CN114549519A - Visual detection method and system for automobile spraying production line and readable storage medium - Google Patents
Visual detection method and system for automobile spraying production line and readable storage medium Download PDFInfo
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Abstract
The invention discloses a visual detection method, a system and a readable storage medium for an automobile spraying production line, which are used for collecting production line images and preprocessing the production line images; establishing a conveying platform coordinate system, and carrying out sectional treatment on the conveying platform to form a plurality of conveying areas; acquiring carrier position information of a target product, and comparing the carrier position information with preset position information to obtain a deviation rate; judging whether the deviation rate is greater than a preset deviation rate threshold value or not, if so, generating compensation information, and adjusting the position of the carrier to be in a preset position according to the compensation information; the system can accurately shoot the positioning information of the vehicle body, realize the on-line detection of the bumper, select the corresponding spraying program according to the type of the bumper and carry out intelligent spraying through the spraying robot.
Description
Technical Field
The invention relates to the field of intelligent diagnosis and detection, in particular to a visual detection method and system for an automobile spraying production line and a readable storage medium.
Background
Machine vision is a branch of rapid development of artificial intelligence. Machine vision is a key technology in the production process, taking an automobile coating production line as an example, on a machine or a production line, the machine vision can realize vehicle body positioning and vehicle type identification so as to conveniently identify the vehicle body which does not accord with a plan, ensure the normal operation of the production line and be closely related to the whole production.
In the prior art, in the whole coating production line, a bumper needs to be subjected to multiple process flows of workpiece feeding, pretreatment, robot painting, drying, workpiece discharging, spot repairing and the like, and the operation of the production line and even the scrapping of products can be influenced by the conditions that the bumper is separated from a hanger, deviates or falls off in any link. Therefore, how to improve the stability of the coating production line is a technical problem which exists in the field for a long time but is not solved all the time.
Disclosure of Invention
In order to solve at least one technical problem, the invention provides a visual detection method, a system and a readable storage medium for an automobile spraying production line.
The invention provides a visual inspection method for an automobile spraying production line in a first aspect, which comprises the following steps:
collecting production line images, preprocessing the production line images to obtain processed images,
acquiring production line parameter information according to the processed image, establishing a conveying platform coordinate system, and carrying out segmentation processing on the conveying platform to form a plurality of conveying areas;
acquiring carrier position information of a target product, and comparing the carrier position information with preset position information to obtain a deviation rate;
judging whether the deviation rate is larger than a preset deviation rate threshold value or not,
if the deviation rate is greater than a preset deviation rate threshold value, generating compensation information, and adjusting the position of the carrier to a preset position according to the compensation information;
establishing a corresponding detection mode according to the conveying area and obtaining a detection result,
and displaying the detection result according to a preset mode.
Furthermore, the target product comprises automobile parts of different automobile types, such as one of an automobile door panel, an automobile bumper or an automobile engine top cover, and the detection mode can be that the target product is photographed through an industrial camera to obtain image information.
The calculation method comprises the following steps that the result obtained by subtracting the preset position information from the carrier position information is divided by the length of a target product, and then the result is multiplied by 100% to obtain a percentage, namely the deviation rate, the preset deviation rate threshold is 20%, when the deviation rate is greater than 20%, the carrier position is adjusted to a correct preset position through compensation information to be corrected, and the carrier position is guaranteed to be always in a correct position.
In a preferred embodiment of the invention, production line images are collected and preprocessed; the method specifically comprises the following steps:
extracting image characteristics of the production line, filtering and denoising the image characteristics through wavelet transformation,
signal reconstruction is carried out on the denoised image signal to obtain a processed image,
and performing color texture enhancement on the processed image to obtain an enhanced image.
In a preferred embodiment of the present invention, the method further comprises: carrier parameter information is collected, positioning points are established according to the carrier parameter information, and coordinate information of the positioning points is obtained;
positioning the target product according to the positioning point to obtain positioning state information;
comparing the positioning state information with preset state information to obtain a positioning state deviation rate;
if the deviation rate of the positioning state is larger than the first threshold and smaller than the second threshold, generating first alarm information, generating adjustment information according to the first alarm information, and adjusting the spraying state parameters according to the adjustment information;
if the deviation rate of the positioning state is larger than a second threshold value, generating second alarm information, marking the target product according to the second alarm information, and generating a corresponding processing mode;
the first threshold is less than the second threshold.
In a preferred embodiment of the present invention, workpiece image information is collected, workpiece categories are identified, N identification points are obtained at different positions of the workpiece, coordinates of the N identification points are formed,
the coordinates of the N identification points are compared with preset coordinates,
if M coordinates in the N identification points deviate from a preset threshold value, judging that the position of the workpiece deviates,
wherein M is greater than N/3.
In a preferred embodiment of the invention, image information of the target product is collected, the type of the target product is identified, the information of the vehicle type of the target product is matched,
selecting a corresponding spraying program according to the information of the model of the target product,
the target product delivery time is set according to the spray program,
and when the target product is identified to reach the preset position through the radio frequency chip, the spraying robot sprays the target product according to the spraying program.
In a preferred embodiment of the present invention, a coordinate system of the conveying platform is established, and the conveying platform is processed in segments to form a plurality of conveying areas, specifically: acquiring spraying parameter information, and establishing carrier movement parameter information according to the spraying parameter information;
segmenting the conveying platform according to the carrier movement parameter information, and establishing carrier movement speed models in different conveying areas;
automatically generating a carrier preset moving speed under a corresponding time node through a carrier moving speed model;
acquiring the real-time moving speed of the carrier;
comparing the real-time moving speed of the carrier with the preset moving speed of the carrier to obtain a speed deviation rate;
judging whether the speed deviation rate is larger than a preset speed deviation rate or not,
and if so, generating correction information, and correcting the current moving speed through the correction information.
In a preferred embodiment of the present invention, the production line parameters include the length of the production line, or the type identification of different workpieces on the production line, or the composition of the spraying equipment on the production line, and the position of the spraying equipment, the conveying areas are set along the length of the production line, the conveying areas are set to be 3-10, preferably 5 conveying areas are set, each conveying area is provided with a spraying robot, the spraying robots in different conveying areas can perform different spraying operations, including spraying modes, spraying speeds, or spraying colors, etc., the lengths of adjacent conveying areas are the same or different, the moving speeds of the carriers in different conveying areas are different, the moving speed of the carriers is increased in a gradient manner, and when the moving speed is increased to the preset speed, the carriers are moved at a constant speed.
In a preferred embodiment of the present invention, a corresponding detection mode is established according to the conveying area, and a detection result is obtained, specifically:
obtaining an automobile type, and generating bumper parameter information according to the automobile type;
generating a corresponding spraying mode according to the bumper parameter information,
different parts of the bumper are sprayed in different conveying areas,
collecting the spraying state information of the bumper, judging the spraying error according to the spraying state,
and if the spraying error is larger than the preset error, performing secondary spraying on the bumper.
Further, the bumper parameter information comprises the shape or size of the bumper, and different spraying methods are adopted for bumpers of different vehicle types.
The second aspect of the present invention further provides a vision inspection system for an automobile painting production line, the system comprising: the visual detection method program for the automobile spraying production line is executed by the processor to realize the following steps:
collecting production line images, preprocessing the production line images to obtain processed images,
acquiring production line parameter information according to the processed image, establishing a conveying platform coordinate system, and carrying out segmentation processing on the conveying platform to form a plurality of conveying areas;
acquiring carrier position information of a target product, and comparing the carrier position information with preset position information to obtain a deviation rate;
judging whether the deviation rate is larger than a preset deviation rate threshold value or not,
if the deviation rate is greater than a preset deviation rate threshold value, generating compensation information, and adjusting the position of the carrier to a preset position according to the compensation information;
establishing a corresponding detection mode according to the conveying area and obtaining a detection result,
and displaying the detection result according to a preset mode.
The calculation method comprises the following steps that a result obtained by subtracting the preset position information from the carrier position information is divided by the length of a target product, and then the result is multiplied by 100% to obtain a percentage, namely the deviation rate, the preset deviation rate threshold is 20%, when the deviation rate is greater than 20%, the carrier position is adjusted to a correct preset position through compensation information to be corrected, and the carrier position is guaranteed to be always in a correct position.
The third aspect of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a program of a visual inspection method for an automobile painting production line, and when the program of the visual inspection method for the automobile painting production line is executed by a processor, the method realizes the steps of the visual inspection method for the automobile painting production line according to any one of the above.
Compared with the prior art, the invention has the following beneficial technical effects:
(1) the invention develops a visual detection method, a system and a readable storage medium for an automobile spraying production line, which can accurately shoot automobile body positioning information, hanger information, automobile type information and the like, realize the on-line detection of accurate points of a bumper and a hanger, completely avoid the conditions of detachment, deviation or falling of the bumper from the hanger, improve the stability of the coating production line and solve the technical problems existing in the field for a long time but not solved all the time.
(2) The invention can alarm the abnormal positioning condition in time, improves the safety of coating production, ensures the production efficiency of a coating production line, effectively saves the production cost and improves the productivity of the automobile production industry.
Drawings
FIG. 1 is a flow chart illustrating a visual inspection method for an automotive painting production line according to the present invention;
FIG. 2 illustrates a flow chart of an image pre-processing method of the present invention;
FIG. 3 illustrates a positioning deviation alarm flow diagram of the present invention;
FIG. 4 is a flow chart illustrating a workpiece position shifting method of the present invention;
FIG. 5 shows a flow chart of the spray coating method of the present invention;
FIG. 6 is a schematic diagram of a staging platform staging method of the present invention;
FIG. 7 is a block diagram of a vision inspection system for a vehicle painting production line according to the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
FIG. 1 is a flow chart of a visual inspection method for an automobile painting production line according to the present invention.
As shown in fig. 1, a first aspect of the present invention provides a visual inspection method for an automobile painting production line, including:
s102, collecting production line images, and preprocessing the production line images;
s104, establishing a coordinate system of the conveying platform, and carrying out segmentation processing on the conveying platform to form a plurality of conveying areas;
s106, collecting carrier position information of a target product, and comparing the carrier position information with preset position information to obtain a deviation rate;
s108, judging whether the deviation ratio is larger than a preset deviation ratio threshold value or not,
s110, if the position of the carrier is larger than the preset position, generating compensation information, and adjusting the position of the carrier to be in the preset position according to the compensation information;
s112, establishing a corresponding detection mode according to the conveying area and obtaining a detection result,
and S114, displaying the detection result according to a preset mode.
It should be noted that the display part can display through the display screen, the detection part is mainly an ethernet industrial camera, image acquisition is performed through the industrial camera, and the central control system connects the camera with the control cabinet in the system through the network switch, so that the control cabinet can quickly and accurately receive the relevant information of the bumper carrier through the tracking system installed on the bumper carrier. On the automobile coating production line, once the operation box finds that the skid carrier occupies the space, the signal is directly sent out, the vision detection system receives the signal, the work is started, images are shot, information is processed, the positioning condition of the automobile body is calculated, the signal is sent out, the signal is transmitted to the control cabinet PLC through the DI/O module signal, after the central control system receives the signal, the data comparison is carried out with plan information, if the signals are not consistent, the alarm is carried out through the central control system, the formation of the vision detection system is positioned, the automation of automobile coating production is improved, and the remote monitoring is realized.
Furthermore, the tracking system comprises an infrared sensor, the infrared sensor collects position information of the bumper carrier in real time and transmits the position information to the central control system in real time, and the central control system analyzes and processes the position information, judges the position of a workpiece according to the position of the bumper carrier and performs corresponding paint spraying processing.
Furthermore, the tracking system can also be provided with an encoder, the position information of the bumper carrier is detected through the encoder, the encoder is equipment for compiling and converting signals or data into signal forms which can be used for communication, transmission and storage, angular displacement or linear displacement is converted into electric signals through the encoder, the encoder can be divided into a contact type and a non-contact type, the encoder comprises an incremental type and an absolute type, the incremental encoder converts the displacement into periodic electric signals, then the electric signals are converted into counting pulses, the magnitude of the displacement is represented by the number of the pulses, each position of the absolute encoder corresponds to a determined digital code, and the position is determined according to the digital code.
Furthermore, after the target product reaches a preset position, the target product is sprayed by spraying robots arranged on two sides of the production line.
As shown in FIG. 2, the present invention discloses a flow chart of an image preprocessing method.
According to the embodiment of the invention, production line images are collected, and the production line images are preprocessed; the method specifically comprises the following steps:
s202, extracting the image characteristics of the production line, carrying out filtering and denoising on the image characteristics through wavelet transformation,
s204, signal reconstruction is carried out on the denoised image signal to obtain a processed image,
and S206, performing color texture enhancement on the processed image to obtain an enhanced image.
It should be noted that image enhancement is a method commonly used in the digital image processing process, and is divided into two categories, namely a spatial domain method for processing in the pixel space where an image is located and a frequency domain method for indirectly processing in the frequency domain after fourier transform according to different processing spaces, image denoising based on wavelet transform is performed by a nonlinear method, wavelet transform is a function approximation problem in the mathematical field, and the best approximation to the original image information in the function space after the expansion and translation of the wavelet function is found according to the actual requirements. Meanwhile, the image denoising based on the wavelet transformation is also a signal filtering problem, the wavelet denoising is an important stage for ensuring the quality of the later classification discrimination in the image recognition process while keeping the characteristic detail information such as the edge of the image, the characteristic extraction is an important stage for ensuring the quality of the later classification discrimination in the image recognition process, the extracted image characteristic needs to be capable of expressing the typical characteristic of a recognized object, and the characteristic extraction has characteristics of uniqueness, completeness, geometric invariance and abstraction, and the elements of the characteristic extraction have characteristics of color, texture, edge, shape and the like. The color is the basic component of the image information, each identified object has the characteristic of color, the texture characteristic is the statistics of the local properties of the image through the image gray level distribution function, and is a description of the gray level spatial distribution of each pixel in the image, and the local part may not have a rule, but a certain rule is presented on the characteristic of the whole image.
As shown in fig. 3, the present invention discloses a positioning deviation alarm flow chart.
According to the embodiment of the invention, the method further comprises the following steps: s302, carrier parameter information is collected, positioning points are established according to the carrier parameter information, and coordinate information of the positioning points is obtained;
s304, positioning the target product according to the positioning point to obtain positioning state information;
s306, comparing the positioning state information with preset state information to obtain a positioning state deviation rate;
s308, if the deviation rate of the positioning state is larger than the first threshold and smaller than the second threshold, generating first alarm information, generating adjustment information according to the first alarm information, and adjusting the spraying state parameters according to the adjustment information;
s310, if the deviation rate of the positioning state is larger than a second threshold value, generating second alarm information, marking the target product according to the second alarm information, and generating a corresponding processing mode;
the first threshold is less than the second threshold.
It should be noted that, the carrier is also provided with a tracking and identifying system, which can be used for accurate positioning, the system is matched with a positioning vision detection system, and the vision detection system is used for identifying whether the bumper positioning on the hanger is consistent with a set value or not and whether the vehicle model simulation is consistent or not, and can transmit the data information to the spraying robot, reduce the process of the simulation identification of the robot, and prevent the risk of robot collision caused by inconsistent bumper model information or position problems, effectively reduce production faults, reduce the rework probability of coating production, improve the progress and quality of vehicle production, when the deviation rate of the positioning state is larger than the second threshold value, the target product is far deviated from the preset position, and at the moment, the position of a target product can be adjusted through the stop operation, and the target product can be bumpers of different models or other automobile parts.
As shown in FIG. 4, the present invention discloses a flow chart of a workpiece position shifting method.
According to the embodiment of the invention, the method further comprises the following steps: s402, collecting workpiece image information, identifying workpiece types, acquiring N identification points at different positions of the workpiece, forming coordinates of the N identification points,
s404, comparing the coordinates of the N identification points with preset coordinates,
s406, if M coordinates in the N identification points deviate from a preset threshold value, determining that the position of the workpiece deviates,
wherein M is greater than N/3.
It should be noted that, the vehicle type to which the workpiece belongs is determined according to the type of the workpiece, and the spraying program of the vehicle type information is automatically selected according to the vehicle type information, the spraying programs of different workpieces of the same vehicle type exist in the same data packet, the spraying programs of different vehicle types are stored in different data packets for classification, and the storage of the spraying programs is not limited to this manner.
In an embodiment of the present invention, the workpiece includes a bumper, N identification points are obtained at different positions of the bumper, N may be 10 identification points or 20, 40, 50, 60, 80, 100, 500, or 1000 identification points according to the size of the bumper, when the size of the bumper is larger, 5000 or 10000 identification points may also be selected, the number of the identification points may be adjusted according to the size of the bumper, when 1/3 identification points in the identification points deviate or are larger than 1/3 identification points, it is indicated that the workpiece is far from the position deviation, and the workpiece needs to be adjusted in position at this time.
As shown in FIG. 5, the present invention discloses a flow chart of the spraying method.
According to the embodiment of the invention, the method further comprises the following steps: s502, collecting image information of the target product, identifying the type of the target product, matching the type information of the target product,
s504, selecting a corresponding spraying program according to the model information of the target product,
s506, setting the conveying time of the target product according to the spraying program,
and S508, when the target product is identified to reach the preset position through the radio frequency chip, the spraying robot sprays the target product according to the spraying program.
As shown in fig. 6, the invention discloses a schematic view of a sectional processing method of a conveying platform.
According to the embodiment of the invention, a conveying platform coordinate system is established, and the conveying platform is subjected to segmented processing to form a plurality of conveying areas, which specifically comprise:
s602, acquiring spraying parameter information, and establishing carrier movement parameter information according to the spraying parameter information;
s604, segmenting the conveying platform according to the carrier movement parameter information, and establishing carrier movement speed models in different conveying areas;
s606, automatically generating a carrier preset moving speed under a corresponding time node through a carrier moving speed model;
s608, acquiring the real-time moving speed of the carrier;
s610, comparing the real-time moving speed of the carrier with the preset moving speed of the carrier to obtain a speed deviation rate;
s612, judging whether the speed deviation rate is larger than a preset speed deviation rate or not,
and S614, if the current moving speed is larger than the preset moving speed, generating correction information, and correcting the current moving speed through the correction information.
According to the embodiment of the invention, the lengths of the adjacent conveying areas are the same or different, the moving speeds of the carriers in the different conveying areas are different, the moving speeds of the carriers are increased in a gradient manner, and when the moving speeds are increased to the preset speed, the carriers are kept to move at a constant speed.
It should be noted that, in the process of sliding the carrier on the slide, initially, the moving speed of the carrier is slowly increased, and when the carrier is increased to a predetermined speed, the carrier keeps running at a constant speed.
According to the embodiment of the invention, a corresponding detection mode is established according to the conveying area, and a detection result is obtained, specifically:
obtaining an automobile type, and generating bumper parameter information according to the automobile type;
generating a corresponding spraying mode according to the bumper parameter information,
different parts of the bumper are sprayed in different conveying areas,
collecting the spraying state information of the bumper, judging the spraying error according to the spraying state,
and if the spraying error is larger than the preset error, performing secondary spraying on the bumper.
It should be noted that, the shape and size of the bumper of different automobile models are different, so the bumper parameters need to be determined according to the automobile models, different spraying modes and spraying time are selected according to different bumper parameters, after the spraying is completed, the uniformity of the sprayed layer on the bumper is detected, the uniformity is larger, or when the spraying error is larger, the secondary spraying or the multiple spraying is carried out on the uneven position on the bumper, and if the required index is still not met, the outer side of the bumper can be scraped and sprayed again.
As shown in FIG. 7, the invention discloses a block diagram of a vision inspection system for an automobile painting production line.
The second aspect of the present invention further provides a vision inspection system for an automobile painting production line, the system comprising: the visual detection method program of the automobile spraying production line is executed by the processor to realize the following steps:
collecting production line images, and preprocessing the production line images;
establishing a coordinate system of a conveying platform, and carrying out sectional treatment on the conveying platform to form a plurality of conveying areas;
acquiring carrier position information of a target product, and comparing the carrier position information with preset position information to obtain a deviation rate;
judging whether the deviation rate is larger than a preset deviation rate threshold value or not,
if the position of the carrier is larger than the preset position, generating compensation information, and adjusting the position of the carrier to be in the preset position according to the compensation information;
establishing a corresponding detection mode according to the conveying area and obtaining a detection result,
and displaying the detection result according to a preset mode.
The detection part mainly comprises an Ethernet industrial camera, image acquisition is carried out through the industrial camera, the camera is connected with a control cabinet in the system through a central control system by using a network switch, and the control cabinet can quickly and accurately receive the related information of the bumper carrier through a tracking system arranged on the bumper carrier. On the automobile coating production line, once the operation box finds that the skid carrier occupies the space, the signal is directly sent out, the vision detection system receives the signal, the work is started, images are shot, information is processed, the positioning condition of the automobile body is calculated, the signal is sent out, the signal is transmitted to the control cabinet PLC through the DI/O module signal, after the central control system receives the signal, the data comparison is carried out with plan information, if the signals are not consistent, the alarm is carried out through the central control system, the formation of the vision detection system is positioned, the automation of automobile coating production is improved, and the remote monitoring is realized.
According to the embodiment of the invention, the method further comprises the following steps: carrier parameter information is collected, positioning points are established according to the carrier parameter information, and coordinate information of the positioning points is obtained;
positioning the target product according to the positioning point to obtain positioning state information;
comparing the positioning state information with preset state information to obtain a positioning state deviation rate;
if the deviation rate of the positioning state is larger than the first threshold and smaller than the second threshold, generating first alarm information, generating adjustment information according to the first alarm information, and adjusting the spraying state parameters according to the adjustment information;
if the deviation rate of the positioning state is larger than a second threshold value, generating second alarm information, marking the target product according to the second alarm information, and generating a corresponding processing mode;
the first threshold is less than the second threshold.
It should be noted that, a tracking recognition system is also arranged on the carrier, accurate positioning can be carried out through the tracking recognition system, data matching is carried out with the positioning vision detection system, whether bumper positioning on the hanger is consistent with a set value or not is recognized through the vision system, whether vehicle type simulation is consistent or not is recognized, data information can be transmitted to the spraying robot, the process of simulation recognition of the robot is reduced, the risk of collision of the robot due to inconsistent vehicle type information of the bumper or due to position problems is prevented, production faults are effectively reduced, the reworking probability of coating production is reduced, and the progress and the quality of vehicle production are improved.
In addition, the target product comprises a bumper, and the positioning state information further comprises the direction and height of the bumper fixed on the carrier, whether the bumper slides and deviates from the original position in the mobile spraying process, whether the bumper is separated from a hanger, deviates or falls, and the like. The target product is marked according to the feedback of the second alarm information, when the target product is larger or deviates from the original position, the fact that the spraying effect of the target product is sharply reduced in the spraying process is shown, even the target product is possibly not sprayed, when the target product is serious, the operation of a production line can be influenced, whether the machine needs to be stopped or not is judged according to the second alarm information, the shortest stopping time is judged and established, and the loss is reduced to the minimum.
According to the embodiment of the invention, a conveying platform coordinate system is established, and the conveying platform is processed in sections to form a plurality of conveying areas, which specifically comprises the following steps: acquiring spraying parameter information, and establishing carrier movement parameter information according to the spraying parameter information;
segmenting the conveying platform according to the carrier movement parameter information, and establishing carrier movement speed models in different conveying areas;
automatically generating a carrier preset moving speed under a corresponding time node through a carrier moving speed model;
acquiring the real-time moving speed of the carrier;
comparing the real-time moving speed of the carrier with the preset moving speed of the carrier to obtain a speed deviation rate;
judging whether the speed deviation rate is larger than a preset speed deviation rate or not,
and if so, generating correction information, and correcting the current moving speed through the correction information.
According to the embodiment of the invention, the lengths of the adjacent conveying areas are the same or different, the moving speeds of the carriers in the different conveying areas are different, the moving speeds of the carriers are increased in a gradient manner, and when the moving speeds are increased to the preset speed, the carriers are kept to move at a constant speed.
It should be noted that, during the process of sliding the carrier on the slide, initially, the moving speed of the carrier is slowly increased, and when the carrier is increased to a predetermined speed, the carrier keeps running at a constant speed.
According to the embodiment of the invention, a corresponding detection mode is established according to the conveying area, and a detection result is obtained, specifically:
obtaining an automobile type, and generating bumper parameter information according to the automobile type;
generating a corresponding spraying mode according to the bumper parameter information,
different parts of the bumper are sprayed by different conveying areas,
collecting the spraying state information of the bumper, judging the spraying error according to the spraying state,
and if the spraying error is larger than the preset error, performing secondary spraying on the bumper.
It should be noted that, the shape and size of the bumper of different automobile models are different, so the bumper parameters need to be determined according to the automobile models, different spraying modes and spraying time are selected according to different bumper parameters, after the spraying is completed, the uniformity of the sprayed layer on the bumper is detected, the uniformity is larger, or when the spraying error is larger, the secondary spraying or the multiple spraying is carried out on the uneven position on the bumper, and if the required index is still not met, the outer side of the bumper can be scraped and sprayed again.
According to the embodiment of the invention, production line images are collected, and the production line images are preprocessed; the method specifically comprises the following steps:
extracting image characteristics of the production line, filtering and denoising the image characteristics through wavelet transformation,
signal reconstruction is carried out on the denoised image signal to obtain a processed image,
and performing color texture enhancement on the processed image to obtain an enhanced image.
It should be noted that image enhancement is a method commonly used in the digital image processing process, and is divided into two categories, namely a spatial domain method for processing in the pixel space where an image is located and a frequency domain method for indirectly processing in the frequency domain after fourier transform according to different processing spaces, image denoising based on wavelet transform is performed by a nonlinear method, wavelet transform is a function approximation problem in the mathematical field, and the best approximation to the original image information in the function space after the expansion and translation of the wavelet function is found according to the actual requirements. Meanwhile, the image denoising based on the wavelet transformation is also a signal filtering problem, the wavelet denoising is an important stage for ensuring the quality of the later classification discrimination in the image recognition process while keeping the characteristic detail information such as the edge of the image, the characteristic extraction is an important stage for ensuring the quality of the later classification discrimination in the image recognition process, the extracted image characteristic needs to be capable of expressing the typical characteristic of a recognized object, and the characteristic extraction has characteristics of uniqueness, completeness, geometric invariance and abstraction, and the elements of the characteristic extraction have characteristics of color, texture, edge, shape and the like. The color is a basic component of image information, each identified object has a characteristic of color, the texture feature is statistics of local properties of the image through an image gray scale distribution function, and is a description of gray scale spatial distribution of each pixel in the image, and the local part may not have a rule, but a certain rule is presented on the overall characteristic of the image.
The third aspect of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a program of a visual inspection method for an automobile painting production line, and when the program of the visual inspection method for the automobile painting production line is executed by a processor, the steps of the visual inspection method for the automobile painting production line are implemented as in any one of the above.
The visual detection method, the system and the readable storage medium for the automobile spraying production line disclosed by the invention can accurately shoot the automobile body positioning information, the automobile type information and the like, and realize the on-line detection of the bumper. In addition, the application of the system can timely alarm the abnormal positioning condition, thereby improving the safety of coating production, ensuring the production efficiency of a coating production line, effectively saving the production cost and improving the productivity of the automobile production industry.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a removable memory device, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A visual inspection method for an automobile spraying production line is characterized by comprising the following steps:
collecting production line images, preprocessing the production line images to obtain processed images,
acquiring production line parameter information according to the processed image, establishing a conveying platform coordinate system, and carrying out segmentation processing on the conveying platform to form a plurality of conveying areas;
acquiring carrier position information of a target product, and comparing the carrier position information with preset position information to obtain a deviation rate;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not, if the deviation rate is greater than the preset deviation rate threshold value, generating compensation information, and adjusting the position of the carrier to a preset position according to the compensation information;
and establishing a corresponding detection mode according to the conveying area, obtaining a detection result, and displaying the detection result according to a preset mode.
2. The visual inspection method of the automobile spraying production line according to claim 1, characterized in that the production line image is collected and preprocessed; the method specifically comprises the following steps:
extracting image characteristics of the production line, filtering and denoising the image characteristics through wavelet transformation,
signal reconstruction is carried out on the denoised image signal to obtain a processed image,
and carrying out color texture enhancement on the processed image to obtain an enhanced image.
3. The visual inspection method for the automobile painting production line according to claim 1, further comprising:
carrier parameter information is collected, positioning points are established according to the carrier parameter information, and coordinate information of the positioning points is obtained;
positioning the target product according to the positioning point to obtain positioning state information;
comparing the positioning state information with preset state information to obtain a positioning state deviation rate;
if the deviation rate of the positioning state is larger than the first threshold and smaller than the second threshold, generating first alarm information, generating adjustment information according to the first alarm information, and adjusting the spraying state parameters according to the adjustment information;
if the deviation rate of the positioning state is larger than a second threshold value, generating second alarm information, marking the target product according to the second alarm information, and generating a corresponding processing mode;
the first threshold is less than the second threshold.
4. The visual inspection method of the automobile painting production line according to claim 1, wherein the image information of the workpiece is collected, the type of the workpiece is identified, N identification points are obtained at different positions of the workpiece, and coordinates of the N identification points are formed,
the coordinates of the N identification points are compared with preset coordinates,
if M coordinates in the N identification points deviate from a preset threshold value, judging that the position of the workpiece deviates,
wherein M is greater than N/3.
5. The visual inspection method for automobile painting production line according to claim 1,
collecting image information of a target product, identifying the type of the target product, matching the type information of the target product,
selecting a corresponding spraying program according to the information of the model of the target product,
the target product delivery time is set according to the spray program,
and when the target product is identified to reach the preset position through the radio frequency chip, the spraying robot sprays the target product according to the spraying program.
6. The visual inspection method for the automobile spraying production line according to claim 1, wherein a coordinate system of the conveying platform is established, and the conveying platform is subjected to segmentation processing to form a plurality of conveying areas, specifically: acquiring spraying parameter information, and establishing carrier movement parameter information according to the spraying parameter information;
segmenting the conveying platform according to the carrier movement parameter information, and establishing carrier movement speed models in different conveying areas;
automatically generating a carrier preset moving speed under a corresponding time node through a carrier moving speed model;
acquiring the real-time moving speed of the carrier;
comparing the real-time moving speed of the carrier with the preset moving speed of the carrier to obtain a speed deviation rate;
judging whether the speed deviation rate is larger than a preset speed deviation rate or not,
and if so, generating correction information, and correcting the current moving speed through the correction information.
7. The visual inspection method of the automobile painting production line according to claim 6, wherein the production line parameters include the length of the production line, the identification of different types of workpieces in the production line, the composition of the painting equipment in the production line, and the position of the painting equipment, the conveying areas are arranged along the length of the production line, 3-10 conveying areas are arranged, the lengths of the adjacent conveying areas are the same or different, the moving speeds of the carriers in the different conveying areas are different, the moving speeds of the carriers are gradually increased in a gradient manner, and when the moving speeds are increased to a preset speed, the carriers are kept to move at a constant speed.
8. The visual inspection method of the automobile spraying production line according to claim 1, wherein a corresponding inspection mode is established according to a conveying area, and an inspection result is obtained, specifically:
obtaining an automobile type, and generating bumper parameter information according to the automobile type;
generating a corresponding spraying mode according to the bumper parameter information,
different parts of the bumper are sprayed in different conveying areas,
collecting the spraying state information of the bumper, judging the spraying error according to the spraying state,
and if the spraying error is larger than the preset error, performing secondary spraying on the bumper.
9. A visual inspection system for an automotive painting production line, the system comprising: the visual detection method program for the automobile spraying production line is executed by the processor to realize the following steps:
collecting production line images, preprocessing the production line images to obtain processed images,
acquiring production line parameter information according to the processed image, establishing a conveying platform coordinate system, and carrying out segmentation processing on the conveying platform to form a plurality of conveying areas;
acquiring carrier position information of a target product, and comparing the carrier position information with preset position information to obtain a deviation rate;
judging whether the deviation rate is larger than a preset deviation rate threshold value or not,
if the position of the carrier is larger than the preset position, generating compensation information, and adjusting the position of the carrier to be in the preset position according to the compensation information;
establishing a corresponding detection mode according to the conveying area and obtaining a detection result,
and displaying the detection result according to a preset mode.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a program of a visual inspection method for a vehicle painting line, and when the program of the visual inspection method for a vehicle painting line is executed by a processor, the steps of the visual inspection method for a vehicle painting line according to any one of claims 1 to 8 are implemented.
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