KR101738847B1 - Apparatus and method for determining combination status of combination means - Google Patents

Apparatus and method for determining combination status of combination means Download PDF

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Publication number
KR101738847B1
KR101738847B1 KR1020150177204A KR20150177204A KR101738847B1 KR 101738847 B1 KR101738847 B1 KR 101738847B1 KR 1020150177204 A KR1020150177204 A KR 1020150177204A KR 20150177204 A KR20150177204 A KR 20150177204A KR 101738847 B1 KR101738847 B1 KR 101738847B1
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KR
South Korea
Prior art keywords
fastening means
fastening
state
laser scanning
determining
Prior art date
Application number
KR1020150177204A
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Korean (ko)
Inventor
이창화
조형찬
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(주)일지테크
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Priority to KR1020150177204A priority Critical patent/KR101738847B1/en
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Publication of KR101738847B1 publication Critical patent/KR101738847B1/en

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • 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
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608—Height gauges
    • 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
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • 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
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/06—Illumination; Optics
    • G01N2201/061—Sources
    • G01N2201/06113—Coherent sources; lasers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/10—Scanning
    • G01N2201/103—Scanning by mechanical motion of stage

Abstract

The present invention relates to an apparatus and method for determining the fastening state of fastening means, and more particularly, to a laser scanning apparatus for laser scanning an object to be transferred along a process line. A storage unit for storing a reference value for determining the state of the fastening means; And a controller for calculating a height based on the object of the fastening means fastened to the object based on the scan result of the laser scanning unit and comparing the calculated height with a reference value stored in the storage unit And a controller for determining a fastening state of the fastening means.

Description

[0001] APPARATUS AND METHOD FOR DETERMINING COMBINATION STATUS OF COMBINATION MEANS [0002]

The present invention relates to an apparatus and method for determining the fastening state of fastening means, and more particularly to an apparatus and method for determining fastening state of fastening means capable of determining whether the fastening state of the fastening means is good or not.

There are many cases where the fastening means such as a bolt or a nut is missing due to the number of assembling mistakes when the parts are assembled such as assembling parts of an automobile,

Failure of the fastening of such a fastening means may cause problems such as oil leakage in the finished product and falling of the components as well as delays in the assembling process and therefore it is necessary to measure the fastening state of the fastening means .

However, conventionally, only the presence or absence of the fastening means has been grasped through the proximity sensor, so that there has been a problem that the fastening failure such as the case where the fastening means is twisted is not known.

On the other hand, the background art of the present invention is disclosed in Korean Patent Publication No. 10-2005-0093153 (2005.09.23).

An object of the present invention is to provide an apparatus and method for determining a fastening state of a fastening means capable of determining whether a fastening state of fastening means fastened to a target object such as a part is defective or not.

An apparatus for determining the state of engagement of a fastening means according to the present invention includes: a laser scanning unit for laser-scanning an object to be transferred along a process line; A storage unit for storing a reference value for determining the state of the fastening means; And a controller for calculating a height based on the object of the fastening means fastened to the object based on the scan result of the laser scanning unit and comparing the calculated height with a reference value stored in the storage unit And a controller for determining a fastening state of the fastening means.

In the present invention, the laser scanning unit includes a line laser scan sensor installed in a vertical direction in the direction of transport of the process line, wherein the line laser scan sensor is fixed.

In the present invention, the control unit may calculate a position based on the object of the fastening unit based on a scan result of the laser scanning unit, and further calculate the position calculated by comparing the calculated height with the reference value To determine the fastening state of the fastening means.

The fastening state determination device of the fastening means according to the present invention further includes a camera section for photographing the object, wherein the control section controls the fastening state of the fastening means, considering the image photographed through the camera section in the scan result of the laser scanning section And a position based on the target object is calculated.

In the present invention, the controller may determine that the fastening state of the fastening means is defective if there is a ripple above a predetermined reference in the scan result of the laser scanning unit.

According to the present invention, the control unit controls the conveying line control system so that the conveying line control system releases the object from the process line when the fastening state of the fastening means is determined to be defective.

A method of determining a fastening state of a fastening means according to the present invention includes: laser scanning a target object to be transferred along a process line; Calculating a height of the fastening means fastened to the object on the basis of the object, based on the laser scan result; And a step of the control section judging the fastening state of the fastening means based on the calculated height.

The method for judging the fastening state of the fastening means according to the present invention is characterized in that before the step of judging the fastening state of the fastening means, the step of calculating the position of the fastening means on the basis of the object, Wherein the control unit determines the state of engagement of the fastening means by considering the calculated position with respect to the calculated height in the step of determining the fastening state of the fastening means.

The method for judging the fastening state of the fastening means according to the present invention may further comprise a step of photographing the object by the control unit before calculating the position of the fastening means with reference to the object, Wherein the control unit calculates a position based on the object of the fastening means while considering the image photographed by the laser scanning result.

The method for determining the fastening state of the fastening means according to the present invention further includes controlling the control unit to cause the object to be detached from the processing line when the fastening state of the fastening means is determined to be defective.

The apparatus and method for determining the fastening state of the fastening means according to the present invention can determine the state of fastening of the fastening means based on the height of the fastening means calculated through laser scanning, And the assembly quality and reliability are improved.

1 is a block diagram showing a configuration of a fastening state determining apparatus of fastening means according to an embodiment of the present invention.
2 is an exemplary view for explaining the object and the fastening means;
3 is an exemplary view for explaining a fastening state judging method of fastening means according to an embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an apparatus and method for determining the fastening state of fastening means according to the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

Fig. 1 is a block diagram showing the configuration of a fastening state determining device of fastening means according to an embodiment of the present invention. Fig. 2 is an exemplary view for explaining a target object and fastening means. A fastening state judging device of the fastening means will be described as follows.

1, an apparatus for determining a fastening state of fastening means according to an embodiment of the present invention includes a control unit 100, a laser scanning unit 110, a storage unit 120, and a camera unit 130 .

The laser scanning unit 110 can laser scan the object 10 transported along the process line. Herein, the object 10 refers to an object to which the fastening means 20 is fastened, and can be conveyed along a process line controlled by the conveying line control system 200. The fastening means 20 may be a bolt or a stud.

That is, as shown in FIG. 2, the object 10 is fastened with the fastening means 20, and the fastening means 20 may be plural. In addition, the size and shape of each fastening means 20 may be different.

The laser scanning unit 110 includes a sensor capable of detecting a distance by irradiating a laser beam to scan the object 10, and specifically includes a line laser scanning sensor installed in a direction perpendicular to the transfer direction of the process line .

That is, the laser scanning unit 110 can scan one line instead of scanning only one point of the object 10.

Such a line laser scan sensor may also be stationary. That is, in the present embodiment, since the object 10 is transported along the process line, the fixed sensor can scan the entire object 10 according to the movement of the object 10.

The storage unit 120 may store a reference value for determining the state of the fastening means 20. [ That is, the storage unit 120 may store the reference for the height or position when the fastening means 20 is properly (i.e., preferably) fastened. The storage unit 100 may store the size, shape, normal fastening position, normal fastening shape, etc. of each fastening means 20 for each fastening means 20, since the fastening means 20 may be plural have.

The camera unit 130 can take a picture of the object 10. For example, the camera unit 130 can photograph the object 10 through the camera installed with the sensor of the laser scanning unit 110.

The control unit 100 can determine the fastening state of the fastening means 20 fastened to the object 10 based on the scan result of the laser scanning unit 110. [

Specifically, the control unit 100 calculates the height based on the object 10 of the fastening means 20 fastened to the object 10 based on the scan result of the laser scanning unit 110, And the reference value stored in the storage unit 120. In this way, the fastening state of the fastening means 20 can be determined.

That is, when the height of the fastening means 20 is higher than the normal height (reference value), the fastening means 20 may be in a less tightened state. If the height of the fastening means 20 is lower than the normal height, Therefore, the control unit 100 can determine whether the fastening state of the fastening means 20 is good or bad by comparing the height of the fastening means 20 with the reference value. For example, when the calculated difference between the height of the fastening means 20 and the reference value exceeds the set value, the control section 100 can determine that the fastening state of the fastening means 20 is defective.

The controller 100 may determine the fastening state of the fastening means 20 in consideration of the position based on the object 10 of the fastening means 20 in addition to the height.

That is, in the present embodiment, since the object 10 is transported along the process line, the position and shape of the fastening means 20 can be grasped by using a line laser scan sensor provided in the vertical direction in the transport direction of the process line.

In other words, the control unit calculates the position of the fastening means 20 based on the scan result of the laser scanning unit 110 with reference to the object 10, compares the calculated height with the reference value, The fastening state of the fastening means 20 can be judged.

For example, when it is determined that the fastening means 20 is out of the normal position, the control unit 100 can determine that the fastening state of the fastening means 20 is defective. At this time, information on the normal position of the fastening means 20 may be stored in the storage unit 120.

The control unit 100 may further calculate the position of the fastening means 20 with respect to the target object 10 taking into account the image photographed through the camera unit 130. [ An error may occur in grasping the position of the fastening means 20 through the measurement result of only the rare sensor. Therefore, the control unit 100 controls the fastening means 20 in consideration of the image of the object 10, It is possible to grasp the position of the robot.

The control unit 100 may also determine the fastening state of the fastening means 20 by considering the shape of the fastening means 20 that can be grasped through the laser scanning unit 110 or the camera unit 130 .

On the other hand, when the fastening means 20 is loosely fastened, the fastening means 20 may be shaken as the object 10 moves. In this case, when the object 10 is scanned through the laser sensor, ripple may occur in the region where the fastening means 20 is located. Therefore, if the scan result of the laser scanning unit 110 has a ripple of more than a predetermined reference, the controller 100 can determine that the fastening state of the fastening means 20 is defective.

When the control unit 100 judges the state of the fastening means 20, the control unit 100 can display the result through a display device (e.g., a PC) so that the administrator can grasp the result.

The control unit 100 can also control the conveying line control system 200 so that the object 10 is detached from the processing line when the fastening state of the fastening means 20 is determined to be defective. For example, the control unit 100 may cause the object 10 to deviate from the processing line by transmitting a control signal to the transfer line control system 200 to release the object 10 from the processing line.

FIG. 3 is a view for explaining a fastening state determination method of the fastening means according to an embodiment of the present invention. Referring to FIG. 3, a fastening state determination method of the fastening means according to the present embodiment will be described as follows.

As shown in FIG. 3, the transfer line control system 200 transfers the object 10 along the process line (S100).

Next, the control unit 100 performs laser scanning of the object 10 transported along the process line (S110). For example, the controller 100 may laser scan the object 10 using a line laser scan sensor installed in a direction perpendicular to the transfer direction of the process line.

After the step S110, the controller 100 determines the fastening state of the fastening means 20 based on the result of the scan in the step S110 (S120).

Specifically, the control unit 100 calculates the height based on the object 10 of the fastening means 20 fastened to the object 10 based on the scan result of the laser scanning unit 110, And the reference value stored in the storage unit 120. In this way, the fastening state of the fastening means 20 can be determined.

That is, when the height of the fastening means 20 is higher than the normal height (reference value), the fastening means 20 may be in a less tightened state. If the height of the fastening means 20 is lower than the normal height, Therefore, the control unit 100 can determine whether the fastening state of the fastening means 20 is good or bad by comparing the height of the fastening means 20 with the reference value. For example, when the calculated difference between the height of the fastening means 20 and the reference value exceeds the set value, the control section 100 can determine that the fastening state of the fastening means 20 is defective.

The controller 100 may determine the fastening state of the fastening means 20 in consideration of the position based on the object 10 of the fastening means 20 in addition to the height.

That is, in the present embodiment, since the object 10 is transported along the process line, the position and shape of the fastening means 20 can be grasped by using a line laser scan sensor provided in the vertical direction in the transport direction of the process line.

In other words, the control unit calculates the position of the fastening means 20 based on the scan result of the laser scanning unit 110 with reference to the object 10, compares the calculated height with the reference value, The fastening state of the fastening means 20 can be judged.

For example, when it is determined that the fastening means 20 is out of the normal position, the control unit 100 can determine that the fastening state of the fastening means 20 is defective. At this time, information on the normal position of the fastening means 20 may be stored in the storage unit 120.

If it is determined in step S120 that the fastening state of the fastening means 20 is defective (S130), the control unit 100 releases the object 10 from the line (S140). For example, the control unit 100 may cause the object 10 to deviate from the processing line by transmitting a control signal to the transfer line control system 200 to release the object 10 from the processing line.

As described above, according to the apparatus and method for determining the fastening state of the fastening means according to the embodiment of the present invention, the fastening state of the fastening means is determined based on the height of the fastening means calculated through laser scanning, To prevent assembly failure and improve assembly quality and reliability.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. I will understand. Accordingly, the technical scope of the present invention should be defined by the following claims.

10: object
20: fastening means
100:
110: laser scanning unit
120:
130:
200: Transfer line control system

Claims (3)

A laser scanning unit for laser-scanning a target object transferred along the process line;
A storage unit for storing a reference value for determining the state of the fastening means; And
And a controller for calculating a height based on the object of the fastening means fastened to the object based on the scan result of the laser scanning unit and comparing the calculated height with a reference value stored in the storage unit, And a control unit for determining a fastening state of the fastening means on the basis of a negative scan result,
Wherein the laser scanning unit includes a line laser scanning sensor installed in a direction perpendicular to a feeding direction of the process line, wherein the line laser scanning sensor is fixed,
Wherein the control unit determines that the fastening state of the fastening means is defective when there is a ripple of a predetermined reference or more in a scan result of the laser scanning unit.
The method according to claim 1,
Wherein the control unit calculates a position based on the object of the fastening unit based on a scan result of the laser scanning unit, compares the calculated height with the reference value, And determining a fastening state of the fastening means in consideration of the position of the fastening means.
The laser scanning the object to be transferred along the process line by the control unit;
Calculating a height of the fastening means fastened to the object on the basis of the object, based on the laser scan result;
Calculating a position on the basis of the object of the fastening means on the basis of the laser scan result;
Determining, by the control unit, the fastening state of the fastening means based on the calculated height, the calculated position, and the laser scan result; And
And controlling the control unit to release the object from the process line when the fastening state of the fastening unit is determined to be defective,
Wherein the controller determines that the fastening state of the fastening means is defective when there is a ripple at least a reference preset in the laser scanning result in the step of determining the fastening state of the fastening means .
KR1020150177204A 2015-12-11 2015-12-11 Apparatus and method for determining combination status of combination means KR101738847B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109746188A (en) * 2017-11-01 2019-05-14 湖南海擎智能科技有限责任公司 Assembly line sheet thickness detection system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007033250A (en) * 2005-07-27 2007-02-08 Toyota Motor Corp Assembling accuracy measuring system
JP2011185726A (en) * 2010-03-08 2011-09-22 Honda Motor Co Ltd Method and device for inspection of assembling workpiece

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007033250A (en) * 2005-07-27 2007-02-08 Toyota Motor Corp Assembling accuracy measuring system
JP2011185726A (en) * 2010-03-08 2011-09-22 Honda Motor Co Ltd Method and device for inspection of assembling workpiece

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109746188A (en) * 2017-11-01 2019-05-14 湖南海擎智能科技有限责任公司 Assembly line sheet thickness detection system

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