KR101666798B1 - Intelligent system and method for spreading sealer using vision system - Google Patents

Intelligent system and method for spreading sealer using vision system Download PDF

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Publication number
KR101666798B1
KR101666798B1 KR1020160086851A KR20160086851A KR101666798B1 KR 101666798 B1 KR101666798 B1 KR 101666798B1 KR 1020160086851 A KR1020160086851 A KR 1020160086851A KR 20160086851 A KR20160086851 A KR 20160086851A KR 101666798 B1 KR101666798 B1 KR 101666798B1
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South Korea
Prior art keywords
sealer
application
frame
image
target value
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KR1020160086851A
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Korean (ko)
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현 규 곽
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(주)디엠소프트
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
    • G01B11/306—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces for measuring evenness
    • 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
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/1717—Systems in which incident light is modified in accordance with the properties of the material investigated with a modulation of one or more physical properties of the sample during the optical investigation, e.g. electro-reflectance
    • 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
    • G01N21/8806—Specially adapted optical and illumination features
    • 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
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N2021/1765—Method using an image detector and processing of image signal
    • G01N2021/177—Detector of the video camera type
    • 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
    • G01N21/8806—Specially adapted optical and illumination features
    • G01N2021/8809—Adjustment for highlighting flaws

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  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Coating Apparatus (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

The present invention relates to a sealer spreading device, and a method thereof. More specifically, the objective of the present invention is to provide an intelligent sealer spreading device using a vision system capable of improving a quality of the sealer spreading using an image acquired by the vision system, and the method thereof. To achieve the above objective, the device comprises: a spreading gun which spread a sealer along a defined route on a target panel; a vision camera module which records a status of the sealer being spread on the target panel at a defined frame speed in real time while the sealer spreading is repeated with regular spreading width intervals along the same route; a sealer supply device which supplies the sealer to the spreading gun; and a control unit which receives input of the images taken by the vision camera module on each round of the sealer spreading, measures the sealer spreading status value from the image of each frame in real time, and outputs a control signal to control an amount of spread of the sealer spread by the spreading gun. The control unit based on a predefined target value data by image frame about the sealer spreading status and the error calculation value data by frame about the sealer spreading state on the previous round, outputs a control signal to control the amount of spread of the sealer on each frame position in real time in a way which the sealer spreading status follows the target value.

Description

TECHNICAL FIELD [0001] The present invention relates to an intelligent sealer applying apparatus and method using a vision system,

The present invention relates to a sealer applying apparatus and method, and more particularly, to a sealer applying apparatus and method that can accurately apply a sealer to a target panel at a target value level using an image acquired through a vision system, To an apparatus and a method for applying an intelligent sealer using a vision system.

Generally, a vehicle body panel assembling process of an automobile includes a process of welding a joint between vehicle body panels, and a process of applying a sealer to prevent water leakage and to prevent rust, dust, heat, and stiffness after the welding process.

Here, the sealer application process is a process for applying a sealer for a specific use to a panel as well as an automobile assembly process, and is carried out throughout the industry, and a sealer for various purposes such as a vibration damper or a mastic sealer is used.

A mastic sealer used in automobiles is a paste-like sealer used for filling various parts of a vehicle, for example, between outer and inner plates or between outer and reinforcing plates, It is used for filling, adhesion and damping purposes.

Such a mastic sealer is mainly applied to a moving part such as a door, a luggage compartment lid or a hood, and may be applied between an outer plate and an inner plate of a body loop or the like.

In addition, floor panels constituting the floor of automobiles and dash panels for distinguishing between the driver's cab and the engine room are coated with vibration damping materials for vibration and noise absorption.

The vibration damping material is applied to a floor panel or a dash panel, thereby absorbing and blocking vibrations and noise transmitted from the road surface during running of the engine and running, thereby providing a comfortable ride and also contributing to prevention of departure of the welding portion of the vehicle body and prolongation of parts life.

In recent sealer application processes, an automatic sealer dispenser for automatically applying the sealer to the application area of the target panel is used. However, if the sealer application form is not applied in a desired shape, the adhesive force and water density may be deteriorated, Development of a sealer dispensing apparatus is continuously being carried out.

The sealer application apparatus is equipped with a device for real-time inspecting the sealer application state which can accurately detect the defect occurrence position over the entire sealer application section and thereby improve the efficiency of the sealer application quality.

As an example of an apparatus for inspecting the sealer coating state in real time, Japanese Patent Application Laid-Open No. 10-1188352 discloses a sealer coating quality inspection apparatus and method using a vision system.

In addition, Japanese Patent Application Laid-Open No. 10-1523641 discloses an apparatus and a method for real-time inspecting the coating state of a sealer applied to a vehicle body panel and the nozzle state of a sealer gun using a laser beam and a camera.

In addition, Japanese Patent Application Laid-Open No. 10-1499051 discloses an automotive anti-vibration material coating agent capable of automatically applying a vibration damper applied to a floor panel of an automobile to a certain width and thickness.

In addition, Japanese Patent Application Laid-Open No. 10-1503724 discloses that the initial pressure control (function of initial application pressure control) of the vibration damping material installed between the vibration damper supply pump and the vibration damper application gun and supplied to the vibration damper application gun, Flow rate control function) and coating flow rate check function, it is possible to apply the damping material at a constant thickness and width from the initial coating point to the end point of the vibration damping material, And a pressure control booster.

On the other hand, the sealer including the vibration damper should be able to be applied uniformly with the set width and thickness along the predetermined path of the target panel. However, due to various process parameters (for example, sealer heating temperature) The width and the like of the coating material may be changed, thereby making it difficult to obtain the desired coating quality.

For example, the sealer should be applied with a constant width along a predetermined path formed by combining a straight line, a straight line, and a curved line, but the width may vary for each coated region on the path, or the width may vary for each application .

FIG. 1 is a photograph illustrating a state in which a sealer is applied along a straight path and a curved path under the same apparatus control condition. As shown in FIG. 1, a sealer can not be applied with a constant width for each application site, have.

Accordingly, the present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a method and apparatus for accurately applying a sealer to a target panel at a target value level using an image acquired through a vision system, The present invention provides an intelligent sealer dispensing apparatus and method using a vision system.

According to an aspect of the present invention, there is provided an application gun for applying a sealer along a predetermined path of a target panel. A vision camera module for photographing the target panel in a state in which the sealer is applied at a predetermined frame rate in real time while repeating the application of the sealer with the same application width along the same path; A sealer supply device for supplying a sealer to the application gun; And an image picked up by the vision camera module at each time of application of the sealer of every order, receives the image of the sealer from the image of each frame in real time, and outputs a control signal for controlling the application amount of the sealer applied through the application gun Wherein the controller is configured to calculate a target value for each image frame for the set sealer application state during the application of the sealer of the current degree and for each frame of the sealer application state calculated at the time of application of the sealer of the previous order And outputs a control signal for real-time controlling the sealer application amount of each frame position so that the sealer application state follows the target value, based on the error calculation value data, and provides the intelligent sealer application apparatus using the vision system .

According to another aspect of the present invention, there is provided a method of controlling a vision camera module, comprising the steps of: capturing a state in which a sealer is applied to a target panel while a sealer is applied along a predetermined path of a target panel from an application gun; And calculating and storing an error between a sealer application state value measured for each frame and a target value for each frame with respect to a previously set sealer application state, Wherein the steps are performed each time the sealer of each order is applied with the same application width along the same path, and during the application of the sealer of the current order, the predetermined frame- And the sealer application amount of each frame position is controlled so that the sealer application state follows the target value, based on the frame-based error calculation value data of the calculated and stored sealer application state .

Thus, according to the intelligent sealer applying apparatus and method according to the present invention, the target value data for the sealer application state is acquired as learning data through a preceding learning process in which the sealer application and the vision inspection are repeated, An error of the sealer application state can be reduced by applying the method of predicting and controlling the sealer application amount of the rear frame by the predetermined number by using the error calculation value obtained when applying the sealer of the order number, .

1 is a view illustrating a conventional sealer application state.
2 is a block diagram showing a configuration of an intelligent sealer applying apparatus according to an embodiment of the present invention.
FIG. 3 is a view showing the sequence of the learning process in the sealer application method according to the embodiment of the present invention.
FIG. 4 is a view showing the sequence of an actual sealer application process in the sealer application method according to the embodiment of the present invention.
FIG. 5 is a view illustrating sealer application width data measured from an image of each frame captured at the time of primary coating in the present invention. FIG.
6 and 7 are views showing examples of the sealer application width measurement value and the error calculation value obtained for each order of sealer application in the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

The present invention relates to an intelligent sealer dispensing apparatus and method using a vision system. More specifically, the present invention can accurately apply a sealer to a target panel to a target value level using an image acquired through a vision system, And to provide a sealer applying apparatus and method which can further improve the sealer applying method.

In the present invention, the sealer may be a conventional sealer used for leakage prevention, rust prevention, dustproofing, heat dissipation, rigidity reinforcement, and the like. For example, the sealer may be a mastic sealer used for filling, And the like.

As shown in Fig. 2, the sealer applying device of the present invention includes an application gun 1 for applying a sealer to a target panel along a predetermined path, a vision camera module 2 for photographing a state in which a sealer is applied to a target panel in real time, A controller 3 for receiving an image photographed by the vision camera module 2 and real-time measuring a sealer application state value from an image and outputting a control signal for application state correction using the measured application state data, And a sealer supply device 4 for controlling the sealer supply state of the application gun so that the application state can be corrected by operating in accordance with a control signal output from the control unit 3. [

The spray gun 1 and the vision camera module 2 can be applied to a sealer gun, a vision camera, and a vision computer disclosed in Japanese Patent Application Laid-Open No. 10-1188352, The application gun, the camera, and the vision computer disclosed in U.S. Pat.

Further, as the application gun 1, the vibration damper application system disclosed in Japanese Patent Application Laid-Open No. 10-1499051 can be applied.

The coating gun 1 may be mounted on an arm of an unillustrated robot or fixedly mounted on a stationary base. When the coating gun 1 is mounted on a robot, a sealer coating object (not shown, Quot;) is loaded on a cradle at a fixed position, the applicator gun 1 applies a sealer to the target panel while moving along a predetermined path by driving the robot.

On the other hand, in the case of the method in which the application gun 1 is fixedly mounted on a stationary platform, the target panel is moved by the robot while being loaded on the robot, and the application gun 1) is coated with a sealer along a predetermined path in the target panel.

At this time, in any case, since the sealer must be applied along the predetermined path to the target panel, the driving of the robot must be controlled to exhibit a predetermined movement.

The control unit 3 controls the overall operation of the sealer application apparatus. The control unit 3 performs teaching control on the robot to perform a predetermined operation, and adjusts the sealer supply amount and the application amount, and selectively discharges / blocks the sealer And controls the sealer feeding device 4 and the driving part of the application gun 1. [

The control unit 3 controls the amount of the sealer discharged through the application gun 1, that is, the sealer application amount, to control the drive of the sealer supply device 4 for supplying the sealer 1 to the application gun 1. [ Can be provided to control the driving of the servo motor in the configuration of the booster disclosed in Japanese Patent Application Laid-Open No. 10-1503724.

Further, in order to selectively control the discharge and blocking of the sealer (the vibration damping material), for example, for controlling the driving part of the application gun 1, in the structure of the applied gun disclosed in JP 10-1499051 May be provided to control the driving.

Although not shown in detail in the drawing, the sealer supply device 4 may include a pump for feeding a sealer through a supply line and a filter device for filtering a sealer supplied by the pump, ), And a booster for adjusting the initial coating pressure, for example, a booster disclosed in Japanese Patent Application Laid-Open No. 10-1503724.

The booster is provided between the pump and the application gun. The booster may be composed of a unit integral with the application gun. The amount of the sealer applied through the application gun is controlled through the creation and adjustment of the application pressure, .

In the present invention, known configurations known to those skilled in the art can be applied to the configuration of the coating gun 1, the vision camera module 2, and the sealer supply device 4, and various examples are known, .

On the other hand, even when the apparatus is controlled by the same control value due to various process parameters (for example, sealer heating temperature, robot speed, etc.) in applying the sealer to the target panel, The application state such as the width of the sealer can be changed, and it is not easy to obtain the target coating quality.

In order to solve such a problem, in the present invention, the control unit 3 receives the image photographed by the vision camera module 2 in real time, measures the sealer application state from the received image, And performs application state correction control using target value data.

Here, the target value data is obtained through a learning process performed before the actual application, and the target value data is subjected to the same sealer pattern as the actual application time, that is, the same path and the application amount Target value data is obtained through a learning process of applying a sealer.

Accordingly, the sealer application process according to the present invention includes a learning process for repeating the sealer application process for learning and setting desired target value data in the control unit 3, and setting the target value data acquired and set through the learning process And an actual application process of applying the sealer to the actual object panel using the above-described method.

3 is a diagram showing the sequence of the learning process.

First, in the learning process, a process of photographing an image through the vision camera module 2 while applying a sealer, and a process of measuring a sealer application state from the photographed image are repeated. The sealer application state is set to the control unit 3 as the target value data.

Here, the sealer application state can be the application width of the sealer applied to the target panel.

More specifically, in a state in which the sealer application width of the initial target value is preset along the sealer application route, the sealer is applied to the sealer pattern determined under the control of the control section 3 as the initial target value and the vision camera module 2 (S11) for capturing a sealer application state, an image of each frame in which the control unit (3) captures an image, and measuring a sealer application width from an image of each frame, (S12) of repeating the sealer application and photographing process (S11) and the data measurement and storage process (S12) by a predetermined number of times (S13), and repeating the processes (S11, S12) (S14) calculating a mean value by averaging the application width data for each image frame, which is repeatedly measured by the control unit (3) during repetition, and calculating a mean value This study is carried out consisting of a setting process (S15).

In other words, the learning data, i.e., the target value data obtained through the learning process may include frame information, an application width average value (target value) stored for each frame, and device control value information for each frame, The width average value and the device control value information for each frame are prepared and stored in the form of a control table.

Here, the apparatus control value may be a control value for the apparatus for determining the amount of sealer applied in the application gun 1, in particular, the width of application, and may be, for example, a control value for the sealer constant- Can be a control value for the < / RTI >

When the control table in which the application width target value for each frame is set in the control unit 3 is produced and stored, the learning process is terminated.

Of course, in the learning process, it is necessary to perform teaching control on the robot so that the sealer can be applied along the sealer pattern of the predetermined path in the target panel (the same path as in the actual application), and also to control the robot to move at a predetermined speed Is performed.

In addition, the frame-by-frame image of the image taken at a predetermined frame rate (e.g., 1 ms) through the vision camera module 2 is input to the control unit 3.

At this time, the position information of the robot, for example, the position information of the robot arm loaded with the target panel, may be stored in the controller by being matched with each frame information of the image sequentially captured.

That is, since the position information of the robot can be known in the order of image capturing, the controller synchronizes the operation pattern of the robot such as the robot speed with the image capturing time, and stores the pattern signal of the robot, that is, the position signal of the robot, frame by frame.

As a result, in the control unit 3, the position information of the robot for each frame and the average value (target value) of the coating width measured at each robot position at the time of learning can be prepared and stored in the control table.

In this case, if the robot teaching control value is modified, the matching with the image shooting order is different. Therefore, it is necessary to reset the robot. For example, when the robot speed is corrected, Should be stored.

In addition, all teaching processes such as image shooting and storage, image selection, target value acquisition, etc., are performed again when the robot teaching is corrected.

In addition, the sealer application width is measured from each frame image, as will be described later, even when the actual application is performed after all learning processes have been performed. The sealer application width measured at the time of actual application is not reflected in the target value data.

This takes into account the fact that the quality of the application may be seriously affected if the application widths due to various unexpected variables are reflected in the control.

FIG. 4 is a diagram illustrating the sequence of the actual application process. In the control of the actual application process, the control unit 3 uses the control table value (target value) set in the learning process, Value is used to predict and control the sealer application.

FIG. 5 shows sealer application width data measured from images of respective frames photographed at the time of primary coating. Numbers 1 to 13 shown on the left are numbers indicating frame indexes for identifying frames.

First, the robot 3 is controlled so that the controller 3 operates at a predetermined speed during the primary application (i.e., application of the first sealer), and at the same time, a predetermined amount of sealer is discharged from the application gun 1.

In addition, the apparatus is controlled so that the sealer can be applied to the target value of the coating width for each frame set in the control table in the state where the process variable such as the heating temperature of the supplied sealer is set to the set value.

When the image is photographed by the vision camera module 2 while the sealer is applied (S21) and the photographed image is transmitted to the control unit 3, the control unit 3 receives the photographed image, The sealer application width is measured and stored from the image (S22).

After measuring the sealer application width from the image for each frame, the control unit 3 compares the sealer application width measurement value measured for each frame with the target value of the corresponding frame, and calculates an error corresponding to the difference value (S23).

Referring to FIG. 5, there is shown an error operation value obtained by calculating the difference between the sealer application width measurement value and the target value for each frame at the time of the first application, and the difference between the measurement value and the target value for each frame. The sealer application width measurement value, the target value, and the error calculation value are displayed every frame.

In the present invention, the controller 3 calculates an error calculation value in the same manner every time the sealer of each order is applied. In the case of applying the sealer of the previous order, the calculated error calculation value is applied to the current- (S24, S25, S26).

That is, the control unit 3 uses the error calculation value for each frame at the time of applying the previous order sealer as a correction value for correcting the target value for each frame of the control table, and the sealer application is performed with the target value reflecting the correction value The sealer application state is controlled.

For example, the calculated error value at the time of the first application is used as a correction value for correcting the application state at the time of the second application, that is, as a correction value for correcting the target value, and at the time of the third application, The error calculation value is used as a correction value for correcting the target value. In the fourth coating, the calculated error calculation value at the time of the third application is used as the correction value for the target value correction.

In addition, the control unit 3 controls the amount of the sealer (sealer coating amount) discharged through the application gun 1 so that the coating width can be corrected by the error calculation value.

At this time, the control unit 3 controls the apparatus for determining the amount of sealer application, particularly the application width, so that the application width can be corrected. For example, if the control unit 3 determines that the application width Can be set to control the servo motor operation of the booster.

In the present invention, the error calculation value calculated at the time of application of the sealer of the previous order is used as the correction value for correcting the target value at the time of application of the sealer of the current order, and an error calculation value Is used in advance for the control of the application state correction with the target value of the subsequent frame.

That is, prediction control is performed to control the sealer application state using a target value of a control table and an error calculation value when applying a sealer of a immediately previous order, but using a future frame target value and an error calculation value instead of a current frame (S24, S27).

For example, when the predetermined index number is set to 6, when the frame image of the index 5 is input from the vision camera module during the sealer application, the error calculation of the 11th frame calculated at the time of applying the sealer of the immediately previous rank And the target value of frame 11 in the control table are used to control the sealer application state.

In other words, the sealer application state is controlled using the error calculation value and the target value of the 11th frame at the time of inputting the frame image No. 5, and the sealer application state is controlled by using the booster The control of the servo motor is controlled.

At this time, the value of the 12th frame (i.e., the learning target value and the calculated error value calculated by applying the previous order sealer) is used at the time of inputting the 6th frame image, and the value of 13th frame is inputted at the time of inputting the 7th frame image .

Since the information of the current frame is already controlled at the time when the apparatus control is performed and the actual sealer is applied, accurate sealer application can not be performed if the error correction is performed so as to follow the target value at the time of applying the sealer by using the information of the current frame.

Therefore, it is possible to correct the error at the current vision inspection point (frame image input point) by using a predetermined number of backward frame target values (learning values set in the control table) and error calculation values (values calculated at the time of application of the previous order sealer) And the sealer application amount control is performed. By applying the calculation result of the predictive control object frame to the sealer application amount control, the target coating quality can be obtained.

6 and 7 are views showing examples of the sealer application width measurement value and the error calculation value obtained for each order of sealer application in the embodiment of the present invention. .

An example is shown in which a total of 30 frames of images are shot from index 1 to index 30 for each order, and images of the sealer application state are captured at the same frame rate in all orders.

In the illustrated example, the images from the 1st to the 5th frame are images taken before the sealer is applied, and the images of the 6th frame are images where the sealer application start point is photographed.

In addition, the sealer application target values from the 6th frame to the 30th frame to which the actual sealer is applied are set in the control table through the learning process. In addition to the target value data acquired for each frame through the learning process, The sealer application width measurement value per frame measured from the Shimada image and the frame error calculation value calculated from the target value and the measurement value are additionally stored in the control table.

6 and 7, since the same target value (learning value) as in the primary coating is applied to the secondary, tertiary and quaternary coatings, the notation of the target value is omitted in the secondary, tertiary and quaternary tables Respectively.

As shown in FIGS. 6 and 7, the coating width is measured from each frame-by-frame image in every order, and the difference between the coating width measurement value and the sealer coating target value per frame is calculated as an error calculation value.

In the case of the first coating, the sealer application amount is controlled so that the sealer coating width follows the target value. In the second coating, when the image of the sixth frame is input to the control unit, The sealer application amount is controlled by using the calculated value and the target value of the 11th frame.

In this case, frame 6 is the frame in which the current vision check is performed, and the frame position at which the prediction control is performed at the time when the vision inspection of the 6th frame is performed becomes the 11th frame position.

When the image of the seventh frame (current vision inspection frame) is input at the time of the secondary application, the sealer application amount is controlled using the value of the 12th frame (frame to be predicted) The amount of sealer application is controlled using the value of the 13th frame.

Likewise, the values of the frames of indexes larger by the predetermined number than the index of the corresponding frame (vision check frame) at the input time of each frame image, i.e., a predetermined number of backward frames (frame to be predicted) Thereby controlling the application amount of the sealer.

When a shot image of a specific frame is received and the vision inspection (coating width measurement, etc.) is performed, the sealer application amount at a predetermined number of rear frame positions is predictively controlled. At this time, And controls the sealer road amount of the rear frame position by using the error calculation value of the degree.

As illustrated in FIGS. 6 and 7, the values of the frame 25 are directly applied to the frames 26-30.

As a result, when the predictive control method proposed by the present invention is applied, the measured value of the sealer application width gradually approaches the target value as the number of sealer application orders increases.

6 and 7, it can be seen that the error calculation value in the third application is smaller than the error calculation value in the second application, and in the fourth application, the error calculation value is smaller than that in the third application .

As described above, according to the intelligent sealer applying apparatus and method of the present invention, the target value data for the sealer application state is acquired as learning data through a preceding learning process in which the sealer application and the vision inspection are repeated, It is possible to reduce the error of the sealer application state by applying the method of predicting and controlling the sealer application amount of the rear frame as many as the predetermined number by using the error calculation value obtained in applying the sealer of the previous order, There is an advantage.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. And are also included in the scope of the present invention.

1: Coating Gun
2: Vision camera module
3:
4: Sealer feeder

Claims (13)

An application gun for applying a sealer along a predetermined path of a target panel;
A vision camera module for photographing the target panel in a state in which the sealer is applied at a predetermined frame rate in real time while repeating the application of the sealer with the same application width along the same path;
A sealer supply device for supplying a sealer to the application gun; And
Each time a sealer of each order is applied, an image photographed by the vision camera module is received, and the sealer application state value is measured from an image of each frame in real time, and a control signal for controlling the application amount of the sealer applied through the application gun is output A control unit;
Wherein the control unit calculates a difference value between the target value data for each image frame for the previously set sealer application state and the error calculation value for each frame of the sealer application state calculated at the time of application of the sealer of the previous order, And outputs a control signal for controlling the sealer application amount of each frame position in real time based on the data so that the sealer application state follows the target value.
The method according to claim 1,
Wherein the control unit outputs a control signal for controlling a servo motor of a booster that supplies a sealer to the application gun to control the sealer application amount.
The method according to claim 1,
Wherein the sealer application state is a sealer application width.
The method of claim 3,
The target value data for each image frame with respect to the sealer application state is,
Wherein the sprayer width is measured from an image of each frame photographed at the time of applying the sealer, and the width of the applied sealer is averaged for each frame, Intelligent sealer application device using.
The method of claim 3,
The calculated frame-specific error calculation value data at the time of application of the sealer of the previous order,
The sealer application width is measured from the image of each frame photographed during application of the sealer of the previous order, and then the sealer application width of the previous order measured for each frame is compared with a preset target value for each frame, Wherein the visor system is disposed on the upper surface of the housing.
The method according to claim 1,
Wherein,
Controlling the sealer application amount based on a target value and an error calculation value set to a value of a rear frame as many as a predetermined number from the input current frame at the time of inputting the image of the current frame captured by the vision camera module during sealer application And outputs a control signal for the intelligent sealer using the vision system.
The method according to claim 1,
Wherein,
And outputs a control signal for controlling the sealer application amount of each frame position so as to follow the target value corrected by the frame error calculation value calculated in applying the sealer of the previous order to the target value for each image frame The intelligent sealer applying device using.
Photographing a state in which the sealer is applied to the target panel while the sealer is applied along the predetermined path of the target panel from the application gun at a frame rate of the vision camera module at a predetermined frame rate; And
Calculating a sealer application state value from the captured image of each frame in real time and calculating and storing an error between a sealer application state value measured for each frame and a target value for each frame for a previously set sealer application state, ≪ / RTI &
The above steps are carried out every time a sealer of every order is coated with the same application width along the same path,
Based on the preset target value data for each image frame and the error calculation value data for each frame of the sealer application state calculated and stored at the time of application of the sealer of the previous order, The sealer application amount of each frame position is controlled so as to follow the sealer application amount.
The method of claim 8,
Wherein the servo motor of the booster for supplying the sealer to the application gun is controlled so as to control the sealer application amount.
The method of claim 8,
Wherein the sealer application state is a sealer application width.
The method of claim 10,
The target value data for each image frame with respect to the sealer application state is,
Wherein the sprayer width is measured from an image of each frame photographed at the time of applying the sealer, and the width of the applied sealer is averaged for each frame, Method of applying sealer using.
The method of claim 8,
When the image of the current frame captured by the vision camera module during the sealer application is inputted, the sealer application amount is controlled on the basis of the target value and the error calculation value set to the values of the rear frames as many as the predetermined number from the input current frame Wherein the sealer applying method is a method of applying a sealer using a vision system.
The method of claim 8,
Wherein the amount of sealer applied to each frame position is controlled so as to follow a target value obtained by correcting the target value for each image frame by an error value calculated for each frame calculated at the time of application of the sealer of the previous order.
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