CN114295044A - Automobile windshield detection method and system based on laser 3D technology - Google Patents
Automobile windshield detection method and system based on laser 3D technology Download PDFInfo
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Abstract
The invention relates to the technical field of automobile manufacturing, in particular to an automobile windshield detection method and system based on a laser 3D technology, wherein the method comprises the following steps: carrying out laser scanning on a product to be detected to obtain corresponding spatial three-dimensional data; performing point cloud collection on a product to be detected based on a laser 3D collection technology to obtain corresponding point cloud data; generating corresponding three-dimensional point cloud data based on the spatial three-dimensional data and the point cloud data of the product to be detected; performing spatial modeling based on three-dimensional point cloud data of a product to be detected to generate a corresponding virtual product model; and comparing the virtual product model of the product to be detected with the actual product design model to generate a corresponding product model difference, and detecting the size of the product to be detected based on the product model difference. The invention also correspondingly discloses an automobile windshield detection system. The method and the system for detecting the automobile windshield can give consideration to the cost, the efficiency and the precision of product detection.
Description
Technical Field
The invention relates to the technical field of automobile manufacturing, in particular to an automobile windshield detection method and system based on a laser 3D technology.
Background
With the progress of industrial processes, the profile requirements of automobile windshields are higher and higher. In order to meet the requirements of aerodynamics, optical distortion prevention, white body profile limitation and the like, the automobile windshield is designed into a hyperbolic compound curved surface. At present, three detection methods, namely a manual detection method, an electrical parameter detection method and a machine vision detection method, are adopted for the flat glass detection. However, for a hyperbolic composite curved surface of an automobile windshield, only a manual detection method can be adopted at present.
Aiming at the problem of low detection precision of the existing manual detection method, Chinese patent with publication number CN108716935A discloses an automobile windshield detection device, it includes testing platform and product inspection tool, testing platform includes the reference column, detector and crossbeam, reference column and detector are vertical state setting at testing platform's top, product inspection tool includes main framework, support frame and suction nozzle, main framework's bottom is equipped with and fixes the locating hole to corresponding with the reference column, main framework's inboard interval is provided with two vertical supporting beam, two horizontal supporting beam of fixedly connected with between two vertical supporting beam, the mounting groove has all been seted up at two vertical supporting beam and two horizontal supporting beam's top, support frame and every supporting beam fixed connection, main framework's inboard is equipped with and is used for supporting the step at the windshield edge that awaits measuring from bottom to top, the suction nozzle is installed on four angles of step.
The automobile windshield detection equipment in the existing scheme improves the accuracy of automobile windshield detection through the cooperation between the detection platform and the product detection tool. However, the conventional detection method is physical contact detection, and has the following problems during detection: 1) corresponding special checking tools need to be developed for each category of products (automobile windshields), so that the types and the number of the checking tools are large, the manufacturing cost and the maintenance cost of the checking tools are high (generally about 20-30 ten thousand), and the detection cost of the automobile windshields is high; simultaneously, because the kind and the quantity of examining the utensil are many for need frequent change interval when detecting multiclass product, lead to car windshield's detection efficiency very low. 2) The existing physical contact detection is to use a contact probe as a detection point to contact an article so as to realize size detection, and the number of the detection points (contact probes) is limited finally, so that the detection precision of the automobile windshield is difficult to ensure. Therefore, how to design a method for detecting the automobile windshield, which can take account of the product detection cost, efficiency and precision, is a technical problem which needs to be solved urgently.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide an automobile windshield detection method which can give consideration to product detection cost, efficiency and precision, thereby improving the detection effect of the automobile windshield.
In order to solve the technical problems, the invention adopts the following technical scheme:
the automobile windshield detection method based on the laser 3D technology comprises the following steps:
s1: carrying out laser scanning on a product to be detected to obtain corresponding spatial three-dimensional data;
s2: performing point cloud collection on a product to be detected based on a laser 3D collection technology to obtain corresponding point cloud data;
s3: generating corresponding three-dimensional point cloud data based on the spatial three-dimensional data and the point cloud data of the product to be detected;
s4: performing spatial modeling based on three-dimensional point cloud data of a product to be detected to generate a corresponding virtual product model;
s5: and comparing the virtual product model of the product to be detected with the actual product design model to generate a corresponding product model difference, and detecting the size of the product to be detected based on the product model difference.
Preferably, in step S1, when the product to be tested is scanned by laser, the product to be tested is placed on the flexible supporting table;
the flexible telescopic mechanism is characterized in that a plurality of movable flexible telescopic mechanisms are arranged on the supporting table, and the spatial position and the telescopic quantity of each flexible telescopic mechanism are generated based on the size and the appearance parameters of an actual product design model of a product to be tested, so that each flexible telescopic mechanism can form stable spatial three-dimensional multi-point support for placing the product to be tested.
Preferably, a pressure sensor is arranged at the position of the flexible telescopic mechanism for supporting the product to be detected; when a product to be measured is placed on each flexible telescopic mechanism of the support table, each flexible telescopic mechanism can acquire pressure data through a corresponding pressure sensor; in step S5, when the dimension detection result of the product to be detected is generated based on the product model difference, the pressure data acquired by each flexible telescoping mechanism is used as the correction compensation amount for the dimension detection.
Preferably, in step S1, laser scanning is performed on the corresponding position of the product to be detected by the 3D laser camera according to a preset motion trajectory to obtain corresponding spatial three-dimensional data; and the motion trail is generated based on the size and the shape parameters of the actual product design model of the product to be detected.
Preferably, in step S3, data preprocessing is performed on the point cloud data first; then comparing the preprocessed point cloud data with the spatial three-dimensional data to generate corresponding three-dimensional point cloud data; the data preprocessing comprises any one or more of data cleaning, data auditing, data screening and data sorting.
Preferably, in step S4, the three-dimensional point cloud data of the product to be tested is spatially modeled based on a digital twinning technique to generate a corresponding virtual product model.
Preferably, in step S5, the virtual product model and the actual product design model of the product to be tested are fused; then, searching difference points of the virtual product model and the actual product design model through an AI technology to generate a corresponding product model difference; and finally, carrying out size detection based on the product model difference and the set size deviation threshold value to obtain the size detection result of the product to be detected.
The invention also discloses an automobile windshield detection system based on the laser 3D technology, which is implemented based on the automobile windshield detection method and specifically comprises the following steps:
the supporting table is used for placing a product to be tested;
the feeding clamping unit is used for transferring the product to be tested on the production line to the supporting table;
the laser camera driving unit comprises a 3D laser camera for performing laser scanning and point cloud collection and a robot component for driving the 3D laser camera to move along a preset track;
the 3D image acquisition unit is used for driving the robot assembly to drive the 3D laser camera to move so as to acquire spatial three-dimensional data and point cloud data of a product to be detected;
the analysis detection unit is used for generating corresponding three-dimensional point cloud data according to the spatial three-dimensional data and the point cloud data of the product to be detected; then carrying out space modeling based on the three-dimensional point cloud data of the product to be detected to generate a corresponding virtual product model; and finally, comparing the virtual product model of the product to be detected with the actual product design model to generate a corresponding product model difference, and detecting the size of the product to be detected based on the product model difference.
Preferably, a plurality of movable flexible telescopic mechanisms are arranged on the supporting table, and the spatial position and the telescopic amount of each flexible telescopic mechanism are generated based on the size and the appearance parameters of the actual product design model of the product to be tested, so that each flexible telescopic mechanism can form stable spatial three-dimensional multi-point support for placing the product to be tested.
Preferably, a pressure sensor is arranged at the position of the flexible telescopic mechanism for supporting the product to be detected; when a product to be measured is placed on each flexible telescopic mechanism of the support table, each flexible telescopic mechanism can acquire pressure data through a corresponding pressure sensor; and when the analysis detection unit generates a size detection result of the product to be detected based on the product model difference, the pressure data acquired by each flexible telescopic mechanism is used as a correction compensation quantity of size detection.
Compared with the prior art, the method for detecting the automobile windshield has the following beneficial effects:
according to the invention, the three-dimensional data and the point cloud data of the product to be detected are firstly obtained to generate the three-dimensional point cloud data, the virtual product model of the product to be detected is generated in a space modeling mode, and the size detection is carried out in a mode that the product model is poor through comparison between the virtual product model and the actual product design model; on the other hand, the non-contact detection mode is not limited by the number of detection points, and the detection precision of the automobile windshield can be effectively improved, so that the detection effect of the automobile windshield is improved.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a logic diagram of a method for inspecting a windshield of an automobile according to an embodiment;
fig. 2 is a schematic view of the working process of the automobile windshield inspection system in the second embodiment.
Detailed Description
The following is further detailed by the specific embodiments:
the first embodiment is as follows:
the embodiment discloses an automobile windshield detection method based on a laser 3D technology.
As shown in fig. 1, the method for detecting the automobile windshield based on the laser 3D technology comprises the following steps:
s1: and carrying out laser scanning on the product to be detected to obtain corresponding spatial three-dimensional data. Specifically, laser scanning is carried out on the corresponding position of the product to be detected through a 3D laser camera according to a preset motion track so as to obtain corresponding spatial three-dimensional data; and the motion trail is generated based on the size and the shape parameters of the actual product design model of the product to be detected.
S2: and carrying out point cloud collection on the product to be detected based on a laser 3D collection technology to obtain corresponding point cloud data.
S3: and generating corresponding three-dimensional point cloud data based on the spatial three-dimensional data and the point cloud data of the product to be detected. Specifically, firstly, data preprocessing is carried out on point cloud data; then comparing the preprocessed point cloud data with the spatial three-dimensional data to generate corresponding three-dimensional point cloud data; the data preprocessing comprises data cleaning, data auditing, data screening and data sorting.
S4: and carrying out space modeling based on the three-dimensional point cloud data of the product to be detected so as to generate a corresponding virtual product model. Specifically, the three-dimensional point cloud data of the product to be detected is subjected to spatial modeling based on a digital twinning technology so as to generate a corresponding virtual product model.
S5: and comparing the virtual product model of the product to be detected with the actual product design model to generate a corresponding product model difference, and detecting the size of the product to be detected based on the product model difference. Specifically, the actual product design model is constructed in advance and stored, and can be directly called when in use. Fusing a virtual product model and an actual product design model of a product to be tested; then, searching difference points of the virtual product model and the actual product design model through an AI technology to generate a corresponding product model difference; and finally, carrying out size detection based on the product model difference and the set size deviation threshold value to obtain the size detection result of the product to be detected.
According to the invention, the three-dimensional data and the point cloud data of the product to be detected are firstly obtained to generate the three-dimensional point cloud data, the virtual product model of the product to be detected is generated in a space modeling mode, and the size detection is carried out in a mode that the product model is poor through comparison between the virtual product model and the actual product design model; on the other hand, the non-contact detection mode is not limited by the number of detection points, and the detection precision of the automobile windshield can be effectively improved, so that the detection effect of the automobile windshield is improved.
Meanwhile, the accuracy of the three-dimensional point cloud data can be ensured by comparing the spatial three-dimensional data with the point cloud data to generate the three-dimensional point cloud data; the method for generating the virtual product model by the digital twinning technology can ensure the accuracy of the virtual product model, and is further favorable for improving the detection precision of the automobile windshield. The mode of identifying the difference points for size analysis through the AI technology can effectively ensure the accuracy of size detection.
In the specific implementation process, when the product to be detected is subjected to laser scanning, the product to be detected is placed on a flexible supporting table; a plurality of movable flexible telescopic mechanisms are arranged on the supporting table, and the spatial position and the telescopic quantity of each flexible telescopic mechanism are generated based on the size and the appearance parameters of the actual product design model of the product to be tested, so that each flexible telescopic mechanism can form stable spatial three-dimensional multi-point support for placing the product to be tested. Specifically, a pressure sensor is arranged at a position on the flexible telescopic mechanism for supporting a product to be detected; when a product to be measured is placed on each flexible telescopic mechanism of the support table, each flexible telescopic mechanism can acquire pressure data through a corresponding pressure sensor; in step S5, when the dimension detection result of the product to be detected is generated based on the product model difference, the pressure data acquired by each flexible telescoping mechanism is used as the correction compensation amount for the dimension detection.
In the invention, the automobile windshield is supported and placed by the movable flexible telescopic mechanism, so that the device can be suitable for various types of automobile windshields by adjusting the position of the flexible telescopic mechanism, the detection universality can be better ensured, and the cost of the automobile windshield detection is further reduced. Meanwhile, the spatial position and the stretching amount of the flexible stretching mechanism are generated based on the size and the appearance parameters of the actual product design model of the product to be tested, so that various types of automobile windshields can be stably supported. Finally, the invention corrects and compensates the size detection result by acquiring the pressure data of the automobile windshield, and can further improve the detection precision of the automobile windshield.
Example two:
the embodiment discloses an automobile windshield detection system based on a laser 3D technology on the basis of the first embodiment, and the automobile windshield detection system is implemented on the basis of the automobile windshield detection method of the first embodiment. As shown in fig. 2, the system for detecting an automobile windshield based on the laser 3D technology specifically includes:
and the supporting table is used for placing a product to be tested. Specifically, the product to be measured is positioned and placed at a small angle inclination angle (18 degrees).
And the feeding clamping unit is used for transferring the product to be tested on the production line to the supporting table. Specifically, the loading clamping unit grabs the product to be tested on the production line through the negative pressure head to realize transferring.
The laser camera driving unit comprises a 3D laser camera for laser scanning and point cloud collection and a robot assembly for driving the 3D laser camera to move along a preset track.
The 3D image acquisition unit is used for driving the robot assembly to drive the 3D laser camera to move so as to acquire spatial three-dimensional data and point cloud data of a product to be detected;
the analysis detection unit is used for generating corresponding three-dimensional point cloud data according to the spatial three-dimensional data and the point cloud data of the product to be detected; then carrying out space modeling based on the three-dimensional point cloud data of the product to be detected to generate a corresponding virtual product model; and finally, comparing the virtual product model of the product to be detected with the actual product design model to generate a corresponding product model difference, and detecting the size of the product to be detected based on the product model difference. Specifically, data preprocessing is carried out on point cloud data; and then comparing the preprocessed point cloud data with the spatial three-dimensional data to generate corresponding three-dimensional point cloud data. And carrying out space modeling on the three-dimensional point cloud data of the product to be detected based on a digital twinning technology to generate a corresponding virtual product model. The actual product design model is constructed in advance and stored, and can be directly called when in use. Fusing a virtual product model and an actual product design model of a product to be tested; then, searching difference points of the virtual product model and the actual product design model through an AI technology to generate a corresponding product model difference; and finally, carrying out size detection based on the product model difference and the set size deviation threshold value to obtain the size detection result of the product to be detected. The 3D image acquisition unit and the analysis and detection unit are hardware or software integrated on a computer, and the functions are realized by the existing mature means.
According to the invention, the three-dimensional data and the point cloud data of the product to be detected are firstly obtained to generate the three-dimensional point cloud data, the virtual product model of the product to be detected is generated in a space modeling mode, and the size detection is carried out in a mode that the product model is poor through comparison between the virtual product model and the actual product design model; on the other hand, the non-contact detection mode of the system is not limited by the number of detection points, and the detection precision of the automobile windshield can be effectively improved, so that the detection effect of the automobile windshield is improved.
Meanwhile, the structural design of the detection system can well assist in implementing the detection method, and further the detection effect of the automobile windshield can be ensured.
In the specific implementation process, a plurality of movable flexible telescopic mechanisms are arranged on the supporting table, and the spatial position and the telescopic quantity of each flexible telescopic mechanism are generated based on the size and the appearance parameters of the actual product design model of the product to be tested, so that each flexible telescopic mechanism can form stable spatial three-dimensional multi-point support for placing the product to be tested. Specifically, a pressure sensor is arranged at a position on the flexible telescopic mechanism for supporting a product to be detected; when a product to be measured is placed on each flexible telescopic mechanism of the support table, each flexible telescopic mechanism can acquire pressure data through a corresponding pressure sensor; and when the analysis detection unit generates a size detection result of the product to be detected based on the product model difference, the pressure data acquired by each flexible telescopic mechanism is used as a correction compensation quantity of size detection. The flexible telescopic mechanism can be selected from an existing telescopic cylinder, and a flexible cushion layer (such as a rubber layer or a sponge layer) is arranged on one side for supporting a product to be tested. For better placing the product to be tested, a limiting clamp is further arranged in the embodiment to clamp the product to be tested, and relevant data are acquired through the induction sensor, so that the stable placement of the product to be tested is guaranteed.
In the invention, the automobile windshield is supported and placed by the movable flexible telescopic mechanism, so that the device can be suitable for various types of automobile windshields by adjusting the position of the flexible telescopic mechanism, the detection universality can be better ensured, and the cost of the automobile windshield detection is further reduced. Meanwhile, the spatial position and the stretching amount of the flexible stretching mechanism are generated based on the size and the appearance parameters of the actual product design model of the product to be tested, so that the flexible stretching mechanism can stably support various types of automobile windshields. Finally, the invention corrects and compensates the size detection result by acquiring the pressure data of the automobile windshield, and can further improve the detection precision of the automobile windshield.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, while the invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Meanwhile, the detailed structures, characteristics and the like of the common general knowledge in the embodiments are not described too much. Finally, the scope of the claims should be determined by the content of the claims, and the description of the embodiments and the like in the specification should be used for interpreting the content of the claims.
Claims (10)
1. The method for detecting the automobile windshield based on the laser 3D technology is characterized by comprising the following steps of:
s1: carrying out laser scanning on a product to be detected to obtain corresponding spatial three-dimensional data;
s2: performing point cloud collection on a product to be detected based on a laser 3D collection technology to obtain corresponding point cloud data;
s3: generating corresponding three-dimensional point cloud data based on the spatial three-dimensional data and the point cloud data of the product to be detected;
s4: performing spatial modeling based on three-dimensional point cloud data of a product to be detected to generate a corresponding virtual product model;
s5: and comparing the virtual product model of the product to be detected with the actual product design model to generate a corresponding product model difference, and detecting the size of the product to be detected based on the product model difference.
2. The method for detecting the automobile windshield based on the laser 3D technology as claimed in claim 1, wherein the method comprises the following steps: in step S1, when performing laser scanning on a product to be tested, placing the product to be tested on a flexible support table;
the flexible telescopic mechanism is characterized in that a plurality of movable flexible telescopic mechanisms are arranged on the supporting table, and the spatial position and the telescopic quantity of each flexible telescopic mechanism are generated based on the size and the appearance parameters of an actual product design model of a product to be tested, so that each flexible telescopic mechanism can form stable spatial three-dimensional multi-point support for placing the product to be tested.
3. The method for detecting the automobile windshield based on the laser 3D technology as claimed in claim 2, wherein the method comprises the following steps: a pressure sensor is arranged at the position of the flexible telescopic mechanism for supporting a product to be measured; when a product to be measured is placed on each flexible telescopic mechanism of the support table, each flexible telescopic mechanism can acquire pressure data through a corresponding pressure sensor;
in step S5, when the dimension detection result of the product to be detected is generated based on the product model difference, the pressure data acquired by each flexible telescoping mechanism is used as the correction compensation amount for the dimension detection.
4. The method for detecting the automobile windshield based on the laser 3D technology as claimed in claim 1, wherein the method comprises the following steps: in the step S1, laser scanning is performed on the corresponding position of the product to be detected by the 3D laser camera according to a preset motion trajectory to obtain corresponding spatial three-dimensional data; and the motion trail is generated based on the size and the shape parameters of the actual product design model of the product to be detected.
5. The method for detecting the automobile windshield based on the laser 3D technology as claimed in claim 1, wherein the method comprises the following steps: in step S3, first, data preprocessing is performed on the point cloud data; then comparing the preprocessed point cloud data with the spatial three-dimensional data to generate corresponding three-dimensional point cloud data;
the data preprocessing comprises any one or more of data cleaning, data auditing, data screening and data sorting.
6. The method for detecting the automobile windshield based on the laser 3D technology as claimed in claim 1, wherein the method comprises the following steps: in step S4, the three-dimensional point cloud data of the product to be tested is spatially modeled based on a digital twinning technique to generate a corresponding virtual product model.
7. The method for detecting the automobile windshield based on the laser 3D technology as claimed in claim 1, wherein the method comprises the following steps: in step S5, fusing the virtual product model and the actual product design model of the product to be tested; then, searching difference points of the virtual product model and the actual product design model through an AI technology to generate a corresponding product model difference; and finally, carrying out size detection based on the product model difference and the set size deviation threshold value to obtain the size detection result of the product to be detected.
8. The automobile windshield detection system based on the laser 3D technology is characterized by being implemented based on the automobile windshield detection method in claim 1, and specifically comprising the following steps of:
the supporting table is used for placing a product to be tested;
the feeding clamping unit is used for transferring the product to be tested on the production line to the supporting table;
the laser camera driving unit comprises a 3D laser camera for performing laser scanning and point cloud collection and a robot component for driving the 3D laser camera to move along a preset track;
the 3D image acquisition unit is used for driving the robot assembly to drive the 3D laser camera to move so as to acquire spatial three-dimensional data and point cloud data of a product to be detected;
the analysis detection unit is used for generating corresponding three-dimensional point cloud data according to the spatial three-dimensional data and the point cloud data of the product to be detected; then carrying out space modeling based on the three-dimensional point cloud data of the product to be detected to generate a corresponding virtual product model; and finally, comparing the virtual product model of the product to be detected with the actual product design model to generate a corresponding product model difference, and detecting the size of the product to be detected based on the product model difference.
9. The laser 3D technology based automotive windshield inspection system of claim 8, wherein: the flexible telescopic mechanism is characterized in that a plurality of movable flexible telescopic mechanisms are arranged on the supporting table, and the spatial position and the telescopic quantity of each flexible telescopic mechanism are generated based on the size and the appearance parameters of an actual product design model of a product to be tested, so that each flexible telescopic mechanism can form stable spatial three-dimensional multi-point support for placing the product to be tested.
10. The laser 3D technology based automotive windshield inspection system of claim 9, wherein: a pressure sensor is arranged at the position of the flexible telescopic mechanism for supporting a product to be measured; when a product to be measured is placed on each flexible telescopic mechanism of the support table, each flexible telescopic mechanism can acquire pressure data through a corresponding pressure sensor;
and when the analysis detection unit generates a size detection result of the product to be detected based on the product model difference, the pressure data acquired by each flexible telescopic mechanism is used as a correction compensation quantity of size detection.
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| 段振龙等: "三维激光扫描技术生成DEM及其在自然保护区生态环境中的应用研究", 《测绘》 * |
| 秦世伟等: "基于三维激光扫描的构件变形检测及数据处理", 《扬州大学学报(自然科学版)》 * |
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