CN115326411A - System and method for checking misassembly and neglected assembly of automobile assembly - Google Patents
System and method for checking misassembly and neglected assembly of automobile assembly Download PDFInfo
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- CN115326411A CN115326411A CN202210735917.0A CN202210735917A CN115326411A CN 115326411 A CN115326411 A CN 115326411A CN 202210735917 A CN202210735917 A CN 202210735917A CN 115326411 A CN115326411 A CN 115326411A
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Abstract
The invention discloses a system and a method for checking misloading and neglected loading of an automobile final assembly, wherein the system comprises: the system comprises a fixed measuring head, a control module, a speed measuring module, a ground conveying chain, a cooperative robot and a measuring module, wherein the fixed measuring head is used for measuring the posture of a vehicle body to obtain the coordinate of the vehicle body; the speed measuring module is used for monitoring the average speed of the conveying chain; the control module is used for constructing a virtual coordinate system of the position and the posture of the vehicle body according to the coordinates of the vehicle body, judging whether the virtual coordinate system is consistent with a preset correct posture or not, if so, sending the virtual coordinate system to the cooperative robot, otherwise, giving an alarm and stopping a production line; the cooperative robot is used for receiving the virtual coordinates, then drives the measuring module to photograph the internal parts of the vehicle to be measured, and compares the photographed images through sample self-learning to determine the problems of misloading and/or neglected loading. The system avoids the occurrence of wrong assembly and neglected assembly of appearance parts assembled on the whole vehicle, can feed back on site in real time, and reminds site personnel to replace or supplement the parts.
Description
Technical Field
The invention relates to the technical field of machine manufacturing, in particular to a novel system and a method for checking misassembly and neglected assembly of an overall automobile assembly.
Background
In the related technology, a bar code is pasted on a part, and the bar code of the part is manually scanned for identification, so that the method has certain requirements on personnel operation (the personnel neglected scanning code cannot monitor), the condition that the bar code of the part is inconsistent with the model of the part cannot be identified, and the problems of low detection efficiency, missed detection, high false detection rate and the like caused by manual inspection and visual inspection modes exist; or the wrong installation and neglected installation identification of single parts or modules such as automobile pipelines, engines and the like is designed, and the wrong installation and neglected installation detection of automobile appearance parts under the condition of the whole automobile cannot be realized.
The cooperative robot is used as a novel industrial robot, so that the obstacle of man-machine cooperation is swept away, the robot is completely free from the constraint of a guardrail or an enclosure, the product performance and the wide application field are created, and a new era is opened for the development of the industrial robot. The machine vision system is to use a machine to replace human eyes to make various measurements and judgments. Machine vision is a very important research field in the engineering field and the scientific field, is a comprehensive discipline relating to a plurality of fields such as optics, machinery, computers, mode recognition, image processing, artificial intelligence, signal processing, photoelectric integration and the like, and can be gradually perfected and popularized along with the development of industrial automation.
At present, a plurality of applications of a cooperative robot and a visual camera exist in the assembly technology, and the misloading and neglected loading detection of a single part can be realized by the cooperation of a laser sensor and various mechanical structures. As shown in fig. 1-2, a fixed vision detection and acquisition cabinet is used in cooperation with an industrial personal computer and an industrial robot to detect a single part (such as an oil pipe, an engine, etc.), during the detection process, the robot is required to grab the single part → visual photographing recognition → photographing result is transmitted back to the industrial personal computer to perform rough inspection comparison → the comparison result is fed back to the robot, and rejected unqualified products are removed.
However, the method has the following disadvantages: 1. the method can only detect a single part, cannot detect the state of the part assembled to the whole automobile, and cannot identify whether the part is wrongly assembled or not assembled after the part is assembled to the whole automobile; 2. only small parts or parts with fixed positions can be detected, and the whole automobile on a production line cannot be detected; 3. the gesture and the position of the part, the camera or the sensor are fixed in the detection process, and the detection working condition is single.
In view of the above situation, a technical scheme is urgently needed for solving the problems that misassembly and neglected assembly of appearance parts assembled on a whole automobile occur and flow out in the production process of automobile final assembly, the misassembly and neglected assembly problems can be fed back in real time on site, field personnel are reminded to replace or supplement the assembly, and the detection result is recorded and uploaded to a management system.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a system for detecting misloading and neglected loading of the whole automobile assembly.
The second purpose of the invention is to provide a method for checking the misloading and the neglected loading of the whole automobile assembly.
The third purpose of the invention is to provide a device for checking and calculating misloading and neglected loading of the whole automobile of the automobile assembly.
A fourth object of the invention is to propose a non-transitory computer-readable storage medium.
In order to achieve the above object, an embodiment of the first aspect of the present invention provides a system for checking mis-assembly and mis-assembly of an automobile assembly, including: the system comprises a fixed measuring head, a control module, a speed measuring module, a ground conveying chain, a cooperative robot and a measuring module, wherein the fixed measuring head is connected with the control module and used for measuring the posture of a vehicle body of the vehicle to be measured when the ground conveying chain conveys the vehicle to be measured to a self measurable range to obtain a vehicle body coordinate and sending the vehicle body coordinate to the control module; the speed measuring module is respectively connected with the ground conveying chain and the control module and is used for monitoring the average speed of the ground conveying chain and sending the average speed to the control module; the control module is used for constructing a vehicle body position and posture virtual coordinate system according to the vehicle body coordinates, judging whether the vehicle body position and posture virtual coordinate is consistent with a preset correct posture or not, if so, sending the vehicle body position and posture virtual coordinate to the cooperative robot, and if not, alarming and stopping the production line; the cooperative robot is connected with the measuring module and used for receiving the virtual coordinates of the position and the posture of the vehicle body and then driving the measuring module to photograph internal parts of the vehicle to be measured, and the photographed images are compared through sample self-learning to determine the problem of misloading and/or neglected loading.
According to the system for checking misloading and neglected loading of the whole automobile of the automobile assembly, the whole automobile of the automobile is detected through the visual camera and the cooperative robot servo production line, misloading and neglected loading of part of appearance parts of the whole automobile can be automatically identified by equipment based on self-learning software after automatic photographing and scanning, field personnel are prompted to change parts and upload data are recorded after misloading and neglected loading phenomena occur, the problems of misloading and neglected loading of the appearance parts of the whole automobile assembly are guaranteed not to occur, a quality management closed-loop system is formed, and the problems of misloading and neglected loading of the appearance parts assembled on the whole automobile are avoided.
In addition, the system for checking the misloading and the neglected loading of the whole automobile assembly according to the embodiment of the invention can also have the following additional technical characteristics:
further, in an embodiment of the present invention, the fixed measuring head is four 3D contour sensors, when a vehicle to be measured enters a sensor range, the vehicle to be measured is triggered by the laser ranging sensor, and after the triggering, the posture of the vehicle body is measured by two 3D contour sensors respectively arranged on two sides of the vehicle body, so as to obtain coordinates of the vehicle body at 4 positions.
Further, in an embodiment of the present invention, the speed measuring module measures the speed of the ground conveying chain by using a friction wheel technology, and keeps monitoring in real time, and calculates the average speed of the ground conveying chain every 10 s.
Further, in an embodiment of the present invention, the control module is further configured to correct the speed of the ground conveyor chain according to the average speed, so that the cooperative robot and the vehicle to be tested are relatively stationary.
Further, in an embodiment of the present invention, the control module includes a PLC control cabinet, a vision control cabinet, a robot control cabinet, and an HMI, and is connected to the cooperative robot, the measurement module, the fixed probe, and the speed measurement module through a control network.
Further, in an embodiment of the present invention, the measuring module is a 2D camera vision camera, and a certain area of the vehicle to be measured is photographed by three cameras in far, middle and near focus.
Further, in an embodiment of the present invention, the method further includes: and the HMI and the factory network are used for storing the misloading and/or neglected loading problems.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides a method for checking mis-assembly and mis-assembly of an automobile assembly, including the following steps: s1, conveying a vehicle to be measured by using the ground conveying chain, and starting the fixed measuring head to measure and obtain a vehicle body coordinate when the vehicle to be measured enters a sensor range; s2, processing the vehicle body coordinates by using the control module to establish a vehicle body position posture virtual coordinate system, judging whether the vehicle body position posture virtual coordinate is consistent with a preset correct posture or not, if so, sending the vehicle body position posture virtual coordinate to the cooperative robot, and continuing to execute the following steps, otherwise, alarming and stopping the production line; s3, monitoring the average speed of the ground conveying chain by using the speed measuring module; s4, correcting the ground conveying chain through the control module according to the average speed to enable the cooperative robot and the vehicle to be detected to be relatively static; s5, after the cooperation robot receives the body position posture virtual coordinate, driving the measuring module to shoot internal parts of the vehicle to be measured, comparing the shot images through sample self-learning, and determining the problem of misloading and/or neglected loading; and S6, transmitting the wrong installation and/or neglected installation problems back to the HMI and the factory network for analysis, and returning the cooperative robot to the original position.
According to the method for checking misloading and neglected loading of the whole automobile assembly, the whole automobile is detected through the visual camera and the cooperative robot servo production line, misloading and neglected loading of part of appearance parts of the whole automobile can be automatically identified by equipment based on self-learning software after automatic photographing and scanning, field personnel are prompted to change parts and upload data are recorded after misloading and neglected loading are generated, the problems of misloading and neglected loading of the appearance parts of the whole automobile assembly are guaranteed not to occur, a quality management closed-loop system is formed, and the problems of misloading and neglected loading of the appearance parts assembled on the whole automobile are avoided.
In a third aspect, an embodiment of the present invention provides an air conditioning apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for checking mis-assembly and mis-assembly of an entire automobile assembly is implemented as described in the foregoing embodiments.
A fourth aspect of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for checking mis-assembly and mis-assembly of an automobile final assembly as described in the above embodiments.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a prior art cooperative robot and vision camera assembly configuration in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of an implementation of a prior art cooperative robot and vision camera assembly in accordance with an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a mis-assembly and mis-assembly checking system for an automobile assembly according to an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a mis-assembly and mis-assembly checking system for an automobile assembly according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a fixed probe according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a velocity measurement module according to an embodiment of the present invention;
FIG. 7 is a schematic block diagram of a control module according to one embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a measurement module according to one embodiment of the present invention;
FIG. 9 is a schematic illustration of a collaborative robot selection parameter of an embodiment of the present invention;
FIG. 10 is a schematic diagram of the cooperative robotic motion base of one embodiment of the present invention;
FIG. 11 is a database software usage diagram of one embodiment of the present invention;
FIG. 12 is an overall system layout of one embodiment of the present invention;
FIG. 13 is a flow chart of the operation of the system of one embodiment of the present invention;
FIG. 14 is a flowchart of the process operations of one embodiment of the present invention;
FIG. 15 is an exemplary diagram of a detectable feature according to one embodiment of the invention;
FIG. 16 is an example of the location and results of a detection process according to one embodiment of the present invention, (a) is an example of a detectable item, and (b) is an example of a picture of real vehicle detection;
fig. 17 is a flowchart of a mis-assembly and mis-assembly checking method for an automobile final assembly according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The system and the method for checking misloading and neglected loading of the whole automobile of the automobile assembly provided by the embodiment of the invention are described below with reference to the accompanying drawings, and firstly, the system for checking misloading and neglected loading of the whole automobile of the automobile assembly provided by the embodiment of the invention is described with reference to the accompanying drawings.
Fig. 3 is a schematic structural diagram of a mis-assembly and mis-assembly checking system of an automobile assembly according to an embodiment of the invention.
As shown in fig. 3, the system 10 includes: the system comprises a fixed measuring head 100, a control module 200, a speed measuring module 300, a ground conveying chain 400, a cooperative robot 500, a measuring module 600 and an HMI (human machine interface) and factory network 700.
The fixed measuring head 100 is connected with the control module 200, and is used for measuring the body posture of the vehicle to be measured when the ground conveying chain 400 conveys the vehicle to be measured to a measurable range of the vehicle to be measured, obtaining body coordinates, and sending the body coordinates to the control module 200. The speed measuring module 300 is respectively connected to the ground conveying chain 400 and the control module 200, and is configured to monitor an average speed of the ground conveying chain 400, and send the average speed to the control module 200. The control module 200 is configured to construct a body position and posture virtual coordinate system according to the body coordinates, determine whether the body position and posture virtual coordinate is consistent with a preset correct posture, send the body position and posture virtual coordinate to the cooperative robot 500 if the body position and posture virtual coordinate is consistent with the preset correct posture, alarm and stop the production line from running if the body position and posture virtual coordinate is inconsistent with the preset correct posture, and correct the speed of the ground conveying chain 400 according to the average speed, so that the cooperative robot 500 and the vehicle to be measured are relatively static. The cooperative robot 500 is connected with the measuring module 600 and used for driving the measuring module 600 to photograph internal parts of the vehicle to be measured after receiving the position posture virtual coordinate of the vehicle body, and comparing the photographed images through sample self-learning to determine the problem of misloading and/or neglected loading.
Further, in an embodiment of the present invention, the fixed measuring head 100 is four 3D profile sensors, and when a vehicle to be measured enters a sensor range, the vehicle to be measured is triggered by the laser ranging sensor, and after the triggering, the posture of the vehicle body is measured by the two 3D profile sensors respectively arranged on two sides of the vehicle body, so as to obtain coordinates of the vehicle body at 4 positions. The HMI and factory network 700 are used to store mis-install and/or mis-install issues.
Specifically, as shown in fig. 4 and 5, when a vehicle to be measured enters the sensor range, the vehicle is firstly triggered by a laser ranging sensor, after the triggering, the posture and the position of the vehicle body are measured by two sets of wiggler sensors arranged on two sides of the vehicle body, a virtual coordinate system is established, each set of device comprises 2 wiggler sensors, and the coordinates of 4 vehicle bodies can be obtained in total. And the Wigger sensor detects whether the posture of the vehicle is consistent with the correct posture set by the system in real time, if so, the cooperative robot is started to carry out follow-up measurement, and if not, the equipment alarms and stops the production line.
Further, in an embodiment of the present invention, the speed measuring module 300 measures the speed of the ground conveyor chain 400 by using a friction wheel technology, and keeps monitoring in real time, and calculates the average speed of the ground conveyor chain every 10 s.
Specifically, as shown in fig. 4 and 6, the speed of the conveyor line is measured by a friction wheel technology, the monitoring is maintained in real time, the average speed of the conveyor line is calculated every 10s, the average speed is used for comparing the speed obtained from the conveyor line PLC, the uniform speed data of the vehicle is corrected, and the accurate position of the subsequent measuring point is ensured.
Further, in an embodiment of the present invention, the control module 200 includes a PLC control cabinet, a vision control cabinet, a robot control cabinet, and an HMI, and is connected to the cooperative robot, the measurement module, the fixed probe, and the speed measurement module through a control network.
Specifically, as shown in fig. 4 and 7, the control system (industrial personal computer, PLC): the system is mainly characterized in that a PLC control cabinet, a vision control cabinet, a robot control cabinet and an HMI (human machine interface) are connected with a cooperative robot, a measuring module camera, a fixed measuring head sensor, linear speed monitoring and a factory network through a control network. Firstly, inputting the state of parts after the whole automobile is assembled in a PLC and a vision control cabinet, controlling a cooperative robot through a robot control cabinet, triggering a measuring sensor when the whole automobile enters a detection device area, starting a body measuring sensor to detect whether the posture of the automobile meets the requirement, moving a robot base to drive the cooperative robot and a measuring module to photograph and recognize parts detected by the whole automobile after the vehicle meets the requirement, comparing self-learning, judging whether the parts are wrongly assembled or not, and transmitting the detection result back to an HMI and a factory network.
Further, in an embodiment of the present invention, the measuring module 600 is a 2D camera vision camera, and a certain area of the vehicle to be measured is photographed by three cameras of far, middle and near focus.
Specifically, as shown in fig. 4 and 8, the measuring module 600 selects a conraday vision camera, which is a widely used programmable camera, and can use standard software to perform non-standard design, and through the cooperation of cameras with different distances and focal lengths, the camera can shoot at a fixed point to complete the view finding of a three-dimensional area, and has sufficient resolution for detecting the form of a part and comparing the form set in the system, so as to detect whether the misloading and the neglected loading are performed. The method comprises the steps of shooting a certain area of a vehicle body through three cameras in far, middle and near focuses, automatically comparing shot images through sample piece self-learning, and comparing the shot images with information obtained in a system, so that misloading and neglected loading conditions are determined.
Further, as shown in fig. 9, the cooperative robot in the embodiment of the present invention selects a model according to the size and the measurement point number of the required vehicle type, and selects a TM brand cooperative robot, model TM12, with reference to a certain vehicle type (where a whole vehicle part 11 needs to be detected). And (3) verifying accessibility and speed simulation of all measuring points through complex track debugging and full virtual simulation, and verifying that conditions such as postures, loads and the like of the cooperative robot meet detection requirements.
As shown in fig. 10, the cooperative robot in the embodiment of the present invention sets the moving base: the cooperative robot moves along with the base fixed on the ground conveying chain and keeps the same speed, so that the cooperative robot and the vehicle are relatively static and are protected by the speed measuring device and the whole conveying line body.
It should be noted that, as shown in fig. 11, in the embodiment of the present invention, an SQL database is further used for data storage, a hard disk may be configured to store data for several years, and is used for data index query by data analysis software, and the hard disk uses a disk array in a hot backup manner to prevent data loss. The database is directly connected with a factory network, and the detection result is uploaded to a cloud backup in real time.
As shown in fig. 12-14, the working principle process of the embodiment of the present invention may be: the vehicle enters an online measuring station along with a plate chain line at a constant speed; the vehicle triggers a guide measurement sensor, four 3D profile sensors start measurement, measurement data are sent to a PLC, a virtual coordinate system of the position and the posture of the vehicle body is established, and meanwhile, the result is sent to a measurement robot; the vehicle triggers the plate chain speed monitoring device, starts plate chain speed monitoring, sends a measuring result to the PLC, the PLC corrects the plate chain speed value after calculation, and the monitoring device constantly monitors the plate chain speed; when a vehicle enters a measurement area, triggering a measurement starting sensor, taking pictures of parts in the vehicle by 2 robots with vision inspection heads, and identifying the pictures through self-learning software; and (4) completing measurement, returning the robot to the original position, storing data in an industrial personal computer, and analyzing the data by industrial personal computer software.
As shown in fig. 15-16, the parts for detecting misloading and neglected loading of the whole automobile, such as the emblem, the tail mark, the hub, the door handle, the grille, the rearview mirror, the windshield, the decorative plate, the seat, the steering wheel, the sub-instrument, etc., can be realized according to the embodiment of the present invention.
In summary, the system for checking the misloading and the neglected loading of the automobile assembly provided by the embodiment of the invention has the following beneficial effects:
1. the method comprises the steps that the assembled states of different parts on the whole automobile are detected through a cooperative robot and a vision camera technology, and the correct states are compared through self-learning software, so that the recognition of wrong assembly and neglected assembly problems is realized;
2. the detection technology and the detection equipment can identify misloading and neglected loading of appearance parts of the whole automobile in the process that the whole automobile moves along with a production line, and the normal production operation of an automobile assembly production line is not influenced;
3. the detection of wrong assembly and neglected assembly of parts is completely carried out by the cooperation of the robot and the vision camera shooting contrast and the automatic operation of the whole system to carry out result feedback and upload record, compared with the manual code scanning detection in the prior art, the method has no missing detection risk, reduces the labor amount of manual detection and can form intelligent management;
4. the vehicle attitude can be detected in real time in the detection process, and the phenomenon that the visual detection process is inaccurate due to the fact that the position of the vehicle moves in the detection process is avoided.
The invention provides a method for detecting misloading and neglected loading of an automobile assembly.
Fig. 17 is a flowchart of a mis-assembly and mis-assembly checking method for an automobile final assembly according to an embodiment of the present invention.
As shown in fig. 17, the method for checking the misloading and the neglected loading of the whole automobile final assembly comprises the following steps:
in the step S1, a vehicle to be measured is conveyed by a ground conveying chain, and when the vehicle to be measured enters the range of the sensor, the fixed measuring head starts to measure and obtain the coordinates of the vehicle body.
In step S2, the control module is used for processing the vehicle body coordinates to establish a vehicle body position posture virtual coordinate system, whether the vehicle body position posture virtual coordinate system is consistent with a preset correct posture or not is judged, if yes, the vehicle body position posture virtual coordinate system is sent to the cooperative robot, the following steps are continuously executed, and if not, an alarm is given and the production line is stopped from running.
In step S3, the average speed of the ground conveying chain is monitored by the speed measuring module.
In step S4, the ground conveying chain is corrected through the control module according to the average speed, so that the cooperative robot and the vehicle to be detected are relatively static.
In step S5, after the cooperative robot receives the body position posture virtual coordinate, the cooperative robot drives the measuring module to shoot the internal parts of the vehicle to be measured, and shot images are compared through sample self-learning to determine the problem of misloading and/or neglected loading.
In step S6, misloading and/or misloading problems are transmitted back to the HMI and the factory network for analysis, and the cooperative robot is returned to the original position.
It should be noted that the foregoing explanation of the embodiment of the mis-assembly and mis-assembly checking system for the final assembly of the vehicle is also applicable to the method of the embodiment, and is not repeated herein.
According to the method for checking the misloading and the neglected loading of the whole automobile of the automobile assembly, the whole automobile of the automobile is detected through the visual camera matched with the servo production line of the cooperative robot, the misloading and the neglected loading of part of appearance parts of the whole automobile can be automatically identified by equipment based on self-learning software after automatic photographing and scanning, field personnel are prompted to change parts and upload data are recorded after the misloading and the neglected loading occur, the problems of misloading and neglected loading of the appearance parts assembled on the whole automobile of the automobile are guaranteed not to occur, a quality management closed-loop system is formed, and the problems of misloading and neglected loading of the appearance parts assembled on the whole automobile are avoided.
In order to implement the foregoing embodiments, the present invention further provides an air conditioning apparatus, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for checking misloading and missing loading of the vehicle assembly is implemented.
In order to achieve the above embodiments, the present invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the mis-assembly and mis-assembly checking method for the vehicle assembly as described in the foregoing embodiments.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "N" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer-readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a whole car of car assembly misloading, neglected loading detecting system which characterized in that includes: a fixed measuring head, a control module, a speed measuring module, a ground conveying chain, a cooperative robot and a measuring module,
the fixed measuring head is connected with the control module and used for measuring the body posture of the vehicle to be measured when the ground conveying chain conveys the vehicle to be measured to a measurable range of the fixed measuring head, so that a body coordinate is obtained, and the body coordinate is sent to the control module;
the speed measuring module is respectively connected with the ground conveying chain and the control module and is used for monitoring the average speed of the ground conveying chain and sending the average speed to the control module;
the control module is used for constructing a vehicle body position and posture virtual coordinate system according to the vehicle body coordinates, judging whether the vehicle body position and posture virtual coordinate is consistent with a preset correct posture or not, if so, sending the vehicle body position and posture virtual coordinate to the cooperative robot, and if not, alarming and stopping the production line;
the cooperative robot is connected with the measuring module and used for receiving the virtual coordinates of the position and the posture of the vehicle body and then driving the measuring module to photograph internal parts of the vehicle to be measured, and the photographed images are compared through sample self-learning to determine the problem of misloading and/or neglected loading.
2. The system for checking the misloading and the neglected loading of the whole automobile final assembly according to claim 1, wherein the fixed measuring head is four 3D profile sensors, when the automobile to be tested enters the range of the sensors, the laser ranging sensors trigger the automobile body, and after the triggering, the posture of the automobile body is measured by the two 3D profile sensors respectively arranged on the two sides of the automobile body, so that coordinates of the 4-position automobile body are obtained.
3. The system for checking the misloading and the neglected loading of the whole automobile final assembly according to claim 1, wherein the speed measuring module measures the speed of the ground conveying chain by adopting a friction wheel technology, the monitoring is kept in real time, and the average speed of the ground conveying chain is calculated every 10 s.
4. The system of claim 1, wherein the control module is further configured to modify the speed of the ground conveyor chain according to the average speed, so that the cooperative robot and the vehicle to be tested are relatively stationary.
5. The system for checking the misloading and the neglected loading of the whole automobile final assembly according to claim 1, wherein the control module comprises a PLC control cabinet, a vision control cabinet, a robot control cabinet and an HMI and is connected with the cooperative robot, the measuring module, the fixed measuring head and the speed measuring module through a control networking.
6. The system according to claim 1, wherein the measuring module is a 2D camera vision camera, and a certain area of the vehicle to be tested is shot by three cameras of far, middle and near focus.
7. The system of claim 1, further comprising:
and the HMI and the factory network are used for storing the misloading and/or neglected loading problems.
8. A method for checking misassembly and neglected assembly of an automobile final assembly whole automobile is characterized in that the system for checking misassembly and neglected assembly of the automobile final assembly whole automobile is based on any one of the claims 1 to 7 and comprises the following steps:
the method comprises the following steps that S1, a vehicle to be detected is conveyed by the aid of the ground conveying chain, and when the vehicle to be detected enters a sensor range, the fixed measuring head starts to measure to obtain vehicle body coordinates;
s2, processing the body coordinates by using the control module to establish a body position posture virtual coordinate system, judging whether the body position posture virtual coordinate is consistent with a preset correct posture or not, if so, sending the body position posture virtual coordinate to the cooperative robot, continuing to execute the following steps, and if not, alarming and stopping the production line;
s3, monitoring the average speed of the ground conveying chain by using the speed measuring module;
s4, correcting the ground conveying chain through the control module according to the average speed to enable the cooperative robot and the vehicle to be detected to be relatively static;
s5, after the cooperation robot receives the body position posture virtual coordinate, driving the measuring module to shoot internal parts of the vehicle to be measured, comparing the shot images through sample self-learning, and determining the problem of misloading and/or neglected loading;
and S6, transmitting the wrong installation and/or missing installation problems back to the HMI and a factory network for analysis, and returning the cooperative robot to the original position.
9. A vehicle final assembly vehicle misloading and neglected loading checking calculation device, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein when the processor executes the computer program, the vehicle final assembly vehicle misloading and neglected loading checking method as claimed in claim 8 is realized.
10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a mis-assembly and mis-assembly checking method as claimed in claim 8.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115922713A (en) * | 2022-12-07 | 2023-04-07 | 南京航空航天大学 | Vehicle configuration error-proofing detection method based on multi-mechanical-arm cooperation |
| CN116071358A (en) * | 2023-03-07 | 2023-05-05 | 江西省智能产业技术创新研究院 | Automobile chassis detection method and readable storage medium |
| CN116678348A (en) * | 2023-07-31 | 2023-09-01 | 无锡黎曼机器人科技有限公司 | Method and device for detecting missing parts of whole diesel engine |
| CN116929862A (en) * | 2023-07-18 | 2023-10-24 | 北京博科测试系统股份有限公司 | Automatic detection system and detection method for automobile exhaust |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115922713A (en) * | 2022-12-07 | 2023-04-07 | 南京航空航天大学 | Vehicle configuration error-proofing detection method based on multi-mechanical-arm cooperation |
| CN115922713B (en) * | 2022-12-07 | 2024-02-13 | 南京航空航天大学 | Automobile whole configuration error-proofing detection method based on multi-mechanical arm cooperation |
| CN116071358A (en) * | 2023-03-07 | 2023-05-05 | 江西省智能产业技术创新研究院 | Automobile chassis detection method and readable storage medium |
| CN116929862A (en) * | 2023-07-18 | 2023-10-24 | 北京博科测试系统股份有限公司 | Automatic detection system and detection method for automobile exhaust |
| CN116678348A (en) * | 2023-07-31 | 2023-09-01 | 无锡黎曼机器人科技有限公司 | Method and device for detecting missing parts of whole diesel engine |
| CN116678348B (en) * | 2023-07-31 | 2023-10-03 | 无锡黎曼机器人科技有限公司 | Method and device for detecting missing parts of whole diesel engine |
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