in particular to a kind of robot coating three-dimensional information
Feel detection means and method.
Background technology
Coating technique is industry manufacture field widely used process technology, is widely used in automobile, electronics, light industry, doctor
The price production process such as medicine, food, the quality of gluing quality are directly connected to the precision and final product quality of whole process, soon
Fast accurately gluing quality testing is of great practical significance, particularly in automobile manufacture field, automobile coating technique
It is the required step of automobile production institute, the quality of gluing quality is directly connected to the quality of vehicle performance, and the present invention is with automobile gluing
Quality visual detection technique is point of penetration, on-line measurement is carried out to adhesive tape quality for robot coating technique, to being gummed bar
Glue is wide, glue is high and continuity carries out vision and detected in real time, this vision inspection apparatus and method are directed to during robot coating
Adhesive tape detection there is universality.
Traditional gluing quality testing judges according to human eye, not only labor intensive but also because human eye judges there is subjectivity
Property, larger error often be present in judged result.At present, by it was verified that by visible detection method and robot coating skill
Art blends, and it is a kind of efficient detection method that detection in real time is carried out to gluing quality, and existing visible detection method can describe
For using the two dimensional image of adhesive tape to be measured, by analyzing in image adhesive tape and by the aberration between painting workpiece, realizing to adhesive tape side
The extraction of edge, and then the width information of adhesive tape is obtained, such detection method and device, do not related to for the elevation information of adhesive tape
And and when be gummed the color of bar with it is close or consistent by painting workpiece color when, existing method can not detect.
The content of the invention
In order to solve the above problems, the invention discloses a kind of robot coating three-dimensional information vision inspection apparatus and side
Method, technical solution of the present invention can be described as：
A kind of robot coating three-dimensional information vision inspection apparatus, including drive mechanism, detection sensor, hollow shaft, the drive
Motivation structure includes motor, the support for fixing motor, driving gear, driven gear, and the motor is connected with driving gear, energy
Driven gear is enough driven, the hollow shaft runs through detection means, and upper end is connected with driven gear, lower end and detection sensor phase
Even, specifically, driven gear is driven to drive sensor rotation by hollow shaft according to command signal, motor control driving gear
Certain angle so that be in 90 ° of angles between laser strip and adhesive tape；
Robot end connects gluing glue rifle, and workpiece gluing, present apparatus hollow mandrel and glue are carried out according to set gluing track
Rifle nested encryptions, in real time detection apply the quality of adhesive tape, are not take up beat.
As this bright further improvement, be provided with inside the detection sensor be used for for horizontally disposed a pair indicate rotation
The indication laser of gyration and a pair are used to measure the measurement laser of adhesive tape information, are also equipped with a pair equally in horizontal position
The measurement camera for being used for collection and measuring laser strip image put, above-mentioned three pairs of lasers placed respectively on horizontal level,
Camera, is parallel to each other and the identical angle that slopes inwardly, angle value are preferably 30 °, intilted double camera and double excitation
Device is set, and is easy to obtain more laser strip flex point information, result of calculation is more accurate.
The indication laser transmitting laser is visible ray, carries out clearly observing laser strip during robot teaching
Angle between adhesive tape；
It is black light to measure laser transmitting laser, and black light can not be influenceed by applied adhesive tape color, is avoided same
Color interference between color laser strip and adhesive tape；
The camera is provided with optical filter, can collect the black light for the respective wavelength that measurement laser is sent.
The invention also discloses a kind of robot coating three-dimensional information visible detection method, can be obtained according to said apparatus
The structure light image arrived, according to structural light three-dimensional measuring principle and algorithm, the width and elevation information of tested adhesive tape are calculated, is had
Body is described as following steps：
A. indication laser is opened, robot tries to apply a workpiece according to gluing track, at different glue sections, swashs according to instruction
Angle information between striation and robot motion direction, rotation sensor, make the instruction laser strip in detection sensor
Vertical with robot motion direction, computer preserves rotated angle information；
When b. detecting, indication laser is closed, measurement laser, measurement camera are opened, according to the rotation preserved in the step a
Gyration information, adjust the angle of detection sensor in real time during robot coating, meanwhile, the corresponding collection of measurement camera is surveyed
Measure laser strip image；
C. computer obtains measurement laser strip image, carries out image procossing to this image, calculates adhesive tape width and elevation information,
And carry out interface display；
The further improvement bright as this, the step a is teaching process, because there is robot coating process height to repeat
Property, the teaching process only needs to carry out once when trying to apply workpiece by robot, after the completion of workpiece examination applies, preserves teaching letter
Breath, robot is to the gluing detection process of workpiece, time-saving and efficiency after teaching information may be directly applied to.
Image processing process includes described in the step c：Computer obtains from two measurement cameras of left and right placement
It is corresponding in image to choose match point, wherein, match point can choose multiple points, will according to the co-ordinate position information of multiple match points
One secondary pending image of two images synthesis.
Also include being contrasted computed altitude value, width value and standard value in the step c, whether judgement is gummed bar
It is qualified.
In summary, the present invention has the advantages and positive effects of compared with the prior art：
1, by structure light image and three-dimensional information measuring principle, using the present apparatus and method, can obtain adhesive tape width, height
Information is spent, while the present apparatus carries out real-time tracking detection to robot coating track, can interpolate that the continuity of adhesive tape；
2 pass through rotation sensor so that laser strip is vertical with adhesive tape, and now detection width value, height value are adhesive tape
True glue is wide, glue is high, simplifies algorithm.
3 using imperceptible structured light measurement adhesive tape quality, and the color for having broken adhesive tape and bottom plate is limited to, when adhesive tape and bottom plate
When color is close or consistent, this method can still realize the calculating of adhesive tape width, height, while overcome using visible structure
The problem of laser strip is weakened by homochromy adhesive tape during photo measure.
Brief description of the drawings
Fig. 1 is the structure planing surface figure of apparatus of the present invention；
Fig. 2 is apparatus of the present invention detection sensor cut-away view；
Fig. 3 is the laser of horizontal direction in apparatus of the present invention, camera tilt angles degree schematic diagram；
Fig. 4 is the inventive method flow chart of steps.
In figure：Drive mechanism 1, motor 101, support 104, driving gear 102, driven gear 103, detection sensor 2, refer to
Show laser 201, measurement laser 202, measurement camera 203, hollow shaft 3.
Embodiment
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, it is impossible to be interpreted as to this hair
Bright limitation.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
In order to be better understood from the present invention, hereby lift following examples and be described in detail with reference to accompanying drawing：
A kind of robot coating three-dimensional information vision inspection apparatus, as shown in figure 1, including drive mechanism 1, detection sensor 2, sky
Mandrel 3, motor 101 is installed inside the drive mechanism 1 and is fixed by support 104, driving gear 102, driven tooth
Wheel 103, motor 101 is connected with driving gear 102, and motor 101 drives driven gear 103 according to instruction control driving gear 102,
The hollow shaft runs through detection means, and upper end is connected with driven gear 103, and lower end is connected with detection sensor 2, it is specific and
Speech, during detection, according to command signal, motor 101 controls driving gear 102 to drive driven gear 103, and passes through the band of hollow shaft 3
Dynamic detection sensor 2 turns an angle so that is in 90 ° of angles between laser strip and adhesive tape, now, is calculated in laser strip image
The width that draws, height are true adhesive tape width, height, so as to simplify software algorithm to result of calculation repairing in angle
Just；
Robot end connects gluing glue rifle, and workpiece gluing, present apparatus hollow mandrel 3 and glue are carried out according to set gluing track
Rifle nested encryptions, the detection in real time of detection sensor 2 apply the quality of adhesive tape, are not take up beat.
Further, as shown in Fig. 2 being provided with a pair of horizontal positioned indication lasers 201 inside detection sensor 2,
Above-mentioned indication laser 201 is used to indicate that detection sensor 2 needs the angle rotated, and left and right two indication lasers 201 are thrown
The laser strip penetrated overlaps；
Be also equipped with inside detection sensor 2 a pair it is horizontal positioned be used to measuring the measurement lasers 202 of adhesive tape information, a pair
The measurement camera 203 for being used to gather measurement laser strip image equally on horizontal level, the measurement of the pair of left and right placement
Laser 202 projects laser strip coincidence, and the measurement laser strip that two measurement camera collection coincidences are placed by arranged on left and right sides projects
Image in adhesive tape, and this two width measurement laser strip image is all sent to computer and carries out Treatment Analysis；Compared to single-phase
The setting of machine, single laser, using the structure design of double measurement cameras and double measurement lasers, enable to left and right measurement camera
Collecting structure light image has more detailed information, and result of calculation is more accurate.
Above-mentioned three pairs horizontal positioned indication laser, measurement laser, measurement camera keep being parallel to each other and respectively
Inward slant identical angle, as shown in figure 3, wherein angle value is preferably 30 °, ensure the indication laser and measurement laser
Device projection laser strip is parallel, i.e., when indicating that laser strip is vertical with adhesive tape, measurement laser strip is also vertical with adhesive tape；Meanwhile tilt
Angle enables to the details for measuring laser strip and adhesive tape intersection more accurate, so that measurement camera 203 is got
Structure light image picture material more horn of plenty；
Further, indication laser 201 launch laser be visible ray, progress robot teaching when can clearly observe it is sharp
Angle between striation and adhesive tape；
It is black light to measure laser 202 to launch laser, can not be influenceed, kept away by applied adhesive tape color using black light
The color interference between homochromy laser strip and adhesive tape is exempted from；
The measurement camera 203 is provided with optical filter, can collect the invisible of the respective wavelength that measurement laser 202 is sent
Light.
As shown in figure 4, the invention also discloses a kind of robot coating three-dimensional information visible detection method, including following step
Suddenly：
A. indication laser 201 is opened, robot tries to apply a workpiece according to gluing track, at different glue sections, according to instruction
Angle information between laser strip and robot motion direction, rotation sensor 2, make the instruction laser in detection sensor
Bar is vertical with robot motion direction, and computer preserves rotated angle information；
When b. detecting, indication laser 201 is closed, measurement laser 202, measurement camera 203 are opened, according in the step a
The rotation angle information of preservation, adjust the angle of detection sensor in real time during robot coating, meanwhile, measure camera
203 corresponding collection measurement laser strip images；
C. computer obtains measurement laser strip image, carries out image procossing to this image, calculates adhesive tape width and elevation information,
And result of calculation is subjected to interface display；
It should be further stated that step a is teaching process, it is described because robot coating process has high reproducibility
Teaching process only needs to carry out once when trying to apply workpiece by robot, after the completion of workpiece examination applies, preserves teaching information, teaching letter
Robot is to the gluing detection process of workpiece, time-saving and efficiency after breath may be directly applied to.
Image processing process includes in the step c：Two width that computer obtains from two measurement cameras of left and right placement
In image, multiple corresponding match points are chosen, it is according to the co-ordinate position information of match point, two images synthesis one is secondary pending
Image.
To this testing image, using method of structured light three-dimensional measurement principle, the three-dimensional of adhesive tape structure light image to be measured is obtained
Data, so as to analyzing the width of adhesive tape to be measured, height and continuity, judge whether it qualified, whether there is disconnected glue, it is specific and
Speech, can be contrasted computed altitude value, width value and standard value, and result is shown, while can also set report
Alert signal, when adhesive tape is unqualified, prompt staff.
The method that this method takes detection structure light image, adds the detection to adhesive tape height, not by adhesive tape with being applied
The influence of workpiece color, with Tu Suijian, beat is not take up, is easy to observe, robustness is more preferable.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention.It should be pointed out that the ordinary skill for the art
For personnel, under the premise without departing from the principles of the invention, some improvement and modification, these improvement can also be carried out to the present invention
Also fallen into modification in the protection domain of the claims in the present invention.
Claims (8)
1. a kind of robot coating three-dimensional information vision inspection apparatus, including drive mechanism（1）, detection sensor（2）, hollow shaft
（3）, the drive mechanism includes motor（101）, support for fixing motor（104）, driving gear（102）, driven gear
（103）, the motor（101）With driving gear（102）It is connected, driven gear can be driven（103）, the hollow shaft（3）Pass through
Wear detection means, and upper end and driven gear（103）It is connected, lower end and detection sensor（2）It is connected, it is characterised in that described
Detection sensor（2）Inside is provided with a pair of the indication lasers set on horizontal level（201）, a pair of measurement lasers
（202）, also have a pair of measurement cameras（203）, above-mentioned three pairs of lasers, camera keep be parallel to each other, slope inwardly identical
Angle, the indication laser（201）Transmitting laser is visible ray, measures laser（202）Transmitting laser is black light, institute
State measurement camera（203）Optical filter is installed.
A kind of 2. robot coating three-dimensional information vision inspection apparatus according to claim 1, it is characterised in that it is described to
Introversion rake angle is preferably 30 °.
3. a kind of three-dimensional gluing detection means in real time according to claim 1, it is characterised in that the hollow shaft 3 and glue
Rifle carries out nested encryptions.
4. a kind of robot coating three-dimensional information visible detection method, it is characterised in that comprise the following steps：
A. indication laser is opened（201）, robot tries to apply a workpiece according to gluing track, and at different glue sections, foundation refers to
Show the angle information between laser strip and robot motion direction, rotation sensor（2）, make the instruction in detection sensor
Laser strip is vertical with robot motion direction, and computer preserves rotated angle information；
When b. detecting, indication laser is closed（201）, open measurement laser（202）, measurement camera（203）, according to described in
The rotation angle information preserved in step a, adjust detection sensor in real time during robot coating（2）Angle, meanwhile,
Measure camera（203）The image of corresponding collection measurement laser strip；
C. computer obtains measurement laser strip image, carries out image procossing to this image, calculates adhesive tape width and elevation information,
And carry out interface display.
5. a kind of three-dimensional real-time gluing detection method according to claim 4, it is characterised in that the step a is teaching
Process, it is only necessary to carry out once.
A kind of 6. robot coating three-dimensional information visible detection method according to claim 5, it is characterised in that the institute
Stating image processing process described in step c includes：It is corresponding in the image that computer obtains from two measurement cameras of left and right placement
Match point is chosen, according to the co-ordinate position information of match point, by one secondary pending image of two images synthesis.
7. a kind of robot coating three-dimensional information visible detection method according to claim 6, it is characterised in that described
Multiple points can be chosen with point.
A kind of 8. robot coating three-dimensional information visible detection method according to claim 4, it is characterised in that the institute
State also includes being contrasted computed altitude value, width value and standard value in step c, and whether judgement is gummed bar qualified.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711117756.4A CN107702653B (en) | 2017-11-13 | 2017-11-13 | Robot gluing three-dimensional information visual detection device and method |
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| CN201711117756.4A CN107702653B (en) | 2017-11-13 | 2017-11-13 | Robot gluing three-dimensional information visual detection device and method |
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| CN107702653B CN107702653B (en) | 2023-06-06 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108537808A (en) * | 2018-04-08 | 2018-09-14 | 易思维（天津）科技有限公司 | A kind of gluing online test method based on robot teaching point information |
| CN108896545A (en) * | 2018-05-09 | 2018-11-27 | 歌尔股份有限公司 | Gluing detection method, device and computer readable storage medium |
| CN109127194A (en) * | 2018-08-22 | 2019-01-04 | 广州瑞松北斗汽车装备有限公司 | Automobile gluing vision follows detection method |
| CN110189316A (en) * | 2019-05-29 | 2019-08-30 | 易思维（杭州）科技有限公司 | A kind of adhesive tape detection automatic teaching method |
| CN110501334A (en) * | 2019-08-08 | 2019-11-26 | 福建依客赛客信息技术有限公司 | Using line laser cooperation CCD visible detection method and system when lithium battery pastes adhesive tape |
| CN111664809A (en) * | 2020-06-15 | 2020-09-15 | 苏州亿视智能科技有限公司 | Intelligent high-precision modular three-dimensional detection equipment and method |
| CN112833799A (en) * | 2021-01-07 | 2021-05-25 | 甬矽电子(宁波)股份有限公司 | Soldering flux glue climbing height detection device and detection method |
| CN116777888A (en) * | 2023-06-30 | 2023-09-19 | 广州高迪机电工程有限公司 | Self-adaptive compensation correction method for adhesive width by visual detection system during angular adhesive coating |
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| CN1319704C (en) * | 2004-10-21 | 2007-06-06 | 上海交通大学 | Servo binocular vision sensors on welding robot |
| CN101433887B (en) * | 2008-12-16 | 2012-05-23 | 奇瑞汽车股份有限公司 | Glue coating apparatus for glass of entire vehicle and method for producing glue |
| CN201625618U (en) * | 2010-03-11 | 2010-11-10 | 首钢莫托曼机器人有限公司 | Real-time automatic tracking gluing device |
| JP5729219B2 (en) * | 2010-09-06 | 2015-06-03 | トヨタ車体株式会社 | Method for coupling camera coordinate system and robot coordinate system of robot control system, image processing apparatus, program, and storage medium |
| CN105750157B (en) * | 2016-04-29 | 2018-09-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | A kind of intelligence gluing end effector and its control method |
| CN106066328B (en) * | 2016-07-04 | 2018-10-19 | 中国第一汽车股份有限公司 | The online vision inspection apparatus of robot coating quality and method |
| CN106625713A (en) * | 2017-01-11 | 2017-05-10 | 长春工业大学 | Method of improving gumming accuracy of gumming industrial robot |
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| CN108537808B (en) * | 2018-04-08 | 2019-02-22 | 易思维（天津）科技有限公司 | A kind of gluing online test method based on robot teaching point information |
| CN108537808A (en) * | 2018-04-08 | 2018-09-14 | 易思维（天津）科技有限公司 | A kind of gluing online test method based on robot teaching point information |
| CN108896545A (en) * | 2018-05-09 | 2018-11-27 | 歌尔股份有限公司 | Gluing detection method, device and computer readable storage medium |
| CN109127194B (en) * | 2018-08-22 | 2021-03-26 | 广州瑞松北斗汽车装备有限公司 | Automobile gluing visual following detection method |
| CN109127194A (en) * | 2018-08-22 | 2019-01-04 | 广州瑞松北斗汽车装备有限公司 | Automobile gluing vision follows detection method |
| CN110189316A (en) * | 2019-05-29 | 2019-08-30 | 易思维（杭州）科技有限公司 | A kind of adhesive tape detection automatic teaching method |
| CN110501334B (en) * | 2019-08-08 | 2022-06-07 | 福建依客赛客信息技术有限公司 | Method and system for visual detection by adopting linear laser to match with CCD (Charge coupled device) when adhesive tape is pasted on lithium battery |
| CN110501334A (en) * | 2019-08-08 | 2019-11-26 | 福建依客赛客信息技术有限公司 | Using line laser cooperation CCD visible detection method and system when lithium battery pastes adhesive tape |
| CN111664809A (en) * | 2020-06-15 | 2020-09-15 | 苏州亿视智能科技有限公司 | Intelligent high-precision modular three-dimensional detection equipment and method |
| CN112833799A (en) * | 2021-01-07 | 2021-05-25 | 甬矽电子(宁波)股份有限公司 | Soldering flux glue climbing height detection device and detection method |
| CN112833799B (en) * | 2021-01-07 | 2022-07-08 | 甬矽电子(宁波)股份有限公司 | Soldering flux glue climbing height detection device and detection method |
| CN116777888A (en) * | 2023-06-30 | 2023-09-19 | 广州高迪机电工程有限公司 | Self-adaptive compensation correction method for adhesive width by visual detection system during angular adhesive coating |
| CN116777888B (en) * | 2023-06-30 | 2024-02-06 | 广州高迪机电工程有限公司 | Self-adaptive compensation correction method for adhesive width by visual detection system during angular adhesive coating |
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Inventor after: Liu Haiqing Inventor after: Guo Lei Inventor after: Zou Jian Inventor after: Lv Meng Inventor before: Liu Haiqing Inventor before: Yin Shibin Inventor before: Guo Lei Inventor before: Zou Jian Inventor before: Zhuang Xuan Inventor before: Lv Meng |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |