KR100754511B1 - Method for automatically calibrating work position of robot for installating seat of vehicle using a concentrated led light - Google Patents

Abstract

A method for automatically calibrating a work position of a robot for installing a seat of a vehicle using concentrated LED light is provided to search characteristics of the vehicle regardless of the type of the vehicle by using concentrated LED light in searching characteristics. A method for automatically calibrating a work position of a robot for installing a seat of a vehicle using concentrated LED light, includes a step(S210) of searching characteristics of the vehicle by irradiating the LED light onto one or more characteristic points of the vehicle; a step(S220) of storing the position and shape of the characteristic points in a pattern by using the characteristic point image acquired through photographing of characteristic points; a step(S230) of calculating the rotation angle and displacement of the vehicle against a reference vehicle by pattern matching the reference characteristic point pattern and characteristic point pattern of the vehicle, and calculating a position calibration value for the rotation angle and displacement; and a step(S250) of automatically controlling the work position of the robot for loading the seat of the vehicle by using the calculated position calibration value.

Description

Method for automatically calibrating work position of robot for installating seat of vehicle using a concentrated LED light}

1 is a configuration diagram for a method for automatically correcting a work position of a seat mounting robot of a vehicle using a centralized LED lighting according to an embodiment of the present invention,

2 is a flowchart of a method for automatically correcting a work position of a seat mounting robot for a vehicle using intensive LED lighting according to an embodiment of the present invention;

3A to 3C are plan views showing an embodiment of the concentrated LED light of FIG.

4 is an exemplary view of a feature point extracted in the feature point illumination step of FIG. 2;

FIG. 5 is a plan view illustrating a marker for correction of a correction system used in the position correction value calculating step of FIG. 2;

6 to 7 are diagrams illustrating an embodiment of a calculation method used in the position correction value calculation step of FIG. 2.

<Explanation of symbols for main parts of the drawings>

10 ... Seat 20 ... Features

110 ... Intensive LED Lighting 111 ... LED

120 VISION CAMERA 130 CONTROL PANEL

140.Robot 151.Unit distance reference mark

152 ... Compensation Marker

The present invention relates to a method for automatically correcting a work position of a seat mounting robot of a vehicle using intensive LED lighting, and more particularly to automatically correcting a work position of a robot for mounting a seat inside a vehicle. The present invention relates to a method for automatically calibrating a robot's working position using intensive LED lighting to be mounted at a correct position.

In general, in the vehicle assembly process, the vehicle seat is manually input and mounted by a worker to a work vehicle that enters a workbench through a conveyor facility or a hanger device for vehicle assembly transport, or is driven by a program previously instructed. It is automatically installed by robots or special machines.

However, according to the manual seat mounting method as described above, there is a risk that the car or the seat may be scratched or damaged due to the carelessness of the operator, and the consistency of production quality may be deteriorated. User safety accidents or personal injury can be caused by the load on the seat.

In the seat mounting method using the robot or a dedicated device, if the working position of the robot with respect to the work vehicle is not precise, a collision between the vehicle and the seat occurs during seat mounting and the sheet is not smoothly inserted. There is a problem that the vehicle quality and production efficiency may be reduced due to damage of the vehicle or the seat, such as scratches, damage.

Meanwhile, in order to predict the displacement of the vehicle, a method of irradiating light with a lighting device such as a fluorescent lamp or a halogen light to a specific portion of the vehicle and obtaining an image of the specific portion with a camera is applied. In the case of lighting, there is a problem that the brightness of the illumination or the aperture of the camera must be changed in accordance with the color of the vehicle, or the lighting device or the camera itself must be replaced.

In particular, in the case of the white vehicle and the black vehicle, when the illumination state or the aperture state of the camera is advantageously set for one vehicle, it may occur that the image of the specific part of the other vehicle cannot be measured.

That is, in the case of a task in which a plurality of vehicles enter sequentially, there is a problem in that it is difficult to acquire a feature point that is a reference of a work position integrally according to the color, size, type, etc. of the vehicle to be entered, and thus the precision of the task is inferior.

The present invention was created in order to solve the above-mentioned problems, and when the working vehicle is not in the correct position, the seat can be mounted in the correct position by automatically correcting the working position of the seat mounting robot. The object of the present invention is to provide a method for automatically correcting a work position of a seat mounting robot of a vehicle using intensive LED lighting that can improve productivity and does not need to change lighting conditions according to a vehicle model.

Other objects and advantages of the invention will be described below and will be appreciated by the embodiments of the invention. Furthermore, the objects and advantages of the present invention can be realized by means and combinations indicated in the claims.

The automatic work position calibration method of the seat mounting robot of the vehicle of the present invention for achieving the above object, in the work position automatic calibration method of the robot for mounting the seat inside the work vehicle, concentrated concentrated LED A feature point illumination step of extracting the feature points by illuminating a type LED light to one or more feature points of the work vehicle as a reference of a work position; A feature point pattern storage step of storing the position and shape of the feature point as a feature point pattern using a feature point image obtained by photographing each feature point through a vision camera; Rotation angle and position of the work vehicle relative to the reference vehicle by pattern matching the reference feature pattern corresponding to the work vehicle and the feature point pattern of the work vehicle among the reference feature point patterns of the pre-stored reference vehicle which are the reference for position correction A position correction value calculating step of calculating a displacement and calculating a position correction value for the rotation angle and position displacement; And a robot control step of automatically controlling a work position of the robot for seat mounting using the calculated position correction value.

In the calculating of the position correction value, the feature point image may be converted using a correction system that converts distances in an image into actual distance units using a correction marker in which a plurality of unit distance reference marks are formed at equal intervals. The position correction value may be calculated by converting the distance between the pixels into an actual distance unit.

Here, the correction system may use a different distance of up, down, left, and right of the unit distance reference mark according to the type of the work vehicle.

In the calculating of the position correction value, the position correction values of the robots positioned on the left and right sides of the work vehicle may be calculated.

In addition, the intensive LED lighting is preferably operated with a voltage of 12 volts or more and 35 watts or more.

The method may further include an error control step of generating an error signal and controlling the robot control step not to be performed when the calculated position correction value exceeds a work limit value differentially set for each type of work vehicle. Can be.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Prior to this, terms or words used in the specification and claims should not be construed as having a conventional or dictionary meaning, and the inventors should properly explain the concept of terms in order to best explain their own invention. It should be interpreted as meanings and concepts corresponding to the technical idea of the present invention based on the principle of definition.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

1 is a configuration diagram for a method for automatically correcting the work position of the seat mounting robot of a vehicle according to an embodiment of the present invention, Figure 2 is a work position automatic of the seat mounting robot of a vehicle according to an embodiment of the present invention A flowchart of the calibration method.

3A to 3C are plan views illustrating embodiments of the intensive LED lighting of FIG. 1, FIG. 4 is an exemplary view of feature points extracted in the feature point illumination step of FIG. 2, and FIG. 5 is a calculation of the position correction value of FIG. 2. 6 to 7 are diagrams showing an embodiment of a calculation method used in the position correction value calculation step of FIG. 2.

Hereinafter, a method for automatically correcting a work position of a seat mounting robot of a vehicle according to the present invention will be described in detail with reference to FIGS. 1 to 7.

First, the centralized LED lighting 110 in which a plurality of LEDs 111 are arranged is irradiated to one or more feature points 20 of a work vehicle, which is a reference for a work position, and the feature points 20 are extracted (S210).

For example, when a work instruction command for the work vehicle is transmitted from the control unit 130 of FIG. 1, power is supplied to the centralized LED light 110 and lighting operation of the feature point 20 may be started. Can be.

In general, the indoor environment of a workplace such as a factory is blocked from natural light and the brightness is maintained by an artificial lighting system, so that the part of the feature point 20 serving as the reference is controlled by a separate lighting means so as to allow a minimum identification. It is preferable that irradiation is made.

Meanwhile, in the present invention, as the above-described lighting means, a concentrated type LED light 110 including a plurality of LEDs 111 is used as shown in FIGS. 3A to 3B.

The centralized LED light 110, as shown in Figure 4, the peripheral portion of the feature point 20 to be colored in white and the feature point 20 portion is to be highlighted in a darker color than the peripheral portion the feature point 20 It is possible to create lighting conditions that can be taken clearly and clearly.

Here, the feature point 20 may be a specific hole part, a specific part part, etc. of the work vehicle which may be a reference of the work position as shown in FIG. 4, and the feature point 20 part may be different depending on the vehicle model. And the form may vary.

The centralized LED light 110 as described above is characterized in that the distinction point 20 is clearly distinguished from the peripheral portion colored in the above manner regardless of the type of the working vehicle, that is, the color of the vehicle under the same lighting conditions. ) Only the part can be extracted, so it is not necessary to change the lighting state for each type of vehicle and improve the convenience of work.

For example, conventional fluorescent or halogen lighting has a disadvantage in that the illumination brightness or the aperture of the camera must be changed according to the color of the vehicle. According to the present invention, the cumbersome operation work as described above can be excluded.

As described above, the intensive LED lighting 110 can accurately classify a desired point (feature point) when it is irradiated to a vehicle and distinguish it from the surroundings by the unique physical characteristics of light scattering, reflection, or straightness. It will have superior physical properties than when used.

In order to increase the recognition rate of the vision camera, simply increasing the illuminance or the like may cause a waste of power more than necessary, and also has a physical characteristic different from that of the centralized LED light 110 to distinguish the desired point from the surroundings. It is also not easy.

Here, the concentrated LED light 110 is preferably operated with a voltage of at least 12 volts and 35 watts or more in order to express the excellent brightness characteristics regardless of the vehicle type as described above.

The voltage and the power correspond to the most economical values capable of accurately distinguishing the feature points 20 of all currently produced vehicles regardless of the color of the vehicle to obtain an accurate feature point image.

3A to 3C illustrate various embodiments of a case in which the shape of the intensive LED light 110 is square, rectangular, or circular, and the number of LEDs installed or the shape of the intensive LED light 110 is shown in FIG. It is not limited to the illustrated and may be modified or changed in more various ways.

That is, if the output of the voltage and power as described above can be generated, it is obvious that a plurality of LED lights can be formed in various forms according to the work type.

After the feature point illumination step (S210), the position and shape of the feature point 20 are stored as a feature point pattern by using the feature point image obtained by photographing each feature point 20 through the vision camera 120 (S220). .

For example, the controller 130 may receive the feature point image photographed through the vision camera 120 and store the position and shape of the feature point 20 of the work vehicle as a feature point pattern.

Here, in order to smoothly capture the vision camera 120, the controller 130 constantly detects the on / off state of the intensive LED light 110, and generates an error signal when the illumination state is off to concentrate the concentration. It is preferable that the measures such as re-ignition or inspection of the type LED lighting 110 can be carried out, and it is preferable to configure an error signal to be generated even when the pattern of the feature points is not recognized in the acquired feature image.

Next, after the feature point pattern storing step (S220), the reference feature point pattern corresponding to the work vehicle and the feature point pattern of the work vehicle are pattern-matched with each other among the reference feature point patterns of the pre-stored reference vehicle that is the position correction standard. The rotation angle and the position displacement of the work vehicle in comparison with the reference vehicle are calculated and the position correction value for the rotation angle and the position displacement is calculated (S230).

Here, the pattern matching is a method of determining whether a similar image exists using a pre-stored feature point pattern and at the same time, a position can be determined using the identified similar image.

The pattern matching and position correction value calculation of the position correction value calculating step S230 may be performed by the controller 130 shown in FIG. 1.

That is, the position correction value calculating step (S230), when a reference feature point pattern of the same model as the work vehicle is searched among the reference feature point patterns of the stored reference vehicle, and the same pattern as the feature point pattern of the work vehicle is retrieved. The rotation angle, the positional displacement, and the position correction value of the work vehicle may be calculated by comparing the reference feature pattern of the searched reference vehicle with the acquired feature point pattern of the work vehicle.

In this case, when the same pattern is not found, the controller 130 may generate a pattern detection error signal and adjust the pattern matching to be executed again.

On the other hand, the control unit 130 is a correction for converting the distance in the image to the actual distance unit by using the correction marker 152, the plurality of unit distance reference signs 151 are formed at equal intervals up, down, left and right as shown in FIG. By using the system, the position correction value can be calculated by converting the distance between the pixels of the feature point image into actual distance units.

That is, the feature point image photographed and acquired by the vision camera 120 is composed of a plurality of pixels, and the accurate and precise position of the photographed feature point image is converted by converting the distance between pixels in the image into actual distance units. Able to know.

Meanwhile, the upper, lower, left, and right intervals of the unit distance reference mark 151 may be adjusted differently according to the degree of precision request of the position correction value for the work vehicle.

That is, although FIG. 5 illustrates a case in which the vertical distance of the unit distance reference mark 151 is 10 mm, the interval may be denser or further extended according to the precision requirement of the position correction value.

The precision requirement of the position correction value may vary depending on the type of the work vehicle, that is, the size or price of the work vehicle.

The position correction value calculation of the present invention may be an operation relating to each position correction value for the robot 140 positioned on the left and right sides of the work vehicle. In general, the vehicle assembly line is a conveying conveyor or a work hanger in the longitudinal direction of the work progress so as to facilitate the assembly work for the work vehicle. Etc., the robot 140 is positioned at left and right portions of the work vehicle, which is a position perpendicular to the moving direction of the conveying conveyor, so that the assembly operation of the seat 10 can be performed quickly and efficiently.

On the other hand, it is shown in Figures 6 to 7 with respect to a diagram showing an embodiment of the process of calculating the position correction value.

Referring to FIG. 6, when the feature point position of the reference vehicle and the feature point position of the work vehicle are (x, y) and (x ', y'), respectively, the matrix R and the rotation are represented by Equation 1 below. The angle [theta] can be calculated.

In addition, FIG. 7 relates to a rotation angle and a position change of the feature points C and D of the work vehicle in comparison with the reference feature points A and B of the reference vehicle, based on Equation 1 below. As described above, it is possible to calculate the rotation angle and position displacement of the work vehicle in comparison with the reference vehicle.

Here, x1, x2, dx1, dx2, y1, dy1, and dy2 values disclosed in Equation 2 and FIG. 7 are values that can be measured by the calibrator.

That is, the reference feature point pattern coordinate values are 'A (x1, y1) and B (x2, y1)', and the specific point pattern coordinate values of the work vehicle are 'C (x1 + dx1, y1 + dy1)' and D (x2 + dx1, y1 + dy1) 'or' C (x1 + dx1, y1 + dy1), E (x ', y' = x2 + dx2, dy1 + dy2) ', the value measured by the calibrator (x1, x2 By using, dx1, dx2, y1, dy1, dy2) in Equation 2, the rotation angle θ can be calculated as well as the positional displacement x ', y' of the work vehicle.

Of course, when the feature point pattern coordinate values of the work vehicle are 'C and D', only position displacement is generated so that the calculation of the rotation angle θ is unnecessary, but in general, the feature point pattern coordinate value for the work vehicle is the reference. Since it is difficult to be located on the same horizontal plane as the reference feature point pattern coordinates for the vehicle, the feature point pattern coordinate values of the work vehicle may occur more frequently when the position and rotation angle variations occur simultaneously, such as 'C and E'. have.

As described above, the pattern matching method for determining a work position of a work execution robot that performs a vehicle work (seat mounting, etc.) is, of course, possible to use various modifications.

That is, by acquiring and comparing the front and side feature points of the vehicle among the feature points of the vehicle together in an image, it is possible to precisely calculate data on the rotational force of the work vehicle, and to form a bundle in which a plurality of feature points are combined for each bundle The reference feature of the reference vehicle and the feature of the working vehicle may be compared and calculated.

6 to 7 are merely exemplary calculation processes that can be implemented in the feature point calculation step (S230) of the present invention, the present invention can be applied to various modifications regarding the calculation process modified from the above embodiment Of course.

Next, after the position correction value calculation step (S230), the operation position of the robot 140 for mounting the seat 10 is automatically controlled using the calculated position correction value (S250).

The robot 140 may securely mount the seat 10 in the work vehicle by receiving the position correction value calculated by the controller 130 and automatically moving the work position based on the position correction value.

On the other hand, the controller 130 may set and store the work limit value for the movable upper limit value and the lower limit value of the robot 140 for each type of the work vehicle.

That is, the controller 130 generates an error signal when the calculated position correction value exceeds the work limit value set differentially for each type of work vehicle, and the robot control step (S240) is performed. It may be controlled to not be performed (S240).

When the position correction value exceeds the work limit value of the robot 140, a collision may occur between the robot 140 and the work vehicle or between the work vehicle and the seat 10, and the seat 10 may be properly Failure to input may cause damage to the work vehicle and the seat 10, such as scratches, breakage.

According to the present invention, the comparison between the calculated position correction value and the work limit value is always performed, thereby preventing problems such as vehicle damage in advance, as well as reducing the defective rate, vehicle quality and production accordingly. Improve efficiency

On the other hand, the robot 140, after receiving the calculated position correction value may be to prevent the above problems again by performing a re-comparison with its own set working limit value.

The calculated and calculated data may cause errors in the process of being actually transmitted, as well as errors may occur at the interface between systems in the calibration system operated by individual equipment. It can also be configured to ensure that there is a safe and accurate work.

As described above, although the present invention has been described by way of limited embodiments and drawings, the present invention is not limited thereto and is described by the person of ordinary skill in the art to which the present invention pertains. Various modifications and variations are possible without departing from the scope of the appended claims.

Method for automatically correcting the work position of the seat mounting robot of the vehicle using the concentrated LED light of the present invention provides the following effects.

First, when the working vehicle is not in the correct position, by calculating the position correction value and automatically correcting the working position of the seat mounting robot, the seat can be stably mounted in the correct position and the vehicle quality and productivity can be improved.

Second, by using the intensive LED lighting to extract the feature point, it is possible to retrieve a clear feature point regardless of the type of the work vehicle under the same lighting conditions, and thus more precise work can be performed.

Third, by using the centralized LED light having a suitable output can register and store the feature point pattern for each vehicle can improve the work efficiency.

Fourth, the accuracy of the position correction value can be improved by using a correction system that converts the distance in the image into the actual distance unit.

Fifth, when the calculated position correction value exceeds the robot's working limit value, the robot control step is controlled so as to prevent the accident and reduce the defective rate and improve the work efficiency.

Claims (6)

In the method of automatically correcting the working position of the robot for mounting the seat inside the working vehicle, A feature point illumination step of extracting the feature points by irradiating at least one feature point of the work vehicle, which is a reference of a work position, to a concentrated type LED light having a plurality of LEDs; A feature point pattern storage step of storing the position and shape of the feature point as a feature point pattern using a feature point image obtained by photographing each feature point through a vision camera; Rotation angle and position of the work vehicle relative to the reference vehicle by pattern matching the reference feature pattern corresponding to the work vehicle and the feature point pattern of the work vehicle among the reference feature point patterns of the pre-stored reference vehicle which are the reference for position correction A position correction value calculating step of calculating a displacement and calculating a position correction value for the rotation angle and position displacement; And And a robot control step of automatically controlling a work position of the robot for seat mounting using the calculated position correction value. The method of claim 1, wherein the calculating of the position correction value comprises: The distance between the pixels of the feature point image is converted to the actual distance unit by using a correction system that converts the distance in the image into the actual distance unit by using a correction marker having a plurality of unit distance reference marks formed at equal intervals. Method for automatically correcting the work position of the seat-mounted robot of the vehicle using the concentrated LED light, characterized in that for calculating the position correction value. The method of claim 2, wherein the calibrator, A method for automatically correcting a work position of a seat mounting robot for a vehicle using intensive LED lighting, characterized in that the distance between the top, bottom, left and right of the unit distance reference mark is different according to the type of the work vehicle. The method of claim 1 or 2, wherein the position correction value calculation step, A method for automatically correcting a work position of a seat-mounted robot of a vehicle using intensive LED lighting, comprising calculating position correction values of robots positioned on the left and right sides of the work vehicle. The method of claim 4, wherein the intensive LED lighting, Method for automatically correcting the work position of the seat-mounted robot of the vehicle using intensive LED lighting, characterized in that the operating voltage of more than 12 volts and 35 watts or more. The method of claim 5, And an error control step of generating an error signal when the calculated position correction value exceeds a work limit value differentially set for each type of work vehicle, and controlling the robot control step not to be performed. Work position automatic calibration method of seat mounting robot of vehicle using intensive LED lighting.

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