CN114535825B

CN114535825B - Laser marking vehicle identification code system based on manipulator

Info

Publication number: CN114535825B
Application number: CN202210454910.1A
Authority: CN
Inventors: 王立之
Original assignee: Ampson Intelligent Technology Jiangsu Co ltd
Current assignee: Ampson Intelligent Technology Jiangsu Co ltd
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-07-12
Anticipated expiration: 2042-04-28
Also published as: CN114535825A

Abstract

The invention discloses a laser marking vehicle identification code system based on a manipulator, which relates to the field of intelligent manufacturing and aims to solve the problem of low laser marking precision of the traditional vehicle body, the key points of the technical proposal are that the device comprises a central control module which is electrically connected with a measuring and positioning module for capturing the posture of the vehicle body, the measuring and positioning module comprises three horizontal industrial cameras, the three horizontal industrial cameras are positioned in the same plane, the plane of the three horizontal industrial cameras is a reference plane, the horizontal industrial cameras are uniformly distributed on the periphery of the placement position of the vehicle body, the reference surface is lower than the surface of the lowest position of the vehicle body, a vertical industrial camera is arranged above the reference surface and higher than the vehicle body, the vertical industrial camera and the horizontal industrial camera both point to the vehicle body, and the laser engraving precision of the vehicle body is improved.

Description

Laser marking vehicle identification code system based on manipulator

Technical Field

The invention relates to the technical field of intelligent manufacturing, in particular to a laser marking vehicle identification code system based on a manipulator.

Background

The Vehicle Identification code (VIN, or Vehicle Identification Number or frame Number for convenience of description) is the Identification Number of the automobile, and is determined according to the national Vehicle management standard, wherein the Vehicle Identification code comprises information of manufacturers, years, Vehicle types, Vehicle body types and codes, engine codes, assembly places and the like of the Vehicle; china updates and releases national standard road Vehicle Identification Number (VIN) (GB 16735) 2019 in 14 th 10 th of 2019, and starts to execute in 1 st of 2020; the standard specifies the content and the composition of the vehicle identification code, and simultaneously gives the marking requirement and the marking change requirement of the vehicle identification code; currently, Vehicle Identification Numbers (VIN) of most automotive enterprises are accomplished by scribing equipment. These vehicle identification code (VIN) scribing devices are all contact type marking systems, and may cause vehicle body scratches in a scribing area during the operation scribing process, and the scribing result is manually checked, which may cause the vehicle with abnormal vehicle identification code (VIN) to leave factory due to human checking error. In addition, the marking device cannot well meet the requirement that the national standard (GB 16735 and 2019) proposes the change of the vehicle identification code (VIN) mark. Based on the problems, the system equipment for engraving the vehicle identification codes based on the manipulator laser improves the automation and the intelligence of the system.

The existing vehicle identification code laser printing system comprises a master control system, wherein the master control system is electrically connected with a manipulator operation system, a laser printing and engraving system, a laser protection device, an odor removing and dust collecting device, a measuring and positioning system, a vehicle body transplanting system, a video monitoring and recording system, a server, a manufacturing execution system and a comprehensive information management control system, the measuring and positioning system comprises an industrial camera and a laser range finder, the vehicle body transplanting system moves a vehicle frame to a target position, then a picture is shot through the industrial camera, specific point data of a vehicle body in the picture is obtained through conversion of the distance between the industrial camera and the vehicle body and the inclination angle, then the specific point data and the data of the specific point of the vehicle body are matched to form a virtual plane coordinate system for positioning the vehicle body, then the data of the laser range finder in the vertical direction is matched with the virtual plane coordinate system to form a virtual space coordinate system, the coordinate positions of all points of the vehicle body can be positioned in space, and then the manipulator operating system and the laser engraving system are controlled by the master control system to engrave on the target position of the vehicle body in a space coordinate system.

The above prior art solutions have the following drawbacks: the virtual space coordinate system established for laser engraving of the existing vehicle body is detected and completed through the laser range finder and the industrial camera, but laser emitted by the laser range finder is a straight line, most of the vehicle body is curved, so that errors exist in data fed back by the laser range finder, errors also exist in the space coordinate system established through the laser range finder, the final laser engraving deviation on the vehicle body can be caused, and the problem is urgently to be solved.

Disclosure of Invention

The invention aims to provide a laser engraving vehicle identification code system based on a manipulator, which has the function of improving the laser engraving precision of a vehicle body.

In order to achieve the purpose, the invention provides the following technical scheme:

a laser marking and carving vehicle identification code system based on a manipulator comprises a central control module, wherein a mechanical operation module for controlling the manipulator to work is electrically connected to the central control module, a laser marking and carving head for laser marking and carving on a vehicle body is arranged at the tail end of the manipulator, a laser marking and carving module for controlling the laser marking and carving head to work is electrically connected to the central control module, a vehicle body transplanting module for moving the vehicle body to a target position is electrically connected to the central control module, a measuring and positioning module for capturing the posture of the vehicle body is electrically connected to the central control module, the measuring and positioning module comprises three horizontal industrial cameras, the three horizontal industrial cameras are located in the same plane, the plane where the three horizontal industrial cameras are located is a reference plane, the horizontal industrial cameras are uniformly distributed on the periphery of the vehicle body placing position, and the reference plane is lower than the plane where the lowest position of the vehicle body is located, the position, higher than the automobile body, of the upper portion of the datum plane is provided with a vertical industrial camera, the vertical industrial camera and the horizontal industrial camera point to the automobile body, the three horizontal industrial cameras are used for acquiring primary positioning data of the space where the automobile body is located, the vertical industrial camera is used for correcting and compensating the primary positioning data, and a virtual space coordinate system is established in the space where the automobile body is located through the data of the three horizontal industrial cameras and the data of the vertical industrial camera.

By adopting the technical scheme, the original industrial camera is replaced by the three horizontal industrial cameras, the three horizontal industrial cameras are fixed at spatial positions which are as far away as possible from each other, the three horizontal industrial cameras form a plane in space, and the three horizontal industrial cameras are used for primary positioning according to measurement data acquired by the three horizontal industrial cameras, namely, the spatial position and the posture (primary positioning numerical value) of the car body are preliminarily given; then the original laser range finder is replaced by a vertical industrial camera which is arranged above the reference surface, the vertical industrial camera and any two horizontal industrial cameras form a new plane, therefore, a virtual space coordinate system can be established in the space where the vehicle body is located, the vertical industrial camera is fixed at a spatial position which is as far as possible away from the reference surface, the data acquired by the vertical industrial camera is used for correcting and compensating the initial positioning numerical value, the measurement precision is improved, compared with the situation that the range acquired by a bundle of vertical laser vertical industrial cameras is wider and more feedback information is provided, the obtained spatial numerical value is more accurate and dense, and the effect of improving the data acquisition precision around the vehicle body is achieved, the virtual space coordinate system established on the basis is more accurate, the posture of the vehicle body is captured more accurately, and the laser engraving precision of the vehicle body is further improved.

Further, the laser is beaten and is carved the head including the field lens of adjusting laser focus and the mirror that shakes that control laser removed, it shakes the drive arrangement that the mirror plane removed to be equipped with in the head to drive to beat to laser, drive arrangement electric connection is on central control module, central control module continuously drives the spatial position and the continuous adjustment of gesture of manipulator to guarantee that laser when beating and carve the field lens surface that the head was beaten to laser and carve every focus of carving character distance exactly equals the field lens.

By adopting the technical scheme, the driving device of the galvanometer in the laser engraving head is electrically connected to the central control module, the driving device comprises two rotating shafts which drive the galvanometer to move, the two rotating shafts and each shaft of the mechanical arm synchronously act, and the action states of the two rotating shafts are mapped to the extension shaft of the mechanical arm, so that the synchronous action of the galvanometer system of the laser engraving head and the mechanical arm system can be ensured, and the data acquisition of the measurement positioning module of the vehicle body is more accurate; when automobile body surface measurement accuracy is limited, the automobile body surface of curved surface can be discerned into a plane, the thing that laser was carved out just differs with regard to the depth like this, when the measurement location of automobile body is accurate enough, the curved surface of automobile body also can be discerned into a plurality of planes, central control module continuously drives the spatial position and the gesture of manipulator and constantly adjusts, thereby guarantee that laser is carved the field lens surface of head to every when carving characters distance and is just equal to the focus of field lens, and then guarantee that laser is carved characters degree of depth and width unanimity.

In conclusion, the beneficial technical effects of the invention are as follows:

1. the horizontal industrial camera and the vertical industrial camera are adopted, so that the effect of improving the laser engraving precision of the car body is achieved.

Drawings

FIG. 1 is a schematic view of the flow structure of the present invention;

fig. 2 is a schematic of the position structure of the present invention.

In the figure, 1, a vehicle body; 2. a manipulator; 3. laser engraving head; 4. a horizontal industrial camera; 5. a vertical industrial camera.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1 and 2, the robot-based laser marking vehicle identification code system disclosed by the invention comprises a central control module, wherein the central control module is electrically connected with a mechanical operation module for controlling the operation of a robot 2, the tail end of the robot 2 is provided with a laser marking head 3 for laser marking on a vehicle body 1, the central control module is electrically connected with a laser marking module for controlling the operation of the laser marking head 3, the central control module is electrically connected with a vehicle body transplanting module for moving the vehicle body 1 to a target position, and the central control module is electrically connected with a measuring and positioning module for capturing the posture of the vehicle body 1; the central control module is responsible for system control and data processing, and is also responsible for data exchange with the mechanical operation module, the laser engraving module, the vehicle body transplanting module and the measuring and positioning module, and is also responsible for arranging and coordinating action time sequences and work flows among the laser engraving module, the mechanical operation module and the vehicle body transplanting module, a manipulator 2 in the mechanical operation module can be an industrial robot or a multi-axis mechanical arm, the laser engraving module with the manipulator 2 working synchronously comprises a laser engraving head 3 and a laser controller, and the laser engraving head 3 is installed at the tail end of the manipulator 2; the laser engraving head 3 comprises a galvanometer and a field lens; the field lens is used for controlling the laser engraving focal length; the galvanometer system has two rotating shafts to control the laser to move on a plane so as to mark required characters or patterns.

Referring to fig. 1 and 2, when a vehicle body 1 needs to be engraved with characters, a central control module starts a vehicle body transplanting module to move the vehicle body 1 to a target position to be engraved, then starts a measuring and positioning module, establishes a virtual space coordinate system at the position of the vehicle body 1 to accommodate the vehicle body 1, then positions each point of the vehicle body 1 in the virtual space coordinate system and feeds back the point to the central control module, and the central control module starts a laser engraving module and a mechanical operation module to engrave the target position of the vehicle body 1.

Referring to fig. 1 and 2, the measuring and positioning module comprises three horizontal industrial cameras 4 and one vertical industrial camera 5, the three horizontal industrial cameras 4 are located in the same plane, the plane where the three horizontal industrial cameras 4 are located is a reference plane, the horizontal industrial cameras 4 are uniformly distributed on the periphery of the placement position of the car body 1, the reference plane is lower than the plane where the lowest position of the car body 1 is located, the vertical industrial camera 5 is arranged above the reference plane, and the vertical industrial camera 5 and the horizontal industrial camera 4 are both directed to the car body 1; the three horizontal industrial cameras 4 are fixed at spatial positions which are as far away from each other as possible, and initial positioning is carried out through measurement data obtained by the three horizontal industrial cameras 4, namely an initial positioning numerical value of the spatial position and the posture of the vehicle body 1 is preliminarily given; the vertical industrial camera 5 is fixed at a spatial position which is as far away from the reference plane as possible, and data acquired by the vertical industrial camera 5 is used for correcting and compensating the initial positioning numerical value, so that the measurement precision is improved, only when the measurement precision is improved, the positioning of each point of the vehicle body 1 is accurate, and the laser engraving precision under the central control module is further improved; the space positioning method of the vehicle body 1 comprises the following specific steps: three horizontal industrial cameras 4 are arranged at the outer lower sides of three corners of the car body 1, the lenses of the three horizontal industrial cameras 4 are right opposite to the corresponding outer lower corners of the car body 1, a vertical industrial camera 5 is arranged close to the upper side of the fourth corner opposite to the car body 1, the distance from the plane formed by the other three horizontal industrial cameras 4 is longer, although the three horizontal industrial cameras 4 are installed at different spatial positions and attitudes, they are unique in spatial position and angle with respect to any one spatial coordinate system, in other words, the spatial coordinate systems of the first three horizontal industrial cameras 4 are mutually convertible in view of each other, because the vision measurement is generally planar measurement, only two (x, y) of three components of a measurement point in a selected space coordinate system can be obtained, and the other component z is unknown, and similarly, the vision measurement formed by the first three horizontal industrial cameras 4 has three unknown quantities; however, for the vehicle body 1, since the distances between the three selected measurement calibration objects on the vehicle body 1 are known and there are three known quantities, the three distances are calculated by using the three sets of measurement point values containing the unknown quantities, so that three unknown quantities can be calculated, and further, the specific position and posture of the vehicle body 1 can be calculated, the distances from the fourth measurement point to the first three points are calculated by using the values measured by the vertical industrial camera 5, the optimal value is obtained by using the least square method, and the first three sets of values are optimized by using the least square method again according to the optimal value and the known data of the vehicle body 1, so that the measurement accuracy is improved.

Referring to fig. 1 and 2, the laser engraving head 3 includes a field lens for adjusting the focal length of the laser and a galvanometer for controlling the movement of the laser, a driving device for driving the galvanometer to move in a plane is arranged in the laser engraving head 3, and the driving device is electrically connected to the central control module; the driving device comprises two rotating shafts for controlling the laser beam to move, namely the action states of the two rotating shafts are mapped onto the mechanical arm 2, so that the synchronous action of the driving device of the laser engraving head 3 and the mechanical operation module can be ensured, namely when each character of the vehicle identification code is engraved, the spatial position and the posture of the mechanical arm 2 are continuously adjusted, the distance from the surface of a field lens of the laser engraving head 3 to each engraved character is ensured to be exactly equal to the focal length of the field lens during laser engraving, and the depth and the width of the laser engraved character are ensured to be consistent; the adjustment of the spatial position and attitude of the manipulator 2 is directly related to the change of the surface camber of the vehicle body 1, and is also related to the spatial position and attitude of the vehicle body 1.

Referring to fig. 1 and 2, the area of the vehicle body 1 for engraving the vehicle identification code is a cambered surface, the length of the vehicle identification code is about one hundred seventy five millimeters, and if the manipulator 2 is kept static during laser engraving, the manipulator 2 does not move along with the change of the positions of different vehicle identification code characters engraved by laser, so that the distance from the field lens surface on the laser engraving head 3 to each engraved character is unequal, and the distance of part of the character exceeds the focal range required by the laser engraving process, so that the engraved vehicle identification code characters are different in depth, and part of the engraved vehicle identification code characters is clear and fuzzy; when the manipulator 2 is used for engraving each character of the vehicle identification code, the spatial position and the posture of the manipulator 2 are continuously adjusted, so that the distance from the surface of a field lens of the laser engraving head 3 to each engraved character during laser engraving is just equal to the focal length of the field lens, and the depth and the width of the laser engraved character are consistent; thereby ensuring that the distance from the surface of the field lens on the engraving head to each engraving character is just equal to the focal length of the field lens when the laser is engraved, further ensuring the depth and width of the laser engraved character to be consistent, realizing the effect is realized by a measuring and positioning module consisting of three horizontal industrial cameras 4 and a vertical industrial camera 5, the position area of the engraved vehicle identification code character on the vehicle body 1 can be processed by more accurate data only when the measuring and positioning reach a certain magnitude of precision, the curved surface of one area can be identified into a fuzzy plane in a virtual coordinate system, in the vehicle body 1 with the improved measurement precision, the curved surface engraved by the vehicle identification code characters is an area formed by a plurality of fine planes in a virtual coordinate system, and the positions of the mechanical arm 2 and the laser engraving head 3 are adjusted at any time to ensure that the characters of one fine plane are all in the same depth and the same width.

The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.

Claims

1. The utility model provides a laser beats and carves vehicle identification code system based on manipulator, includes central control module, the last electric connection of central control module has the mechanical operation module of control manipulator (2) work, manipulator (2) end is provided with laser on automobile body (1) and beats the laser of carving and carves head (3), the last electric connection of central control module has the control laser to beat the laser of carving the head (3) work and beats and carve the module, electric connection has the automobile body of removal automobile body (1) to the target position to transplant the module on the central control module, electric connection has the measurement orientation module of catching automobile body (1) gesture on the central control module, its characterized in that: the measuring and positioning module comprises three horizontal industrial cameras (4), the three horizontal industrial cameras (4) are positioned in the same plane, the plane where the three horizontal industrial cameras (4) are located is a reference plane, the horizontal industrial cameras (4) are uniformly distributed on the periphery of the placement position of the vehicle body (1), the reference surface is lower than the surface of the lowest position of the car body (1), a vertical industrial camera (5) is arranged above the reference surface and higher than the car body (1), the vertical industrial camera (5) and the horizontal industrial camera (4) point to the vehicle body (1), the three horizontal industrial cameras (4) are used for acquiring primary positioning data of the space where the vehicle body (1) is located, the vertical industrial camera (5) is used for correcting and compensating the primary positioning data, establishing a virtual space coordinate system in the space where the vehicle body (1) is located through data of three horizontal industrial cameras (4) and data of three vertical industrial cameras;

laser is beaten and is carved head (3) including the field lens of adjusting laser focus and the mirror that shakes that control laser removed, laser is beaten and is equipped with the drive arrangement who drives the mirror plane that shakes and remove in carving head (3), drive arrangement electric connection is on central control module, central control module continuously drives the spatial position and the continuous adjustment of gesture of manipulator (2) to guarantee that laser beats when carving the laser and carves the field lens surface of carving head (3) and every and beat the focus that carve the character distance and just equal to the field lens.