CN108020557A - A kind of vehicle body coating quality adaptation detection method based on laser scanning - Google Patents
A kind of vehicle body coating quality adaptation detection method based on laser scanning Download PDFInfo
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- CN108020557A CN108020557A CN201711362941.XA CN201711362941A CN108020557A CN 108020557 A CN108020557 A CN 108020557A CN 201711362941 A CN201711362941 A CN 201711362941A CN 108020557 A CN108020557 A CN 108020557A
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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Abstract
The present invention provides a kind of vehicle body coating quality adaptation detection method based on laser scanning, the described method includes：Step 1) obtains the polar coordinates information of car body using several three-dimensional laser scanners, and back wave distance feature is analyzed and is normalized with phase property, obtains the reflection parameters of car body；Meanwhile data fusion and splicing are carried out to the laser scanner of different detection dimensions；Step 2) builds three-dimensional system of coordinate, polar coordinates information is reduced to the three-dimensional spatial information of car body, so as to obtain car body surface information；Step 3) is merged car body surface information and reflection parameters information, is carried out adaptive correction to car body curved surface, so as to obtain the coating quality related data of car body, is realized detection and display to vehicle body coating quality.The side of the present invention can more objective, rapidly realize the coating quality detection in vehicle body coating face, find spraying flaw, improve vehicle body coating quality.
Description
Technical field
The present invention relates to vehicle paint spraying equipment technical field, more particularly to a kind of vehicle body coating based on laser scanning
Quality adaptation detection method.
Background technology
During traditional vehicle body coating face quality testing, most of methods for employing artificial visual, pass through light
Irradiation, the mode visually checked are detected its quality.The Surface testing of some specific positions employs special detection tool,
Including lacquer painting detector, finish detector etc., predominantly portable surface detection device, but these instrument generally existings are inconvenient
In operation, detection faces are smaller, and do not possess the problem of versatility, it is difficult to the coating quality detection of complex surface in car body is adapted to,
Detection for large area, often uses the visual detection based on light, the randomness and subjectivity of this method detection are larger, no
Coating quality can be accurately reflected.
The content of the invention
It is an object of the invention to complex surface in current car body coating quality detection there are the problem of, it is proposed that it is a kind of
Vehicle body coating quality adaptation detection method based on laser scanning, this method are directed to different types of detection faces, and difference requires
Examination criteria, it is possible to achieve the self-adapting detecting of coating quality.This method is joined mainly for including coating thickness, smoothness etc.
Number, is analyzed based on the laser echo identities of detection faces reflection, and it is special to carry out surface by range information, phase information etc.
The calculating of sign, in combination with additional parameters such as distance, ambient noise, surface deformations, is adaptively adjusted, to ensure different inspections
Accurate measurement under the conditions of survey.
To achieve these goals, the present invention provides a kind of vehicle body coating quality adaptation detection based on laser scanning
Method, the described method includes：
Step 1) obtains the polar coordinates information of car body using several three-dimensional laser scanners, and to back wave distance feature
Analyze and be normalized with phase property, obtain the reflection parameters of car body；Meanwhile the laser of different detection dimensions is swept
Retouch instrument and carry out data fusion and splicing；
Step 2) builds three-dimensional system of coordinate, polar coordinates information is reduced to the three-dimensional spatial information of car body, so as to obtain car
Body surface information；
Step 3) is merged car body surface information and reflection parameters information, and adaptive correction is carried out to car body curved surface,
So as to obtain the coating quality related data of car body, detection and display to vehicle body coating quality are realized.
One kind as the above method is improved, and the step 1) further includes：Obtain the space environment parameter of car body, including temperature
Degree and humidity, decay with reference to space environment parameter on laser and disturb the influence to the polar coordinates information of car body, be detected knot
The amendment and optimization of fruit.
One kind as the above method is improved, and the coating quality related data includes：Raised flaw, depression flaw, spray
Painting face finish and breakage.
One kind as above device is improved, and the step 1) is specially：According to laser scanner returned data, returned
The analysis of ripple information, obtains space length information and echo phase information；For spatial positional information, the convex of tested measuring point is obtained
Rise, depression and damaged feature, for echo phase information and attenuation parameter, calculate the reflection parameters in the face of being detected.
One kind as the above method is improved, and the step 3) is specially：
Step 301) is detected surface reflection coefficient according to the attenuation coefficient of each laser reflection point, thus judges the flaw
Fault；
In three-dimensional coordinate calculating process, it is assumed that P (x, y, z) is the coordinate information of certain point, relatively equal for attenuation parameter
Even situation, during calculation of curved surface integral, its calculated value has the feature of local stationary, i.e., there is no reflectance factor to dash forward
Become, calculate the emission ratio m of P (x, y, z)：
M=∫ P (x, y, z) * ds
M values are judged in real time, if it is determined that when the value is exceptional value, it is abnormal to illustrate that surface reflection coefficient occurs, should
Point is flaw point；
Step 302) uses three dimension derivations for the point, identifies and the larger dimension of space deformation occurs, with reference to anti-
Backscatter extinction logarithmic ratio obtains spraying defect type, and carries out positioning and tracked with indicated range；
For P (x, y, z), calculate the directional derivative of its consecutive points, and calculate its graded value, as P1 (x1, y1,
Z1), P2 (x2, y2, z2), P3 (x3, y3, z3) simultaneously draw its graded state, by carrying out ladder to the function of different dimensions
Spend the calculating of change：
∫∫P(x,y,z)dxdy+Q(x,y,z)dydz+R(x,y,z)dxdz
By the calculating carried out above in relation to the corresponding P, Q of certain upper three dimension of point, R function, by P (x, y, z) adjacent
The space coordinate variable condition in region carries out comprehensive assessment and analysis with reflection coefficient variable condition, draws different types of spraying
Defect.
Advantage of the invention is that：
The method of the present invention employs the technology of high-frequency laser scanning, with reference to the shape facility of spray-coating surface, it is possible to achieve
The detection of spray-coating surface coating quality, overcomes the difficulties such as original collimation error for artificially visually inspecting and bringing, can it is more objective,
Rapidly realize the coating quality detection in vehicle body coating face, find spraying flaw, improve vehicle body coating quality.
Brief description of the drawings
Fig. 1 is the vehicle body coating quality adaptation detection device schematic diagram of the present invention；
Fig. 2 is that the polar coordinates of the single sweep dimensional searches result of the present invention analyze schematic diagram；
Fig. 3 is the flow chart of the vehicle body coating quality adaptation detection method of the present invention.
Embodiment
The present invention will be described in detail with specific embodiment below in conjunction with the accompanying drawings.
The realization of the present invention is broadly divided into three parts.
1) detection structure designs：
With reference to the environment and application demand of spraying detection, the design of auxiliary detection structure is carried out, is mainly realized based on inspection
The scanner space structure design of survey demand, allows the scanning range of scanner to cover detection zone.
This process carries out the installation and deployment of Laser Scanning Equipment mainly in combination with detection faces with detection space characteristics, in this reality
Apply in example, realized using the scanner of three dimensions, mainly included longitudinally, laterally mutual with depth information, three dimensionality information
Mutually supplement and realize the reduction of car body state jointly.As shown below, green straight line is the mounting means of scanner, for reality
Effective detection of existing coating quality, it is necessary to detect the information such as the humiture for detecting space, and be used as coating quality in real time
The basis of analysis, so the installation of Temperature Humidity Sensor, RFID identification device and infrared sensor can be carried out in structure design, to carry
The accuracy of high detection, as shown in Figure 1.
2) spatial information is built：
Three-dimensional system of coordinate is built, reduces vehicle body space information.
This process is mainly to build the spatial parameter basis that data calculate, and is combined using three dimensional space coordinate with polar coordinates
Mode, for single scanner, carry out collection in real time using polar coordinates and calculated with quick, in whole space environment, by it
Specific spatial reference frames are reverted to, realize the calculating of concrete numerical value.
As shown in Fig. 2, in Scanning Detction process be detected the acquisition of space of planes information for single scanner, mainly return
A series of polar coordinates point sets are returned, the record of data is carried out using P (ρ, θ).
During the reduction of vehicle integral spray face is carried out, the space deployment of three coordinate laser scanners can be first according to
Scheme constructs space coordinates, are then reduced to corresponding spatial information by the polar data of each scanner, so as to reduce
Vehicle surface information.
3) scan data is calculated and restored：
With reference to the returned data of scanner, realize the reduction of car body profile, and spraying flaw therein is detected with
Display.
By the extraction, reduction and calculating of three dimensionality scanner data, the spatial coordinated information in region to be detected is drawn, and
Be converted to the parameter such as coating quality related data, such as raised, depression flaw identification, the analysis of spray-coating surface finish.Pass through number
According to calculating and analyzing, this method can effectively detect following flaw, and can carry out complex situations on this basis
Detection.
Detect flaw list
As shown in figure 3, the detection method of the present invention includes：
Step 1) back wave distance feature is analyzed and is normalized with phase property；
According to laser scanner returned data, the analysis of echo information is carried out, mainly includes space length information and echo
Phase information, for spatial positional information, it is possible to achieve the features such as the protrusion, depression, breakage of measuring point are detected, for phase of echo
Information and attenuation parameter, it is possible to achieve calculating and storage to being detected face reflectance factor., can by a series of point set information
To build the space characteristics data set of car body surface and optical signature data set, and based on this, flaw point feature mould is carried out
The analysis and matching of type, realize the quick detection of spray-coating surface quality.
Step 2) back wave Parameter fusion splices with multi-dimensional data；
In detection process, it is necessary to consider the parameter of space environment, such as temperature, humidity information, to laser attenuation, interference etc.
Influence, while the scanner of different detection dimensions is subjected to data fusion and splicing, realize the amendment and optimization of testing result.
Step 3) combining environmental parameter perturbation, detection faces shape facility carry out algorithm parameter dynamic and adjust, and realize adaptive
Detection.
Different vehicles has different detection region features, and in order to realize the applicability of detection function, this method can be tied
The shape facility for closing the face of being detected carries out algorithm adjustment, is such as directed to the curved surface with special deformation, it is necessary to reference to its deformation characteristics
Data are modified, while the information for the information or other auxiliary dimensions for transferring orthogonal dimensions compensates calculating, so as to carry
The accuracy rate that height calculates.
Detect, can be calculated according to the attenuation coefficient of each laser reflection point for curved surface reflectance：Sat in three-dimensional
Mark calculating process in, it is assumed that P (x, y, z) be certain point phase information, for attenuation parameter it is relatively uniform (surface reflection degree compared with
For stabilization) situation, during calculation of curved surface integral, its calculated value have local stationary feature, i.e., there is no reflection system
Numerical mutation,
M=∫ P (x, y, z) * ds
Calculated in S in face of the phase values of P points, m values (certain reflectance parameter put) are judged in real time, when going out
During existing exceptional value, it is abnormal to illustrate that surface reflectance occurs, there is flaw point.Use next step reflective distance at the same time
Calculating further confirm that defect information, this process is realized using the method for three dimension derivations, can quickly recognize generation
The larger dimension of space deformation, line trace of going forward side by side calculate, and are such as directed to P0 (x0, y0, z0), calculate the directional derivative of its consecutive points,
And its graded value is calculated, such as P1 (x1, y1, z1), P2 (x2, y2, z2), P3 (x3, y3, z3) simultaneously draws its graded shape
State, by carrying out the calculating of graded to the function of different dimensions, such as the corresponding P, Q of certain upper three dimension of point, R function
Calculated：
∫∫P(x,y,z)dxdy+Q(x,y,z)dydz+R(x,y,z)dxdz
Calculating more than, by certain point adjacent area space coordinate variable condition and reflection coefficient variable condition into
Row comprehensive assessment and analysis, it can be deduced that different types of spraying defect, and carry out positioning and tracked with indicated range.
It should be noted last that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted.Although ginseng
The present invention is described in detail according to embodiment, it will be understood by those of ordinary skill in the art that, to the technical side of the present invention
Case technical scheme is modified or replaced equivalently, without departure from the spirit and scope of technical solution of the present invention, it should all cover in the present invention
Right among.
Claims (5)
1. a kind of vehicle body coating quality adaptation detection method based on laser scanning, the described method includes：
Step 1) obtains the polar coordinates information of car body using several three-dimensional laser scanners, and to back wave distance feature and phase
Position signature analysis is simultaneously normalized, and obtains the reflection parameters of car body；Meanwhile to the laser scanner of different detection dimensions
Carry out data fusion and splicing；
Step 2) builds three-dimensional system of coordinate, polar coordinates information is reduced to the three-dimensional spatial information of car body, so as to obtain car body table
Face information；
Step 3) is merged car body surface information and reflection parameters information, and adaptive correction is carried out to car body curved surface, so that
The coating quality related data of car body is obtained, realizes detection and display to vehicle body coating quality.
2. the vehicle body coating quality adaptation detection method according to claim 1 based on laser scanning, it is characterised in that
The step 1) further includes：The space environment parameter of car body, including temperature and humidity are obtained, with reference to space environment parameter on laser
The influence of decay and interference to the polar coordinates information of car body, is detected the amendment and optimization of result.
3. the vehicle body coating quality adaptation detection method according to claim 1 based on laser scanning, it is characterised in that
The coating quality related data includes：Raised flaw, depression flaw, spray-coating surface finish and breakage.
4. the vehicle body coating quality adaptation detection method according to claim 1 based on laser scanning, it is characterised in that
The step 1) is specially：According to laser scanner returned data, carry out the analysis of echo information, obtain space length information with
Echo phase information；For spatial positional information, the protrusion for being detected measuring point, depression and damaged feature are obtained, for phase of echo
Information and attenuation parameter, calculate the reflection parameters in the face of being detected.
5. the vehicle body coating quality adaptation detection method according to claim 4 based on laser scanning, it is characterised in that
The step 3) is specially：
Step 301) is detected surface reflection coefficient according to the attenuation coefficient of each laser reflection point, thus judges flaw
Point；
In three-dimensional coordinate calculating process, it is assumed that P (x, y, z) is the coordinate information of certain point, relatively uniform for attenuation parameter
Situation, during calculation of curved surface integral, its calculated value has the feature of local stationary, i.e., there is no reflectance factor mutation, meter
Calculate the emission ratio m of P (x, y, z)：
M=∫ P (x, y, z) * ds
M values are judged in real time, if it is determined that when the value is exceptional value, it is abnormal to illustrate that surface reflection coefficient occurs, which is
Flaw point；
Step 302) uses three dimension derivations for the point, identifies and the larger dimension of space deformation occurs, with reference to reflective system
Number obtains spraying defect type, and carries out positioning and tracked with indicated range；
For P (x, y, z), the directional derivative of its consecutive points is calculated, and calculates its graded value, such as P1 (x1, y1, z1), P2
(x2, y2, z2), P3 (x3, y3, z3) simultaneously draw its graded state, by carrying out graded to the function of different dimensions
Calculating：
∫∫P(x,y,z)dxdy+Q(x,y,z)dydz+R(x,y,z)dxdz
By the calculating carried out above in relation to the corresponding P, Q of certain upper three dimension of point, R function, by P (x, y, z) in adjacent area
Space coordinate variable condition and reflection coefficient variable condition carry out comprehensive assessment and analysis, show that different types of spraying lacks
Fall into.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021103153A1 (en) * | 2019-11-25 | 2021-06-03 | 浙江明泉工业涂装有限公司 | Method for controlling robot for spraying detection and remediation on inner surface of automobile |
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