KR20210102566A - Machine vision apparatus for installation of automobile door parts with precision compensation - Google Patents

Abstract

The present invention relates to a machine vision apparatus for mounting automobile door parts with precision compensation, which is able to precisely mount panel-shaped parts, which are maintaining a gap from an automobile door part or a vehicle body of the automobile, on the vehicle body. The machine vision apparatus can comprise: a vision sensor placed facing the gap part between the parts and other parts or between the parts and the vehicle body, and using a placement angle between a slit laser optical axis and a camera optical axis, and detecting an interval and drop between hemming edges of gap parts by a parts interval measuring algorithm, and generating a measurement data value; a transfer unit moving the vision sensor on a straight line or rotating the vision sensor for generating the measurement data value for each gap part; a mounting robot engaging the parts with the mounting position of the vehicle body; and a control unit analyzing the difference between the reference value detected based on the gap parts of a reference position selected among the gap parts and the measurement data value by a door mounting compensation algorithm, and transmitting the value for moving the parts to respond to the deviation value to the mounting robot.

Description

Machine vision apparatus for installation of automobile door parts with precision compensation

The present invention relates to a machine vision device for precision calibration mounting of automobile door parts.

In general, automobile companies that produce mass-produced vehicles are developing more precise and productive technologies while promoting manufacturing efficiency through a series of automobile production processes.

The automobile production process includes a pressing process including cutting and compression molding of steel plates based on passenger cars, a car body manufacturing process through welding and assembling of pressed steel plates, and a painting process that performs soundproofing, dustproofing, antirust treatment and color painting of the car body And, a design process for assembling the interior/exterior of the vehicle body and the chassis, and a vehicle assembly process and test process may be included.

In the vehicle assembly process, wiring and piping work is performed while assembling and installing thousands of interior and exterior decorations and electronic components such as interior, instrument panel, seat, window glass, and electrical components on the painted body, and units such as engines, transmissions, and axles.

In more detail, in the body part assembly process, parts such as a trunk, a rear door, a hood, a roof, a front door, a fender, and a finishing material are assembled to the body. In this case, a high level of quality control is required in consideration of gaps and flushes between parts and between parts or between parts and a vehicle body.

In particular, when assembling a door of a vehicle to a vehicle body, the quality of the assembly result may vary depending on the skill level of the operator. For example, in a multi-product production line, the amount of deflection according to the load of the door parts may be different, and when parts are assembled in the order of the rear door, the front door, and the fender, it is very difficult to proceed with full automation because accumulated values between parts occur.

In addition, most of the sensors for measurement used during assembly are made in foreign countries, or they have a disadvantage in that they are heavy enough to be difficult to mount in a large number of robots or equipment for assembling existing parts or have a relatively large size standard.

In particular, since the existing robot for assembling parts is configured to operate according to a predetermined communication protocol or algorithm, the application of the developed technology for precision calibration may be very limited.

For example, in the case of foreign machine vision equipment of the prior art, the measurement and inspection result values are shared through the system, but it is very difficult to program the body assembly company's articulated robot, communication module, and vehicle body transport control module. It can be even more difficult to apply.

Therefore, the machine vision equipment of the prior art has limitations in the size and weight of the inspection module to cope with multi-product production, and it is very difficult to solve the problem of increasing the number of measurement sensors or modules of the machine vision equipment installed in the robot for assembling parts. am.

In addition, a part or an edge in which a hemming is formed may be present in the rim part of the automobile door part or the rim part of the mounting part of the vehicle body to which the parts such as the automobile door are coupled.

It is very difficult to obtain a measurement image for the tip having such a hemming, or it is difficult to obtain a precise value, and an error may occur due to an automobile manufacturing environment, or an error value may occur due to the brightness of lighting inside a factory.

The 3D machine vision device according to the prior art has a structure including a multi-channel DLP (Digital Light Projector), and this structure can be precise under the same conditions, but has poor stability due to lighting and materials in an automobile production environment, or has high cost. It has limitations.

In addition, in a 3D machine vision device with multi-channel DLP, due to interference between assembled body parts, in case of long-distance measurement, the brightness of the lighting is non-uniform, resulting in poor precision, and in order to solve the problem of uneven lighting, the size of the lighting must be increased. In this case, there is a problem in that the size of the machine vision device increases.

Overseas machine vision devices to which the DLP method is applied are used only for shape measurement of parts before assembly and quality inspection of manually assembled assemblies in the automobile body assembly process, and may not be used to precisely calibrate and install automobile door parts.

Therefore, there is an urgent need to develop a device and a technical algorithm capable of assembling automobile door parts while performing precise calibration.

The present invention can be installed in a multi-joint robot hanger for auto parts assembly in an auto parts assembly process including car doors, fenders, hoods, roofs, and trunks. flush) in real time, and the result value is fed back to the robot controller control unit in real time to provide a machine vision device for precise correction of automobile door parts that can precisely correct the body assembly position.

According to the present invention for achieving the above object, a machine vision device for precision correction and mounting of automobile door parts is precisely mounted on a car body with a panel-type part that maintains a gap with respect to the car door part or the car body. In order to do this, it is disposed toward the gap between the part and other parts or the gap between the part and the vehicle body, and the spacing between the hemming edges of the gap part using the angle between the slit laser optical axis and the camera optical axis is used. and a vision sensor for generating a measurement data value by detecting the step with a part spacing measurement algorithm. a transfer unit that linearly reciprocates or rotates the vision sensor to generate the measured data value for each gap portion; a mounting robot for coupling the part to a mounting position of the vehicle body; and analyzing the difference between the reference value detected based on the gap portion of the reference position selected from among the gap portions and the measured data value with a door mounting correction algorithm, and calculating a numerical value capable of moving the part in response to the deviation value. It is characterized in that it includes; a control unit to transmit to.

The machine vision device for precision correction and mounting of automobile door parts according to the present invention can automate the assembly of automobile parts, and has the advantage of providing a compact and lightweight product that can be mounted on a mounting robot or mounted and used in plurality. .

In addition, the machine vision device for mounting precision correction of automobile door parts according to the present invention can increase the aesthetics of the external factors of the car to the extent that it can satisfy the quality required for the products of consumers, for example, precision of less than 100um. It has the advantage of being able to provide technology that can be fitted with corrections to automakers.

1 is a block diagram of a machine vision device for precision correction and mounting of automobile door parts according to an embodiment of the present invention.
FIG. 2 is a perspective view of a vision sensor for a machine vision device for precision calibration mounting of a door part of an automobile shown in FIG. 1 .
FIG. 3 is a front view of the vision sensor shown in FIG. 2 .
4 to 7 are front views for explaining the principle of detecting the edge of the door part (Hemming Panel) by the vision sensor shown in FIG. 3 .
FIG. 8 is a view for explaining an algorithm for measuring a part spacing of a machine vision device for precision correction and mounting of automobile door parts shown in FIG. 1 .
FIG. 9 is a view for explaining a door mounting correction algorithm of the machine vision device for precision correction and mounting of automobile door parts shown in FIG. 1 .

Hereinafter, with reference to the drawings, a machine vision device for precision correction and mounting of automobile door parts according to the present invention will be described in more detail.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is defined by the description of the claims.

On the other hand, the terms used herein are for the purpose of describing the embodiments and are not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. In the following description, parts refer to a mounting target to be precisely calibrated and mounted in the automotive field, and thus may refer to parts, units, or modules for vehicle mounting that need to maintain gaps or steps as well as door parts or hinge-type parts.

As used herein, "comprises" and/or "comprising" refers to the presence of one or more other components, steps, operations and/or elements in a referenced element, step, operation and/or element. or addition is not excluded. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a machine vision device for precision correction and mounting of automobile door parts according to an embodiment of the present invention.

Referring to FIG. 1 , a machine vision device for precision correction and mounting of a vehicle door component according to an embodiment of the present invention provides a gap 13 between a door component 11 and a vehicle body 12 of a vehicle 10 . An apparatus or method capable of performing vehicle door gap measurement and calibration may be disclosed.

The machine vision apparatus of this embodiment may include at least one vision sensor 100 , a transfer unit 200 , a mounting robot 300 , and a control unit 400 .

The vision sensor 100 may be mounted on the transfer unit 200 that exclusively measures the gap and step difference between the doors of the vehicle.

In addition, the vision sensor 100 may have a smaller and lighter standard than existing products. In this case, a single or plural number of vision sensors 100 may be mounted on the mounting robot 300 and used within the allowable load range of the mounting robot 300 , which will be described later.

The vision sensor 100 provides a gap between parts and other parts so that a panel-type part that maintains a gap with respect to the door part 11 or the car body 12 of the car 10 can be precisely mounted to the car body. A portion (not shown) (eg, a gap portion between a front door and a rear door) or a gap portion 13 between the door component 11 and the vehicle body 12 may be used.

Here, the gap portion 13 may mean a plurality of locations, and may be a selected or specified location for precision correction and mounting of automobile door parts.

The transfer unit 200 may serve to linearly reciprocate or rotate the vision sensor 100 so as to generate the measured data value obtained through the vision sensor 100 for each gap region 13 .

The transfer unit 200 may be configured to support a motor driver, a controller, a robot communication infrastructure, a feedback sensor, a coordinate conversion, and a robot collaboration technology provided by factory automation technology.

The transfer unit 200 may be physically and electronically connected to the mounting robot 300 and the control unit 400 so as to cooperate or link to the mounting robot 300 to be described later.

The mounting robot 300 may serve to couple the door part 11 to a mounting position of the vehicle body 12 . For example, the mounting robot 300 may be an articulated robot hanger for assembling automobile parts.

In addition, the mounting robot 300 installs parts such as a trunk, a rear door, a hood, a roof, a front door, a fender, and a finishing material to the body 12 ) may refer to a factory automation facility or a robot device assembled to, and thus may not be limited to a specific device.

The control unit 400 detects the reference value and the measurement data value based on the gap portion of the reference position selected from the gap portions 13 by the part gap measurement algorithm, and the difference between the reference value and the measurement data value (eg, deviation) value) is analyzed by a door mounting correction algorithm to be described later, and then a numerical value capable of moving the part corresponding to the deviation value is transmitted to the mounting robot 300 to perform or control precision correction mounting.

The control unit 400 may include an articulated robot feedback communication module (not shown) for correcting the door alignment position.

The control unit 400 is connected to a display device 500 that displays a process or result of performing a computational analysis, or an operation state for each vision sensor 100 , the transfer unit 200 and the mounted robot 300 , or displays information. there may be In FIG. 1 , the display device 500 shows an imaged region or a region of interest (ROI) photographed by the vision sensor 100 by way of example.

The control unit 400 may record and store the aforementioned part gap measurement algorithm and door mounting correction algorithm, and execute the vision sensor 100 , the transfer unit 200 and the mounting robot 300 corresponding to the algorithm. can be a means.

The control unit 400 generates a finite element model according to the design structure of the vision measurement system, performs system safety evaluation through computational structural analysis of the finite element model of the vision measurement system, and has a structure based on the safety evaluation of the vision measurement system It may be configured to support the design.

The control unit 400 generates a door structure finite element model according to the load, analyzes the door deflection amount according to the door load through computerized structural analysis, and acquires or secures door assembly position data based on the deformation amount analysis result may have been

The control unit 400 may support Transmission Control Protocol (TCP), User Datagram Protocol (UDP), and hard wired, and may support the vision sensor 100 , the transfer unit 200 , and the mounted robot 300 . Precise calibration work can also be realized quickly and reliably.

The control unit 400 is compatible with the vision sensor 100 , the transfer unit 200 , and the mounting robot 300 , and has been developed in consideration of various vehicle assembly line environments, so it can respond to a mixed-vehicle mass production line. Accordingly, as a comparative example, as compared to the simple sharing and use of measurement and inspection result values in foreign machine vision equipment, the vision sensor 100 of the present invention has multiple joints such as the transfer unit 200 and the mounting robot 300 . It has the advantage of being easily ported to various communication modules and vehicle body transport control modules, including robots, so that it can respond to each vehicle type.

The control unit 400 may further provide an image pre-processing algorithm and a body part shape expression algorithm.

The image pre-processing algorithm can be pre-processed as a method of image processing with Gaussian Blur, a graphic software, in order to reduce noise and detail in the photographed image in order to measure the distance between car body parts.

The body part shape expression algorithm may have a random sample consensus (RANSAC) as a method for extracting the outline of a body part in order to measure the distance between the car body parts. Here, the random sample consensus algorithm may be an algorithm for estimating parameters of the model by random sampling of observed data.

In addition, the random sample consensus can find the best fitting result with a precision of less than 100 μm by using a voting scheme when considering a data set in which data elements contain both outliers and outliers.

Finding the optimal fitting result in this way can be very effectively used to specify a hemming edge of the gap region 13 of FIG. 1 .

FIG. 2 is a perspective view of a vision sensor for a machine vision device for precision correction and mounting of a vehicle door component shown in FIG. 1 , and FIG. 3 is a front view of the vision sensor shown in FIG. 2 .

2 and 3 , the vision sensor 100 uses an arrangement angle S3 between the slit laser optical axis 20 and the camera optical axis 30 to form a hemming edge of the gap region 13 of FIG. 1 . edge) by detecting the gap and step difference with a part gap measurement algorithm to generate a measured data value, and may be configured to transmit the measured data value to the aforementioned control unit 400 in real time.

For example, the vision sensor 100 may include a line laser 110 , a pattern LED irradiator 120 , a color CCD camera 130 , a first casing 140 , a second casing 150 , and a casing holder 160 . can

The line laser 110 may serve to irradiate a line-shaped slit laser light source toward the aforementioned gap region 13 .

This line laser 110 is a red (R: red), green (G: green), blue (B: blue) through the optical coupling of the laser element to take into account the illumination interference in the measurement space of the part, the line The slit laser light source of the form may be manufactured to have a red color of 640 nm having a relatively high wavelength in the RGB region, and to have a line shape that is widened to a light spreading angle of 20° at the end of the slit laser light source.

The pattern LED irradiator 120 is disposed parallel to the line laser 110 and may serve to irradiate a pattern light source of a color contrasting with the slit laser light source toward the gap region 13 .

As shown in FIG. 3 , the pattern LED irradiator 120 includes an LED light output body 121 of a 460 nm blue wavelength and an adapter for coupling the LED light output body 121 to the inside of the first casing 140 ( 122) may be included. In addition, the pattern LED irradiator 120 may include a pattern glass 123 coupled to the LED light output body 121 to generate a moiré pattern using the light generated from the LED light output body 121 . For example, the pattern LED irradiator 120 supports the projection-type moiré method or is manufactured to be suitable for hardware or post-processing image processing (eg, Unwrapping, N-bucket algorithm) suitable for algorithm analysis for 3D shape implementation of moiré measurement data. This may have the advantage of enabling basic condition analysis (eg, interference fringes, light source wavelength and intensity, etc.) for moiré measurement.

In addition, the patterned glass 123 may be a 35mm lens capable of forming a plurality of moiré patterns with an interval of 7 mm and a moire pattern width of 4 mm above and below the line-shaped slit laser light source.

The color CCD camera 130 maintains the arrangement angle S3 with respect to the line laser 110 or the pattern LED irradiator 120, and captures image information for computational analysis and image pre-processing to input to the control unit 400. It may be configured to

A lens unit 135 may be further coupled to the color CCD camera 130 . The lens unit 135 satisfies the lens standard for easily checking the measurement result, or more specifically, has a lens standard of 16mm or 30mm, so that the error of the photographing result value is increased to about 0.2mm to reduce the imaging error rate. There may be advantages.

The material of the first casing 140 , the second casing 150 , and the casing holder 160 for the vision sensor 100 may be made of an aluminum alloy suitable for weight reduction and miniaturization technology.

The first casing 140 , the second casing 150 , and the casing holder 160 may be made of an aluminum alloy profile member, and may be assembled with bolts or nuts to be disassembled and assembled.

When the first casing 140, the second casing 150, and the casing holder 160 are coupled to each other, the horizontal (S1) and vertical (S2) specifications may be 250 * 250 mm, and the weight may be 5 kg or less have. That is, as a comparative example, it can be seen that the foreign-made vision sensor for inspection of automobile parts is relatively small and lightweight compared to 460*380 mm and 8 kg in weight.

As a result, as mentioned above, the vision sensor 100 has the advantage of being able to be mounted and used singly or in plurality in the transfer unit 200 and the mounting robot 300 .

In addition, the first casing 140 may serve to provide an installation space and support for the line laser 110 and the pattern LED irradiator 120 . Here, openings 141 and 142 having separate and different diameters may be formed in the first casing 140 to respectively perform the emission of the slit laser light source and the emission of the pattern light source.

In addition, the second casing 150 may provide an installation space for the color CCD camera 130 and the angle adjustment unit 155 .

The casing holder 160 vertically protrudes from the outer surface of the first casing 140 , and is bent to correspond to the aforementioned arrangement angle S3 and extends toward the outer surface of the second casing 150 , the first casing It may be a hollow box-shaped connection structure that connects between the 140 and the second casing 150 with each other.

In particular, the second casing 150 has a side plate of the second casing 150 adjacent to the color CCD camera 130 for the angle adjusting unit 155 and to be the center of rotation of the color CCD camera 130 . A hinge hole 156 formed in may be included.

In addition, the second casing 150 has an arc-shaped angle adjustment hole 157 formed on the side plate of the second casing 150 , respectively, so as to be spaced apart from the hinge hole 156 , and the installation angle displacement of the color CCD camera 130 . It may include a fixing bolt 158 that is respectively slidably inserted along the angle adjustment hole 157 to adjust the color CCD camera 130 is screwed. Through this, when the color CCD camera 130 is mounted inside the second casing 150, it can have a precise mounting angle, or there is an advantage that the mounting angle can be selectively changed as needed.

As such, the vision sensor 100 is a type of interval and step measuring device including a line laser 110 as a laser slit light source, a pattern LED irradiator 120 as an LED pattern light source, and a color CCD camera 130 disposed therewith. can be

The vision sensor 100 and the control unit 400 connected thereto may obtain an image, measure the height of the door component, and then calculate the gap by comparing it with the vehicle body gap management position. If the calculated value does not match, the rotation value for the door part can be inferred, and the rotation based on the door hinge can be understood through the parts gap measurement algorithm and door mounting correction algorithm, which will be described later. The result values obtained by applying these algorithms are transmitted to the articulated robot hanger for assembling parts for assembling at the optimal position between door parts, and by changing the compensation values corresponding to the assembly angle and deviation values, the optimal position can be used for assembly in

For this, the edge of the door part (Hemming Panel) needs to be precisely detected.

4 to 7 are front views for explaining the principle of detecting the edge of the door part (Hemming Panel) by the vision sensor shown in FIG. 3 .

4 to 7 , the edge of the door part needs to be selected in various ways in order to measure the gap and the step between the vehicle body and the door part, or the gap and the step between the doors.

For example, as a method for detecting the edge of a door part, using the difference between the angles (α, β) between the line laser 110 and the color CCD camera 130, FIGS. 4 to 7 and the following [Equation 1] It can be calculated by the formulas (1) to (4) of

Here, ΔZ means vertical (height) resolution (mm/pixel), ΔX means horizontal (width) resolution (mm/pixel), and α is the angle between the vertical axis (VL) and the color CCD camera 130, β may mean an angle between the vertical axis VL and the line laser 110 .

That is, the actual height value can be known by multiplying the resulting pixel value by the ΔZ value.

Accordingly, the aforementioned control unit 400 selectively uses a result value with high precision among values obtained by sequentially calculating the equations (1) to (4) of FIGS. 4 to 7 to further increase the edge of the door part. It has the advantage of being able to detect accurately.

FIG. 8 is a view for explaining an algorithm for measuring a part spacing of a machine vision device for precision correction and mounting of automobile door parts shown in FIG. 1 .

Referring to FIG. 8 , the reference of the image shown on the display device may be synchronized with the camera measurement position based on the actual measurement.

The control unit may start extracting straight lines related to the left points in Fig. 8 from the image information captured by the color CCD camera and designate the last point. In the same way, the straight line extraction related to the right points can be started and also the last point can be designated. As a result, the straight line extracted as the left point set and the straight line extracted as the right point set can be defined.

In addition, the control unit defines an imaginary straight line orthogonal to the reference line from the image information, and as a result, a left gap measurement reference point can be determined, and as a result, a left gap measurement reference point (eg, a green point) and various intersection points ( Example: orange dots, blue dots) can be recognized.

In this case, in the gap region, the gap (G) can be calculated by multiplying the pixel between the green point and the orange point by ΔX, and the step (F) is the pixel between the blue point and the orange dot multiplied by ΔZ. can be calculated.

FIG. 9 is a view for explaining a door mounting correction algorithm of the machine vision device for precision correction and mounting of a door part of an automobile shown in FIG. 1 .

Referring to FIG. 9 , according to the process of assembling a vehicle body and a door component, first, a vehicle body body (not shown) may be put into a feeding conveyor device, stopped at a designated position, and a seating operation may be performed.

For precise calibration of the door part 11, the articulated robot hanger absorbs (eg, fixes) the door part 11 from the door pallet, moves it toward the body body, and measures the gap or step when it comes to the specified basic position. This may be accomplished through the vision sensor 100 . After comparing the measurement result with the default value, if the product is good, the door hinge (14, 15) parts are bolted. After that, re-shooting is repeated 4 times, and if there is a defect after that, a bad message may be generated.

The process of transmitting the measured value of the photographed image with the articulated robot through communication and transferring the weight to the finished vehicle database may be performed.

Check the assembly quality of the door parts 11 and correct the gap, but correct the height (H) and rotation (T) angle deviation values according to the distance between the vehicle body and the door parts 11 by the door mounting correction algorithm In order to analyze the difference between the measurement result value by the vision sensor and the reference value, a numerical value capable of moving the door component 11 in response to the deviation value may be displayed.

측정 위치의 간격과

측정 위치의 간격을 산출하기 위해

의 간격을 측정하여 측정값과 기준 값의 차이를 산출하며

,

위치의 간격 산출은 [수학식 2]의 식(6), (7)과 같을 수 있다.In more detail, the method for correcting the vehicle body door component first determines the height of the door component 11 as shown in FIG. 9 .

the distance between the measurement positions and

To calculate the spacing of the measurement positions

The difference between the measured value and the reference value is calculated by measuring the interval of

,

Calculation of the spacing of the positions may be the same as Equations (6) and (7) of [Equation 2].

측정 위치의 차체 원점의 높이와 도어 부품(11)의 법선(측정방향)간의 각도, α는

측정 위치의 차체 원점의 높이와 도어 부품(11)의 법선(측정 방향)간의 각도이다.Here, ?曄兀?

The angle between the height of the origin of the vehicle body at the measurement position and the normal (measurement direction) of the door part 11, α, is

It is the angle between the height of the origin of the vehicle body at the measurement position and the normal line (measurement direction) of the door component 11 .

측정 위치에서의 기준 값과 산출 값의 차이를 계산하고 도어 부품(11)의 회전 시 X, Y 변화량 값(K)으로 나눠준다. 여기서 변화량 값(K)는 [수학식 3]과 같을 수 있다.Then, in order to calculate the height value of the door component 11 and then correct the rotation angle value of the component

The difference between the reference value and the calculated value at the measurement position is calculated and divided by the X, Y change value (K) when the door part 11 is rotated. Here, the variation value (K) may be as in [Equation 3].

In addition, it can be expressed as [Equation 4] of the height (H) and the rotation angle (T).

It may be the same as [Equation 5] to obtain the amount of change after moving the upper door hinge 14, and the amount of change due to rotation may be excluded because it is insignificant.

It can be expressed as [Equation 6] to obtain the amount of change after the lower door hinge 15 is moved.

In this way, data communication between the articulated robot and the measuring device is required to correct the position between the car body parts, and the X, Y, Z, and angle are estimated according to the position of the four points and the data value that moves to the optimal position is transmitted. .

Position compensation is performed by first measuring the reference point of the vehicle body, then measuring the door part (1), setting the reference position point, measuring the distance between the door part and the body, and one door part and the other door part, and then The data value is transmitted so that the optimal position can be obtained by applying the mounting correction algorithm.

That is, the high esthetic position of the door component 11 may be calculated through the door position correction simulation program using the distance measurement data value obtained by the vision sensor. The correction result value can be verified after simulation by using the measured data value after the door and vehicle condition are settled similarly to the actual field situation.

가 0.4145로 기준 값인 0.1mm(100um)를 초과하므로 회전보정을 수행한다.For example, the correction amount is calculated in the order of H-direction correction, rotational correction, and T-direction correction. [Table 1] shows the results of preferential correction in the H direction,

is 0.4145, which exceeds the reference value of 0.1mm (100um), so rotation compensation is performed.

가 양수일 경우 -T 방향으로, 음수일 경우 +T 방향으로 이동한다. 그 결과 최종적으로 차체 바디와 도어 부품(11) 사이의 간격의 보정값은 [표 2]와 같이 구해질 수 있다.After that, T-direction correction is performed.

If is positive, it moves in the -T direction, and if it is negative, it moves in the +T direction. As a result, the correction value of the distance between the vehicle body body and the door component 11 may be finally obtained as shown in [Table 2].

In addition, the machine vision device for precision correction and mounting of automobile door parts according to the present invention described in detail above overcomes the competition limit with global large companies due to the industry configuration centered on foreign companies, while enabling the linkage between supply and demand for automobile parts assembly robots. , as a device that can be mounted and interlocked with existing domestic robots, it has the advantages of securing global competitiveness, reducing costs and enhancing reliability, and greatly contributing to technological development and ecosystem creation through domestic sensor technology infrastructure.

100: vision sensor 110: line laser
120: pattern LED irradiator 130: color CCD camera
140: first casing 150: second casing
160: casing holder 200: transfer unit
300: mounting robot 400: control unit

Claims (6)

It is disposed toward the gap between the part and the other parts or the gap between the part and the body so that a panel-type part that maintains a gap with respect to the car door part or the car body can be precisely mounted on the car body. , a vision sensor for generating a measurement data value by detecting a gap and a step for each hemming edge of the gap portion using an arrangement angle between the slit laser optical axis and the camera optical axis using a part spacing measurement algorithm;
a transfer unit for linearly reciprocating or rotationally moving the vision sensor to generate the measured data value for each gap portion;
a mounting robot for coupling the part to a mounting position of the vehicle body; and
The difference between the reference value detected based on the gap portion of the selected reference position among the gap portions and the measured data value is analyzed by a door mounting correction algorithm, and a numerical value capable of moving the part corresponding to the deviation value is provided to the installation robot. A control unit for transmitting; a machine vision device for precision calibration of automotive door parts comprising a. The method of claim 1,
The vision sensor may include: a line laser irradiating a line-shaped slit laser light source toward the gap portion;
a pattern LED irradiator disposed parallel to the line laser and irradiating a pattern light source of a color contrasting with the slit laser light source toward the gap portion;
a color CCD camera for maintaining the placement angle with respect to the line laser or the patterned LED irradiator;
a first casing providing an installation space and a support for the line laser and the pattern LED irradiator;
a second casing providing an installation space and an angle adjustment unit for the color CCD camera; and
A box-shaped casing that vertically protrudes from the outer surface of the first casing and extends toward the outer surface of the second casing by being bent to correspond to the arrangement angle, thereby connecting the first casing and the second casing to each other. A machine vision device for precision calibration mounting of automotive door parts, including a holder. 3. The method of claim 2,
The line laser
Through optical coupling of laser elements of red (R: red), green (G: green), and blue (B: blue) waveforms to consider the illumination interference in the measurement space of the part, the line-type slit laser light source is Machine vision for precision correction mounting of automobile door parts, characterized in that it has a red color of 640 nm, which has a relatively high wavelength in the RGB region, and has a line shape that is widened by a light spread angle of 20° at the end of the slit laser light source Device. 3. The method of claim 2,
The pattern LED irradiator is a 460nm blue wavelength LED light output body;
an adapter for coupling the LED light output body to the inside of the first casing; and
and a pattern glass coupled to the LED light output body to generate a moiré pattern using the light generated from the LED light output body. 5. The method of claim 4,
The patterned glass is a 35mm lens capable of forming a plurality of moiré patterns with an interval of 7mm and a moiré pattern width of 4mm above and below the line-shaped slit laser light source. . 3. The method of claim 2,
The second casing,
a hinge hole formed in a side plate of the second casing adjacent to the color CCD camera so as to be a rotation center of the color CCD camera;
an arc-shaped angle adjusting hole formed on the side plate to be spaced apart from the hinge hole; and
and a fixing bolt that is slidably inserted along the angle adjustment hole to adjust the installation angle displacement of the color CCD camera and is screw-coupled to the color CCD camera.

Images