TWI681167B - Vehicle interior detecting system - Google Patents

Abstract

Present invention is related to a vehicle interior detecting system having a shooting studio placed on a parking platform. The shooting studio has a scaffold set on the parking platform and a vehicle positioning area is defined in a middle of the platform under the scaffold. The scaffold has mounted with multiple light sources and cameras toward the vehicle positioning area to provide shooting and lighting functions. A left side and a right side on a top of the scaffold have machine arms carried with the cameras. A control module is mounted besides the scaffold and is electronic connected to each light sources and cameras. When a vehicle is parked on the vehicle positioning area, the present invention is able to detect an interior or accessories of the vehicle by using the cameras to perform a visual recognition including brightness contrast in order to achieve labor saving and accelerate detecting process of the vehicle from a assembly line of a factory.

Description

Automotive interior inspection system

The invention relates to a system for visual recognition, in particular to a system for visually identifying the style and interior of a car.

Existing automobiles are produced when assembling interiors or accessories, such as environmental labels, dashboards, odometers, door armrests, trim panels, audio, fog lamp covers, reversing radar, tires, exhaust stickers, refrigerant stickers or airbag warning stickers Is carried out on the production line of the automobile assembly plant. When installing, the assembly workers take various materials that are scheduled to be installed on the automatic conveying equipment of the material at each site of the production line. As the car progresses at each site of the production line, the materials are installed in sequence to the corresponding In the automobile, the effect of producing multiple types of vehicles and different equipped vehicles on the same production line can be achieved.

Although it is possible to assemble the interiors and accessories of different types of vehicles in the above-mentioned automobile assembly field, if you choose to check the correctness of the installation materials during the assembly process, once the installation error is detected, you need to suspend the entire production line and the vehicle Only after the errors of the assembly materials are eliminated can the installation of the materials of other cars be continued. In this way, the entire production line will be stopped for the installation errors of a car, resulting in a reduction in production efficiency and delaying the production efficiency of the overall production line.

Because the existing cars check the interior or accessories on the assembled production line will reduce the efficiency of production. For this reason, the present invention also provides a studio equipped with a visual recognition device on the parking platform. Cars with installed interiors and accessories are inspected in the shed to save the time of manual inspection, accelerate the speed of leaving the car, and maintain the effect of excellent quality control.

In order to achieve the above object, the present invention provides an automobile interior detection system, which includes: a parking platform; a studio, which is provided on the parking platform and has an exit and an entrance at the front and rear ends, respectively, and the studio includes a support A photo frame on the parking platform, the photo frame includes two side frames arranged at left and right positions, and a top frame connected between the top edges of the two side frames, corresponding to the middle position in the photo studio, A vehicle body positioning area is formed on the parking platform; and a visual recognition device is provided with a control host, a plurality of illumination light sources illuminating toward the vehicle body positioning area and a plurality of photographing towards the vehicle body positioning area are installed on the photo frame Cameras, corresponding to the left and right sides of the car body positioning area, a multi-axis robot arm is provided on the left and right sides of the top frame, and an active camera is combined at the free end of each robot arm. The activity camera has a light source, and each illumination light source, each camera, each robot arm, and each activity camera are electrically connected to the control host respectively. The control host can control each illumination light source, each camera, each robot arm, and each activity camera to the vehicle. Multiple fixed locations are used for visual identification of target presence, brightness or contrast.

Further, in the present invention, a front extension rod is extended in the middle of the front edge of the top frame, a rear extension rod is extended in the middle of the rear edge of the top frame, and an orientation is combined at the free end of the front extension rod The front camera photographed in the vehicle body positioning area is combined with a rear camera photographed toward the vehicle body positioning area at the free end of the rear extension rod.

Further, the invention corresponds to the position of the front end of the vehicle body positioning area, and a multi-axis front robot arm is provided in the middle of the front half of the top frame, and a front movable camera is combined with the front end of the front robot arm. The active camera has a front light source. The front mechanical arm and the front active camera are electrically connected to the control host respectively and can be controlled by the control host to visually identify the car.

Furthermore, in the present invention, a side rail extending in the front-rear direction is combined on each of the left and right sides of the top frame, and each robot arm is provided with a sliding seat at the top, and each sliding seat is combined in a form capable of sliding back and forth It is fixed on each side rail; a front rail extending in the left-right direction is combined in the middle of the front half of the top frame, and the front robot arm is provided with a front sliding seat on the top, and the front sliding seat is combined in the form of being able to slide left and right in this The front track is fixed.

Preferably, in the present invention, a plurality of light-shielding plates are combined at the hollows of the side frames and the top frame, respectively.

Preferably, the invention is provided with a vehicle body positioning device on the front and rear sides of the vehicle body positioning area respectively, and each vehicle body positioning device is provided with a base in the vehicle body positioning area, left and right in each base Two lateral slide tables are provided on both sides, and a loading plate is provided on the top of each lateral slide table. The loading plate can slide laterally relative to each base, and two linear driving elements are combined in the middle of each base. The two linear driving elements It is arranged horizontally and the driving direction is opposite to the left and right. A push wheel block is combined at the driving end of each linear drive element, each push wheel block is located inside each mating load plate, and each push wheel block extends in the lateral direction to form a push wheel portion Each push wheel portion can extend into the upper side of each board from the side of each board.

When the invention is used, the assembled car is driven into the studio through the entrance and parked at an appropriate position in the positioning area of the car body, and then the control host makes multiple illumination light sources cooperate with each camera and each active camera to shoot the The exterior and interior of the car need to detect whether the interior or accessories are installed in the correct position. Automated detection of the correct installation after the car assembly is completed through visual recognition can save the time of manual detection and the time of stopping the production line, so it can be accelerated The factory speed of the car can also maintain excellent quality control.

10‧‧‧Parking platform

20‧‧‧ Studio

21‧‧‧Side frame

22‧‧‧Top frame

221‧‧‧Side track

222‧‧‧Front track

23‧‧‧shade

24‧‧‧Export

25‧‧‧ entrance

26‧‧‧Front extension rod

27‧‧‧Extend rod

30‧‧‧Visual recognition device

31‧‧‧Control host

311‧‧‧Body

312‧‧‧Control interface

32‧‧‧Camera

33‧‧‧Previous camera

34‧‧‧ Rear camera

35‧‧‧Light source

36‧‧‧Robot

361‧‧‧sliding seat

37‧‧‧Camera

371‧‧‧Light source

38‧‧‧Front robotic arm

381‧‧‧Front sliding seat

39‧‧‧Ex-Camera

391‧‧‧Front light source

40‧‧‧Car body positioning device

41‧‧‧Base

411‧‧‧Bevel

412‧‧‧Bevel

413‧‧‧Installation groove

42‧‧‧Horizontal slide

421‧‧‧Bottom plate

422‧‧‧Linear slide

423‧‧‧ board

424‧‧‧Wheel alignment strip

43‧‧‧Linear drive element

431‧‧‧Push wheel block

432‧‧‧Push Wheel Department

44‧‧‧ Center bottom plate

45‧‧‧Lead guide rail

50‧‧‧Car

51‧‧‧wheel

A‧‧‧Car body positioning area

B‧‧‧Photographic scaffold

FIG. 1 is a perspective view of a first preferred embodiment of the present invention.

2 is a plan view of the first preferred embodiment of the present invention.

3 is a cross-sectional view of the first preferred embodiment of the present invention.

FIG. 4 is a schematic diagram of an automobile parking according to a first preferred embodiment of the present invention.

5 is an exploded view of the vehicle body positioning device of the first preferred embodiment of the present invention.

6 is an action diagram of adjusting the positioning of a car according to the first preferred embodiment of the present invention.

7 is a schematic diagram of an example of visual recognition according to the first preferred embodiment of the present invention.

8 is a schematic diagram of an example of visual recognition according to the first preferred embodiment of the present invention.

9 is a schematic diagram of an example of visual recognition according to the first preferred embodiment of the present invention.

10 is a schematic diagram of an example of visual recognition according to the first preferred embodiment of the present invention.

11 is a perspective view of a second preferred embodiment of the present invention.

In order to understand the technical features and practical effects of the present invention in detail, and can be implemented in accordance with the content of the specification, the preferred embodiments shown in the drawings are further described in detail below.

Please refer to the first preferred embodiment of the present invention as shown in FIGS. 1 to 6, the present invention provides a vehicle interior detection system, including a parking platform 10, a studio 20 provided on the parking platform 10, a The visual recognition device 30 provided in the studio 20 and a pair of vehicle body positioning devices 40 provided on the parking platform 10 can locate a car 50 under test on the pair of vehicle body positioning devices 40, in which: As shown in FIGS. 1 to 4, the parking platform 10 may be the ground or any platform available for cars to park. As in the preferred embodiment, the parking platform 10 is set to the ground.

The studio 20 may be a studio in a building or a studio composed of a scaffold. In the preferred embodiment, the studio 20 is a studio composed of a scaffold and a shading plate. The photo studio 20 is provided with a photo studio frame B. The photo studio frame B includes two side frames 21 disposed at left and right positions, and a top frame 22 connected between the top edges of the two side frames 21. Each side frame 21 And the top frame 22 is carved An empty rectangular frame is combined with a plurality of light-shielding plates 23 at the hollows of the side frames 21 and the hollows of the top frame 22 respectively, and walls capable of shielding light are formed on the top side, left and right sides of the studio 20, respectively surface.

Corresponding to the middle position in the photo studio 20, a vehicle body positioning area A is formed on the parking platform 10, and an exit 24 and an entrance 25 are formed at the front and rear ends of the photo studio 20, respectively, and the car 50 can pass through the entrance 25 Drive into the studio 20 and stop at the vehicle body positioning area A. After the inspection is completed, the car 50 will then drive away from the studio 20 through the exit 24; in accordance with the location of the exit 24 and the entrance 25, the photography The shed 20 combines a front extension rod 26 extending forward and a rear extension rod 27 extending backward at the middle of the front and rear edges of the top frame 22.

The visual recognition device 30 is provided with a control host 31 next to the studio 20, the control host 31 is provided with a body 311, the body 311 is provided on the parking platform 10, and a control interface 312 is provided on the top of the body 311; The visual recognition device 30 corresponds to the left, right and upper sides of the vehicle body positioning area A, and a plurality of cameras 32 are respectively coupled to the side frames 21 and the top frame 22, and a front camera is coupled to the free end of the front extension rod 26 33. A rear camera 34 is combined at the free end of the rear extension rod 27; each camera 32, the front camera 33 and the rear camera 34 are arranged to shoot toward the vehicle body positioning area A and are respectively connected to the control host 31 It is electrically connected and controlled by the control host 31.

Cooperate with a plurality of cameras 32, the front camera 33 and the rear camera 34 to photograph the position of the car 50 positioned in the vehicle body positioning area A, and combine a plurality of frames 21 and the top frame 22 respectively toward the vehicle body positioning area The illumination light source 35 of A illumination, as in the preferred embodiment, each illumination light source 35 is a strip-shaped light source, and each illumination light source 35 is electrically connected to the control host 31 and controlled by the control host 31 to be turned on, off, or brightness. In order to photograph the interior of the car 50 for visual recognition, a multi-axis robot arm 36 is provided on each of the left and right sides of the top frame 22, and each robot arm 36 is coupled to the top frame 22 with the top and suspended from the top frame 22 The top frame 22 is combined with an active camera 37 at the free end of each mechanical arm 36. Each active camera 37 has a light source 371. Each mechanical arm 36 and each active camera 37 are electrically connected to the control host 31 to be controlled by the control host 31 control.

As shown in FIGS. 4 to 6, the pair of vehicle body positioning devices 40 are respectively coupled to the front and rear sides of the vehicle body positioning area A, and the front and rear distances of the two vehicle body positioning devices 40 are equivalent to the front wheels of the car 50 The wheelbase from the rear wheels. Each vehicle body positioning device 40 includes a base 41 and two horizontal slides 42 and two linear driving elements 43 respectively coupled to the base 41. Each base 41 is a rectangular frame extending in the left-right direction. In front of each base 41, A top inclined surface 411 and a rear inclined surface 412 are respectively formed on the tops of the rear sides. A mounting groove 413 is formed in the middle of the base 41, and a middle bottom plate 44 is combined in the middle of the bottom of each mounting groove 413.

The aforementioned two lateral slides 42 are installed on the left and right sides of each mounting groove 413. The left and right positions of the two lateral slides 42 correspond to the left and right positions of the two front wheels or the two rear wheels of the car 50, and each body positioning device 40 The two linear driving elements 43 are mounted on each of the middle bottom plates 44. The two horizontal slide tables 42 each include a bottom plate 421, two linear slide rails 422, and a carrier plate 423. The bottom plates 421 of the two horizontal slide plates 42 are respectively combined On the left and right sides of the bottom of the mounting groove 413, the two linear slide rails 422 of each vehicle body positioning device 40 are respectively coupled to the front and rear sides of the top surface of each bottom plate 421, and each of the loading plates 423 is combined with the two linear slide rails On 422, each of the mounting plates 423 can slide freely laterally with respect to each base 41, and a wheel positioning bar 424 is fixed on the front and rear sides of the top surface of each mounting plate 423, and each wheel positioning bar 424 is inverted V A long body that is shaped like a letter and extends in the horizontal direction.

The two linear driving elements 43 of each vehicle body positioning device 40 can be selected from pneumatic cylinders, hydraulic cylinders or electric slides. For example, in this preferred embodiment, hydraulic cylinders are used as the linear driving elements 43. The linear driving elements 43 are combined on the middle base plate 44 in a front-to-back arrangement. The two linear driving elements 43 are arranged laterally and the driving directions are opposite to each other. At the driving end of each linear driving element 43, as this preferred embodiment For example, a push wheel block 431 is combined at the front end of the cylinder rod, and a guide wire guide rail 45 extending in the left-right direction is combined between the bottom of each push wheel block 431 and the corresponding mid-set bottom plate 44 to make each push The wheel block 431 can slide steadily in the lateral direction along the mating guide wire guide rail 45, and each push wheel block 431 is located inside each mating carrier plate 423 with a gap between the two. Top side A bump-shaped push-wheel portion 432 extends outward in the lateral direction, and each push-wheel portion 432 can extend into the upper side of each of the mounting plates 423 from the side of each of the mounting plates 423.

When the first preferred embodiment of the present invention is used, as shown in FIGS. 4 to 6, the car 50 is driven to the parking platform 10 and parked in the vehicle body positioning area A in the studio 20. During the process, the car 50 The two wheels 51 on the front and rear sides are respectively opened by the rear inclined surfaces 412 of the body positioning devices 40 to the lateral slides 42 so that the wheels 51 are located on the mating load plates 423 and the wheels are positioned in pairs The bar 424 restricts the front-rear position of each wheel 51, and then uses the vehicle body positioning device 40 to adjust the left-right position of the car 50.

As shown in FIG. 6, when the position of the front side of the car 50 needs to be moved to the left, the corresponding linear driving element 43 is used to drive the left push wheel block 431, and the left push wheel block 431 push wheel portion 432 is used to move the front left The wheels 51 are pushed to the left. At this time, the two front wheels 51 of the car 50 will slide to the left at the same time with the cooperating carrier plate 423, move the front side of the car 50 to the left to the proper position, and then position; When the front side moves to the right, another linear drive element 43 drives the right wheel block 431 to push the front right wheel 51 to the right. At this time, the two front wheels 51 will slide to the right at the same time with the matching passenger board 423 To the location of the positioning. When the left and right positions of the rear side of the automobile 50 need to be adjusted, the rear side body positioning device 40 is adjusted in the same manner as the front side.

When the car 50 is positioned in the body positioning area A, the doors of the car 50 can be opened to facilitate shooting by the corresponding cameras 32 or the mechanical arms 36 can extend into the interior of the car 50 for shooting. As shown in FIGS. 1 and 2, when the visual recognition device 30 visually recognizes the automobile 50 to thereby detect whether the interior and accessories of the automobile 50 are correctly installed, the control host 31 controls the installation in the studio The plurality of illumination light sources 35 of the frame B illuminate the car 50, the plurality of cameras 32 shoots the fixed positions of the left and right sides and the top side of the car 50, and the mechanical arms 36 extend into the car 50 to cooperate with the movable cameras 37 The illumination of the light source 371 is used to photograph the position inside the car 50 that needs to be detected.

The position and number of the above cameras 32 and each active camera 37 are determined by the items to be detected and visually recognized by the visual recognition device 30 for the car 50, which is required by the outside of the car 50 For the position and number of the detected accessories, a camera 32 sufficient for photographing for visual recognition is set on the photo frame B; the position and number of the accessories to be detected inside the car 50 are set, and each robotic arm 36 is set to extend into each of the movable cameras 37 The shooting point for shooting in the car 50. The above-mentioned inspection items for visual recognition of the car 50 include: environmental protection label, alarm horn, left headlight, right headlight, left fog lamp cover, right fog lamp cover, water tank lower trim panel, air outlet switch, external Handle, reversing radar, tire size, armrest trim, seat group material, odometer, gear lever head, steering wheel material, steering wheel switch, interior light, fuel tank tailgate handle, patio color confirmation, airbag warning sign, refrigerant sign, License plate lights, audio.

The identification methods of the images captured by each camera 32 and each active camera 37 include: finding a target, finding a rotating target, no target, no rotating target, no contrast, having contrast, less than brightness, standard brightness, greater than brightness, same brightness, different brightness , Standard colors, same colors, different colors, main colors, no colors, string reading and other visual recognition programs to determine whether the interior or accessories of the car 50 meet the requirements set during production. In the example of the above-mentioned visual recognition program, as shown in FIG. 7, the central cup holder 60 is photographed to recognize whether there is a target or no target, and the target is a rubber pad 61. As shown in FIG. 8, a specific position in the vehicle is photographed to identify a target or no target. The target is a sticker 62 of an airbag. As shown in FIG. 9, the reflection of the interior trim 63 of the door is photographed during the illumination to distinguish between greater than or less than brightness. As shown in FIG. 10, after turning off each illumination light source 35, the fog lamp 64 of the car 50 is turned on to identify whether the fog lamp 64 is lit relative to the environment to perform a contrast or non-contrast test.

In addition to the aforementioned first preferred embodiment of the present invention, each illumination light source 35 is a strip-shaped light source, and a plurality of cameras 32 are combined with the top frame 22 of the studio frame B for visual recognition, as shown in FIG. 11 The second preferred embodiment of the present invention shown is to change a plurality of illumination light sources 35 combined with the studio frame B to planar light sources, and to combine a rim on each of the left and right sides of the top frame 22 A side rail 221 extending in the front-rear direction is coupled with a front rail 222 extending in the left-right direction in the middle of the front half of the top frame 22.

A sliding seat 361 is provided on the top of each of the aforementioned mechanical arms 36, and each sliding seat 361 is combined with each side rail 221 in a form capable of sliding back and forth to fix; A camera 32, the second preferred embodiment of the present invention is further provided with a multi-axis front mechanical arm 38, a front sliding seat 381 is provided on the top of the front mechanical arm 38, the front sliding seat 381 can slide left and right It is fixed on the front rail 222, and a front movable camera 39 is coupled to the free end of the front robot arm 38. The front movable camera 39 has a front light source 391. The front robot arm 38 and the front movable camera 39 are respectively The control host 31 is electrically connected and controlled by the control host 31. The other configurations and usages of the second preferred embodiment of the present invention are the same as those described in the aforementioned first preferred embodiment.

The above are only preferred embodiments of the present invention and are not intended to limit the scope of the claimed rights of the present invention. Any other equivalent changes or modifications made without departing from the spirit of the present invention should be included in the present invention Within the scope of patent application.

10‧‧‧Parking platform

20‧‧‧ Studio

21‧‧‧Side frame

22‧‧‧Top frame

31‧‧‧Control host

311‧‧‧Body

312‧‧‧Control interface

32‧‧‧Camera

36‧‧‧Robot

37‧‧‧Camera

371‧‧‧Light source

40‧‧‧Car body positioning device

A‧‧‧Car body positioning area

B‧‧‧Photographic scaffold

Claims (4)

A car interior detection system includes: a parking platform; a studio, which is provided on the parking platform and is provided with an exit and an entrance at the front and rear ends, respectively, the studio includes a studio supported on the parking platform The photo studio frame includes two side frames arranged at left and right positions, and a top frame connected between the top edges of the two side frames, corresponding to the middle position in the photo studio, forming a car body on the parking platform Positioning area; and a visual recognition device, equipped with a control host, corresponding to the left and right sides of the vehicle body positioning area and above the studio frame, a plurality of illumination light sources illuminating the vehicle body positioning area are installed on the photo frame, corresponding to the vehicle On the left and right sides of the body positioning area, a plurality of cameras shooting towards the body positioning area are installed in the studio, and the left and right sides of the body positioning area are respectively provided on the left and right sides of the top frame There is a multi-axis mechanical arm, which is combined with an active camera at the free end of each mechanical arm. Each active camera has a light source. Each illumination light source, each camera, each mechanical arm, and each active camera are electrically connected to the control host. The control host can control each lighting source, each camera, each robot arm and each active camera to visually identify the presence or absence, brightness or contrast of multiple fixed positions of the car; corresponding to the position of the front end of the vehicle body positioning area at A multi-axis front robot arm is provided in the middle of the front half of the top frame. A free front camera is combined with the free end of the front robot arm. The front movable camera has a front light source. The front robot arm and the front movable camera They are respectively electrically connected to the control host and can be controlled by the control host to visually recognize the car. The automobile interior detection system according to claim 1, wherein a side rail extending in the front-rear direction is combined on each of the left and right sides of the top frame, and each of the mechanical arms is provided with a sliding seat on the top, and each sliding seat It is fixed on each side rail in a form capable of sliding back and forth; a front rail extending in the left-right direction is combined in the middle of the front half of the top frame, and the front robot arm is provided with a front sliding seat on the top, which is capable of The form of sliding left and right is fixed on the front rail. A vehicle interior detection system as claimed in claim 1 or 2, wherein a plurality of light shielding plates are combined at the hollows of the side frames and the top frame, respectively. For example, the vehicle interior detection system of claim 3, wherein a body positioning device is provided on the front and rear sides of the body positioning area, and each body positioning device is provided with a base in the body positioning area. There are two horizontal slides on the left and right sides of the base, and a loading plate is provided on the top of each horizontal slide, which can slide horizontally relative to each base, and two linear driving elements are combined in the middle of each base , The two linear driving elements are arranged laterally and the driving directions are opposite to each other. A driving wheel block is combined at the driving end of each linear driving element, each pushing wheel block is located inside each mating carrier board, and each pushing wheel block is along the lateral direction A push wheel portion is extended to extend, and each push wheel portion can extend into the upper side of each board from the side of each board.

Images