CN115407420B - System and method for detecting surface of automobile air window - Google Patents
System and method for detecting surface of automobile air window Download PDFInfo
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- CN115407420B CN115407420B CN202210829209.3A CN202210829209A CN115407420B CN 115407420 B CN115407420 B CN 115407420B CN 202210829209 A CN202210829209 A CN 202210829209A CN 115407420 B CN115407420 B CN 115407420B
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- 238000000034 method Methods 0.000 title claims abstract description 20
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- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 9
- 241001292396 Cirrhitidae Species 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
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- 238000009434 installation Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 239000011521 glass Substances 0.000 description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G06V10/10—Image acquisition
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/64—Three-dimensional objects
- G06V20/653—Three-dimensional objects by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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Abstract
An automobile windshield surface detection system and method relate to the technical field of automobile windshield detection, solve the problem that the existing method is easy to leak, and can be applied to an automatic windshield installation station of an automobile assembly workshop production line. The system comprises a robot control module, a robot fixing beam, a display screen module, a first fixing frame hanging beam, a second fixing frame hanging beam, a third fixing frame hanging beam, a robot, a data processing module and a scanning camera; the first fixing frame hanging beam, the second fixing frame hanging beam and the third fixing frame hanging beam are fixed on the robot fixing beam, so that the height drop is assisted and fixed when the robot fixing beam is connected with an external part; the scanning camera is arranged on the head of the robot, the robot control module is fixed on the fixed beam of the robot, the robot is controlled to move and drive the scanning camera to scan the wind window, the data processing module is used for receiving the scanning image, converting the scanning image into a window three-dimensional model, comparing the window three-dimensional model with the standard model to identify foreign matters, and transmitting the foreign matters to the display screen module to realize position display.
Description
Technical Field
The invention relates to the technical field of automobile wind window detection, in particular to an automobile wind window surface detection system and method.
Background
With the application of automation equipment in automobile final assembly, the installation of automobile front and rear windshields is increasingly adopting an automatic installation mode. The automatic windshield glass installation station of the automobile assembly workshop production line has an installation area which is a closed area, and personnel cannot enter inspection or operation. Before entering the windshield installation, the loudspeaker wire harness on the A-pillar guard plate is connected with the vehicle body wire harness manually, and then the A-pillar guard plate is installed in place, and at the moment, the normal state is that the A-pillar guard plate covers the wire harness and is not leaked. However, in actual loading, the situation that the wire harness is not smoothed out is found to occur frequently by operators, at the moment, the A column guard plate is clamped on the A column, part of the wire harness is extruded on the upper surface of the windshield, and when the windshield is automatically installed, the part of the external leakage wire harness is clamped in the windshield sealant, so that the windshield leaks rain.
At present, the manual inspection after installation is mostly adopted to avoid the problems, but the problems of missed inspection are easy to occur in the mode, and the inspection efficiency is low. Therefore, there is a need to develop a method for detecting foreign matters on the surface of a windshield, which automatically detects whether the surface of the windshield is provided with foreign matters before the windshield is automatically installed, so as to prevent rain leakage caused by sandwiching the windshield between the windshield and the windshield during the installation process of the windshield.
Disclosure of Invention
The invention provides an automobile windshield surface detection system and method for solving the problem that the existing detection method is easy to leak.
The technical scheme of the invention is as follows:
The system comprises a robot control module, a robot fixing beam, a display screen module, a first fixing frame hanging beam, a second fixing frame hanging beam, a third fixing frame hanging beam, a robot, a data processing module and a scanning camera;
The first fixing frame hanging beam, the second fixing frame hanging beam and the third fixing frame hanging beam are respectively fixed on the robot fixing beam and are used for assisting in fixing and supplementing height fall when the robot fixing beam is connected with an external part; the scanning camera is arranged on the head of the robot, the robot control module is fixed on the robot fixing beam and used for controlling the robot to move and driving the scanning camera to scan the wind window, the data processing module is used for receiving the scanning image, converting the image into a three-dimensional model of the actual window, comparing the three-dimensional model with the standard model to identify the position of the foreign matter, and transmitting the position to the display screen module to display the position of the foreign matter.
Preferably, the apparatus further comprises a sensor mounted on the robot fixing beam for monitoring a distance of the robot from the vehicle body to prevent collision.
Preferably, the number of the robots is 2, and 2 robots are symmetrically arranged on the robot fixing beam.
The invention also provides an automobile windshield surface detection method, which adopts the system as described above, and comprises the following steps:
S1, building a window standard model according to a debug car body;
S2, two cooperative robots are fixed on a workshop steel structure and are positioned above the window frame obliquely, the two cooperative robots are connected with a scanning camera, and the two robots carry the camera to scan each half turn of the automobile wind window;
s3, generating three-dimensional point cloud data from the scanning result, converting the three-dimensional point cloud data into a three-dimensional model of an actual window, and fitting two scattered models into an integral model;
S4, calculating deviation data by comparing the differences of the three-dimensional model and the standard model, identifying foreign matters, and giving an alarm and displaying by the equipment.
Preferably, the three-dimensional point cloud data in step S3 is acquired by using a profiler, and the three-dimensional point cloud data includes coordinate data in three directions of X, Y and Z.
Preferably, the conversion from the three-dimensional point cloud data to the three-dimensional model in the step S3 specifically includes:
(1) Arranging the three-dimensional point cloud data according to the coordinates to form a three-dimensional point cloud image;
(2) The operator xyz_to_object_model_3d using Halcon is converted into a three-dimensional model.
Preferably, the deviation data in step S4 is specifically obtained by using a model matching operator find_surface_model matching calculation in halcon.
The present invention also provides a computer-readable storage medium for storing a computer program that performs the automobile windshield surface detection method as described above.
The invention also provides an electronic device, which comprises a processor and a memory, wherein the processor and the memory are communicated with each other through a communication bus; a memory for storing a computer program; and the processor is used for realizing the method for detecting the surface of the automobile windshield when executing the computer program stored in the memory.
The invention solves the problem that the existing detection method is easy to cause the condition of missing detection, and has the following specific beneficial effects:
1. the detection system provided by the invention adopts the robot to drive the camera to perform mobile scanning, has large equipment flexibility, can be compatible with various vehicle types, and has good application prospect;
2. The invention can be applied to an automatic windshield glass mounting station of an automobile assembly workshop production line, and the detection method provided by the invention is reliable, high in efficiency and accurate in detection result, and the problem of incomplete detection caused by manual visual inspection is avoided, so that the phenomenon of windshield glass rain leakage caused by the phenomenon is avoided better.
Drawings
FIG. 1 is a schematic front view of an automobile windshield surface detection system provided by the invention;
FIG. 2 is a schematic diagram of a left-hand view of an automobile windshield surface detection system provided by the invention;
fig. 3 is a schematic top view of the detection system for the surface of the automobile windshield provided by the invention.
Reference numerals illustrate:
1. A robot control module; 2. a robot fixing beam; 3. a display screen module; 4. a first fixed frame hanging beam; 5. a second fixing frame hanging beam; 6. a third fixing frame hanging beam; 7. a sensor; 8. and (3) a robot.
Detailed Description
In order to make the technical solution of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention, and it should be noted that the following embodiments are only used for better understanding of the technical solution of the present invention, and should not be construed as limiting the present invention.
Example 1.
The embodiment provides an automobile wind window surface detection system, which comprises a robot control module 1, a robot fixing beam 2, a display screen module 3, a first fixing frame hanging beam 4, a second fixing frame hanging beam 5, a third fixing frame hanging beam 6, a robot 8, a data processing module and a scanning camera;
The first fixing frame hanging beam 4, the second fixing frame hanging beam 5 and the third fixing frame hanging beam 6 are respectively fixed on the robot fixing beam 2 and are used for assisting in fixing and supplementing height fall when the robot fixing beam 2 is connected with an external part; the scanning camera is arranged at the head of the robot 8, the robot control module 1 is fixed on the robot fixing beam 2 and is used for controlling the robot 8 to move and driving the scanning camera to scan the wind window, the data processing module is used for receiving the scanning image, converting the image into a three-dimensional model of an actual window, comparing the three-dimensional model with a standard model to identify the position of a foreign object, and transmitting the position of the foreign object to the display screen module 3 to display the position of the foreign object.
For a better understanding of the disclosure of this embodiment, a schematic front view of the automobile windshield surface detection system is shown in fig. 1, a schematic left view is shown in fig. 1, and a schematic top view is shown in fig. 3. The detecting system provided by the embodiment adopts the robot to drive the camera to perform mobile scanning, has large equipment flexibility, can be compatible with various vehicle types, has good application prospect, and avoids the problem of incomplete inspection compared with the traditional manual visual inspection mode, thereby better avoiding the occurrence of the windshield rain leakage phenomenon caused by the problem.
Example 2.
This embodiment is a further illustration of embodiment 1, the apparatus further comprising a sensor 7, said sensor 7 being mounted on the robot stationary beam 2 for monitoring the distance of the robot from the vehicle body to prevent collisions.
Example 3.
This embodiment is a further illustration of embodiment 1, wherein the number of robots is 2, and 2 robots are symmetrically disposed on the robot fixing beam.
According to the embodiment, two robots which are symmetrically arranged are adopted, the scanning cameras are driven to scan the automobile windshield, the scanning speed is higher, the scanning range is larger, various width automobile types can be compatible, and the conversion of the windshield model can be realized only by combining the scanning results of the two robots.
Example 4.
The present embodiment provides a method for detecting a surface of an automobile windshield, the method applying the system according to any one of embodiments 1 to 3, the method comprising the steps of:
S1, building a window standard model according to a debug car body;
S2, two cooperative robots are fixed on a workshop steel structure and are positioned above the window frame obliquely, the two cooperative robots are connected with a scanning camera, and the two robots carry the camera to scan each half turn of the automobile wind window;
s3, generating three-dimensional point cloud data from the scanning result, converting the three-dimensional point cloud data into a three-dimensional model of an actual window, and fitting two scattered models into an integral model;
S4, calculating deviation data by comparing the differences of the three-dimensional model and the standard model, identifying foreign matters, and giving an alarm and displaying by the equipment.
The embodiment can be applied to an automatic windshield glass mounting station of an automobile assembly workshop production line, a robot is adopted to drive a camera to perform mobile scanning, the flexibility of the equipment is high, and the equipment is compatible with various automobile types and has good application prospect; the detection method provided by the embodiment is reliable, high in efficiency and accurate in detection result, and the problem of incomplete detection caused by manual visual inspection is avoided, so that the phenomenon of rain leakage of the windshield glass caused by the phenomenon is avoided better.
Example 5.
This embodiment is further illustrated in embodiment 4, where the three-dimensional point cloud data in step S3 is acquired using a profiler, and includes coordinate data in three directions X, Y and Z.
Example 6.
This embodiment is further illustrated in embodiment 5, and the conversion from the three-dimensional point cloud data to the three-dimensional model in step S3 specifically includes:
(1) Arranging the three-dimensional point cloud data according to the coordinates to form a three-dimensional point cloud image;
(2) The operator xyz_to_object_model_3d using Halcon is converted into a three-dimensional model.
Example 7.
This embodiment is further illustrative of embodiment 4, where the deviation data described in step S4 is specifically obtained by using the model matching operator find_surface_model matching calculation in halcon.
Example 8.
The present embodiment provides a computer-readable storage medium for storing a computer program that performs the automobile windshield surface detection method according to any one of embodiments 4 to 7.
Example 9.
The embodiment provides electronic equipment, which comprises a processor and a memory, wherein the processor and the memory are communicated with each other through a communication bus; a memory for storing a computer program; a processor configured to implement the method for detecting a surface of an automobile windshield according to any one of embodiments 4 to 7 when executing a computer program stored in a memory.
The foregoing has outlined the principles and embodiments of the present invention by way of example only, and the detailed description of the embodiments is merely intended to facilitate an understanding of the method of the present invention and the core ideas thereof; also, it will be apparent to those skilled in the art that, in light of the present teachings, simple changes, modifications, substitutions and alterations can be made to these embodiments without departing from the spirit and scope of the present teachings.
Claims (9)
1. The automobile wind window surface detection system is characterized by comprising a robot control module (1), a robot fixing beam (2), a display screen module (3), a first fixing frame hanging beam (4), a second fixing frame hanging beam (5), a third fixing frame hanging beam (6), a robot (8), a data processing module and a scanning camera;
The first fixing frame hanging beam (4), the second fixing frame hanging beam (5) and the third fixing frame hanging beam (6) are respectively fixed on the robot fixing beam (2) and are used for assisting in fixing and supplementing height fall when the robot fixing beam (2) is connected with an external part; the scanning camera is arranged at the head of the robot (8), the robot control module (1) is fixed on the robot fixing beam (2) and is used for controlling the robot (8) to move and driving the scanning camera to scan the wind window, the data processing module is used for receiving the scanning image, converting the image into a three-dimensional model of an actual window, comparing the three-dimensional model with a standard model to identify the position of a foreign object, and transmitting the position of the foreign object to the display screen module (3) to realize the position display of the foreign object.
2. The automotive window surface detection system according to claim 1, characterized in that the system further comprises a sensor (7), the sensor (7) being mounted on the robot stationary beam (2) for monitoring the distance of the robot from the vehicle body to prevent an impact.
3. The automotive window surface inspection system of claim 1, wherein the number of robots is 2, and 2 robots are symmetrically arranged on the robot fixing beam.
4. A method for detecting the surface of an automobile windshield, characterized in that the method employs the system according to any one of claims 1-3, the method comprising the steps of:
S1, building a window standard model according to a debug car body;
S2, two cooperative robots are fixed on a workshop steel structure and are positioned above the window frame obliquely, the two cooperative robots are connected with a scanning camera, and the two robots carry the camera to scan each half turn of the automobile wind window;
s3, generating three-dimensional point cloud data from the scanning result, converting the three-dimensional point cloud data into a three-dimensional model of an actual window, and fitting two scattered models into an integral model;
S4, calculating deviation data by comparing the differences of the three-dimensional model and the standard model, identifying foreign matters, and giving an alarm and displaying by the equipment.
5. The method according to claim 4, wherein the three-dimensional point cloud data in step S3 is acquired using a profiler, and includes coordinate data in three directions X, Y and Z.
6. The method for detecting the surface of the automobile windshield according to claim 5, wherein the conversion of the three-dimensional point cloud data into the three-dimensional model in the step S3 specifically includes:
(1) Arranging the three-dimensional point cloud data according to the coordinates to form a three-dimensional point cloud image;
(2) The operator xyz_to_object_model_3d using Halcon is converted into a three-dimensional model.
7. The method for detecting the surface of an automobile windshield according to claim 4, wherein the deviation data in the step S4 is obtained by using a model matching operator find_surface_model matching calculation in halcon.
8. A computer-readable storage medium storing a computer program that performs the automobile windshield surface detection method according to any one of claims 4 to 7.
9. An electronic device is characterized by comprising a processor and a memory, wherein the processor and the memory are communicated with each other through a communication bus; a memory for storing a computer program; a processor for implementing the method for detecting a surface of an automotive windshield according to any one of claims 4 to 7 when executing a computer program stored in a memory.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210829209.3A CN115407420B (en) | 2022-07-15 | 2022-07-15 | System and method for detecting surface of automobile air window |
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| CN202210829209.3A CN115407420B (en) | 2022-07-15 | 2022-07-15 | System and method for detecting surface of automobile air window |
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| CN115407420A CN115407420A (en) | 2022-11-29 |
| CN115407420B true CN115407420B (en) | 2024-05-07 |
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| CN105354811A (en) * | 2015-10-30 | 2016-02-24 | 北京自动化控制设备研究所 | Ground multiline three-dimensional laser radar point cloud data filtering method |
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| CN108897061A (en) * | 2018-08-30 | 2018-11-27 | 中国石油天然气股份有限公司 | Method, device and system for determining sand body proportion of reservoir |
| CN110196580A (en) * | 2019-05-29 | 2019-09-03 | 中国第一汽车股份有限公司 | Assemble guidance method, system, server and storage medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR112016009205B1 (en) * | 2013-10-24 | 2021-03-30 | The Regents Of The University Of Michigan | ICE AND SUPER-COLD WATER DETECTION SYSTEM |
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| CN105354811A (en) * | 2015-10-30 | 2016-02-24 | 北京自动化控制设备研究所 | Ground multiline three-dimensional laser radar point cloud data filtering method |
| CN108466264A (en) * | 2018-02-02 | 2018-08-31 | 中铁二十二局集团第二工程有限公司 | A kind of robot optimal path forming method for the acquisition of track plates point cloud data |
| CN108897061A (en) * | 2018-08-30 | 2018-11-27 | 中国石油天然气股份有限公司 | Method, device and system for determining sand body proportion of reservoir |
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