CN114750857A - Flexible positioning method and system based on machine vision technology - Google Patents
Flexible positioning method and system based on machine vision technology Download PDFInfo
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- CN114750857A CN114750857A CN202210271977.1A CN202210271977A CN114750857A CN 114750857 A CN114750857 A CN 114750857A CN 202210271977 A CN202210271977 A CN 202210271977A CN 114750857 A CN114750857 A CN 114750857A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005516 engineering process Methods 0.000 title claims abstract description 17
- 238000004519 manufacturing process Methods 0.000 claims abstract description 16
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 8
- 238000003466 welding Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000011112 process operation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
- B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
- B62D65/024—Positioning of sub-units or components with respect to body shell or other sub-units or components
- B62D65/028—Positioning of sub-units or components with respect to body shell or other sub-units or components by determining relative positions by measurement
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Abstract
The invention discloses a flexible positioning method and a system based on a machine vision technology, wherein the positioning method comprises the following steps: coarse positioning is realized on the vehicle body positioning tool by adopting the stopping precision of the AGV trolley; measuring the vehicle body positioning tool by adopting a vision measuring sensor, and determining the stop pose of the vehicle body positioning tool; comparing the stop position of the actual vehicle body positioning tool with the designed position needing positioning by adopting a calculating unit to calculate the deviation pose of the vehicle body positioning tool; and the controller is adopted to control the working robot on the station to automatically correct the working track according to the deviation pose. The invention can improve the vehicle type flexibility of the production line, improve the working efficiency of the production line and realize more flexible process layout.
Description
Technical Field
The invention relates to the technical field of vehicle body manufacturing, in particular to a flexible positioning method and system based on a machine vision technology.
Background
At present, in the field of welding, a vehicle body is mainly provided with a lifting roller machine and a line side clamp as shown in fig. 1 or a precision follow clamp as shown in fig. 2 between stations, each mode has respective advantages, and some obvious defects exist:
1) The defect of the other clamp form of the line adding of the lifting roller machine is as follows:
a. the in-place precision of the lifting roller machine and the trolley is low;
b. the number of clamps beside the line is large, the operation space of the robot is occupied, and the utilization rate of the robot is low;
c. the vehicle type flexibility of the clamp beside the line is poor;
d. the beat time occupied by the lifting action of the rolling machine and the action of the clamp beside the line is longer.
2) Roller machine + precision follow fixture form shortcoming:
a. the roller machine, the trolley and the following clamp have high requirements on manufacturing precision and consistency, high manufacturing difficulty and high cost;
b. the later precision detection and maintenance of the rolling machine, the trolley and the accompanying fixture are difficult;
c. the quantity of the follow-up clamps on the trolley is limited, and the flexibility of the trolley type is poor.
The information disclosed in the background section above is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
In view of the above existing defects, the present invention aims to provide a flexible positioning method and system based on machine vision technology, so as to improve the vehicle model flexibility of the production line, improve the work efficiency of the production line, and realize more flexible process layout.
The technical scheme of the invention is as follows:
a flexible positioning method based on machine vision technology comprises the following steps:
s1: the stopping precision of the AGV trolley is adopted to realize coarse positioning on the vehicle body positioning tool;
s2: measuring the vehicle body positioning tool by adopting a vision measuring sensor, and determining the stop pose of the vehicle body positioning tool;
s3: comparing the stop position of the actual vehicle body positioning tool with the designed position needing positioning by adopting a calculating unit to calculate the deviation pose of the vehicle body positioning tool;
s4: and a controller is adopted to control the robot on the station to automatically correct the operation track according to the deviation pose.
Specifically, in step S2, the RPS location point of the vehicle body location tool is used to measure the vehicle body location tool.
The invention also provides a flexible positioning system based on the machine vision technology, which comprises:
the device comprises a unit island, wherein a vision measuring sensor, a calculating unit, a control unit and an operating robot are arranged in the unit island;
the AGV is used for conveying the vehicle body positioning tool to the unit island;
the vision measurement sensor is used for measuring the vehicle body positioning tool when the AGV trolley stops, and determining the stop pose of the vehicle body positioning tool;
the calculating unit is used for comparing the actual stop position of the vehicle body positioning tool with the designed stop position to calculate the deviation pose of the vehicle body positioning tool;
And the control unit is used for controlling the manufacturing robot to correct the operation track according to the deviation pose.
Specifically, the plurality of unit islands are arranged in a matrix type.
Compared with the prior art, the invention has the following beneficial effects:
the method comprises the following steps of conveying a vehicle body between stations in an AGV and trolley mode, roughly positioning a clamp and the vehicle body by using the stopping precision of the AGV, adding a machine vision sensor to the stations to photograph the vehicle body to accurately position the vehicle body, feeding a deviation value between the stopping position of the vehicle body and a design value back to a robot of the stations, and automatically correcting an operation track by the robot in the stations according to the deviation value fed back by a machine vision system to realize related process operation, so that the application of a fixture beside a line or a high-precision follow-up clamp is cancelled, the value-added time ratio in beats is increased, and the input and the period of vehicle type introduction are reduced; in addition, the matrix type process island layout of the production line improves the vehicle type flexibility of the fixture, improves the utilization efficiency of the robot and finally achieves the aim of the invention.
Drawings
FIG. 1 is a schematic view of a fixture beside a line of a lifting roller machine in the prior art.
Fig. 2 is a schematic diagram of a prior art roller machine precision-adding pallet.
FIG. 3 is a flowchart of a flexible positioning method based on machine vision technology according to the present invention.
Fig. 4 is a schematic diagram of the flexible positioning system based on machine vision technology of the invention.
FIG. 5 is a schematic view of an AGV trolley and a vehicle body positioning tool of the present invention.
Fig. 6 is a schematic diagram of a matrix layout of the unit islands according to the present invention.
In the figure, 1-AGV trolley, 2-vehicle body positioning tool, 3-vehicle body and 4-vision measuring sensor.
Detailed Description
In order to explain the technical content, the achieved objects and the effects of the present invention in detail, the following description is made in conjunction with the embodiments and the accompanying drawings. In the description of the present embodiments, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present embodiments and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Example 1
The flexible positioning method based on the machine vision technology, as shown in fig. 3, includes the following steps:
s1: the stopping precision of the AGV trolley 1 is adopted to realize coarse positioning on the vehicle body positioning tool 2;
the AGV trolley 1 automatically guides the transported parts and tools, the AGV navigates the parts to each unit by means of a SLAM navigation algorithm, and the structure and the principle of the AGV trolley 1 can be used for transporting and positioning by adopting the AGV trolleys 1 of Chinese patents CN215526457U and CN 111776640A; the AGV is used for carrying the vehicle body positioning tool 2 and the vehicle body 3, so that the vehicle body 3 can shuttle at each station. Automobile body location frock 2 can be dismantled with AGV platform truck 1 and be connected, and automobile body location frock 2 adopts the automobile body to carry the locating hole to fix a position automobile body 3, and each motorcycle type in this hole shares to increase public support point, can realize the flexible sharing of each motorcycle type, promote the frock flexibility ability of producing the line.
S2: measuring the vehicle body positioning tool 2 by adopting a vision measuring sensor 4, and determining the stop pose of the vehicle body positioning tool 2;
the stopping precision of the AGV trolley 1 cannot meet the requirement of welding operation of the automobile body, and a vision measuring sensor 4 is required to be added to accurately position the automobile body 3. After the rough positioning of the vehicle body 3 is stopped, a vision measuring sensor 4 in the station measures the vehicle body to determine the accurate stop position of the vehicle body. As shown in fig. 5, 4 vision measuring sensors 4 are symmetrically adopted on the left side, the left side is not shown in the figure, and the pose of the vehicle body 3 is calculated by photographing the vehicle body positioning tool 2 from different areas; the vision measuring sensor 4 may adopt a machine vision system such as a binocular structured light device, and the structure and detection principle of the binocular structured light device may be, but not limited to, the structured light binocular vision system of chinese patents CN208795188U and CN111906767A, which are not described herein again.
S3: comparing the stop position of the actual vehicle body positioning tool 2 with the designed position needing positioning by adopting a calculating unit to calculate the deviation pose of the vehicle body positioning tool 2;
the method comprises the following steps that a vehicle body 3 is conveyed to a station from the previous station, after the vehicle body 3 is stopped in place, a vehicle body positioning tool 2 and the vehicle body 3 are roughly positioned by using the stopping precision of an AGV trolley 1, a vision measuring sensor 4 shoots a measuring point selected on the vehicle body positioning tool 2 and calculates the three-dimensional coordinate value (X, Y, Z) of the measuring point, the vision measuring sensor 4 compares the measured real-time three-dimensional coordinate value with the three-dimensional coordinate value (X, Y, Z) of a corresponding point of a theoretical stopping position of the vehicle body during process design, and the deviation value of the stopping position of the vehicle body 3 is calculated: Δ X ═ X-X; Y-Y; the visual measurement sensor 4 feeds back deviation values delta x, delta y and delta Z of the stopping position of the vehicle body 3 to the working robot of the station;
S4: a controller is adopted to control the working robot on the station to automatically correct the working track according to the deviation pose;
the operation robot automatically corrects the operation track according to the deviation value to complete the operation content; the operation robot can adopt but not limited to the positioning system described in chinese patent CN211889535U, and the principle is that the welding positioning tool is moved to achieve the purpose of correcting the deviation by driving the X \ Y \ Z direction of the upright column through the servo mechanism.
As a preferable technical solution of the present embodiment, in step S2, the RPS positioning point of the vehicle body positioning tool 2 is used to measure the vehicle body positioning tool 2.
The RPS hole with high requirement on size control is selected as the hole position identified by the vehicle body 3, the positioning precision of the vehicle body 3 can reach +/-0.3 mm, and the requirement on the positioning precision of vehicle body repair welding can be met. The vision measuring sensor 4 has high working efficiency by adopting machine vision, can finish photographing and deviation calculation within 3 seconds, and increases the value-added time. Compared with the prior art, the vehicle body positioning tool 2 is simple in structure, interference points in the operation process of the working robot are reduced, the working efficiency of the working robot is improved, and the working efficiency of stations is integrally improved.
Example 2
This embodiment is a flexible positioning system based on machine vision technology applied to embodiment 1, and as shown in fig. 4 to 5, the flexible positioning system includes: the device comprises a unit island, wherein a vision measuring sensor 4, a calculating unit, a control unit and an operating robot are arranged in the unit island, and the calculating unit and the control unit are in telecommunication connection with the vision measuring sensor 4 and the operating robot; an AGV trolley 1 used for transporting the vehicle body positioning tool 2 to the unit island; the vision measurement sensor 4 is used for measuring the vehicle body positioning tool 2 when the AGV trolley 1 stops, and determining the stop pose of the vehicle body positioning tool 2; the calculation unit is used for comparing the actual stop position of the vehicle body positioning tool 2 with the designed stop position to calculate the deviation pose of the vehicle body positioning tool 2; and the control unit is used for controlling the manufacturing robot to correct the operation track according to the deviation pose.
As a preferred technical solution of this embodiment, a plurality of the cell islands are arranged in a matrix arrangement. As shown in fig. 6, the matrix production line layout breaks the existing linear layout mode, unit islands of different processes are set according to the difference of process operation contents, and the AGV trolley 1 takes the trolley body to shuttle in different process unit islands to complete the process operation, thereby realizing the modularization capability.
In conclusion, the flexible positioning system based on the machine vision technology is adopted in the embodiment, the whole system is more flexible, and the modularization, flexibility, high-efficiency and specialized manufacturing capability is improved; the simplification of the vehicle body positioning tool 2 is realized, and the flexibility of the clamp is improved. The machine vision of the vision measuring sensor 4 positions the pose of the vehicle body quickly and accurately, so that the overall working efficiency of the production line is improved, the station is simplified, and the maintenance of the production line is simplified; the vision measurement sensor 4 technology can provide a large amount of process data, and provides a sufficient and effective data source for digital manufacturing, thereby achieving the purpose of the embodiment.
Although the invention has been described in detail above with reference to specific embodiments, it will be apparent to one skilled in the art that modifications or improvements may be made based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (4)
1. A flexible positioning method based on machine vision technology is characterized by comprising the following steps:
s1: coarse positioning is realized on the vehicle body positioning tool by adopting the stopping precision of the AGV trolley;
s2: measuring the vehicle body positioning tool by adopting a vision measuring sensor, and determining the stop pose of the vehicle body positioning tool;
s3: comparing the stop position of the actual vehicle body positioning tool with the designed position needing positioning by adopting a calculating unit to calculate the deviation pose of the vehicle body positioning tool;
s4: and the controller is adopted to control the working robot on the station to automatically correct the working track according to the deviation pose.
2. The machine vision technology-based flexible positioning method of claim 1, wherein in step S2, the RPS positioning point of the vehicle body positioning tool is adopted to measure the vehicle body positioning tool.
3. A flexible positioning system based on machine vision technology, comprising:
the device comprises a unit island, wherein a vision measuring sensor, a calculating unit, a control unit and an operating robot are arranged in the unit island;
the AGV is used for conveying the vehicle body positioning tool to the unit island;
the vision measurement sensor is used for measuring the vehicle body positioning tool when the AGV trolley stops, and determining the stop pose of the vehicle body positioning tool;
The calculating unit is used for comparing the actual stop position of the vehicle body positioning tool with the designed stop position to calculate the deviation pose of the vehicle body positioning tool;
and the control unit is used for controlling the manufacturing robot to correct the operation track according to the deviation pose.
4. The machine-vision-technology-based flexible positioning system of claim 3, wherein: and the unit islands are arranged in a matrix type.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210271977.1A CN114750857A (en) | 2022-03-18 | 2022-03-18 | Flexible positioning method and system based on machine vision technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210271977.1A CN114750857A (en) | 2022-03-18 | 2022-03-18 | Flexible positioning method and system based on machine vision technology |
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| CN114750857A true CN114750857A (en) | 2022-07-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116022267A (en) * | 2022-12-27 | 2023-04-28 | 广州市斯睿特智能科技有限公司 | Control method, equipment and storage medium of FEM assembly system |
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| US20200189675A1 (en) * | 2018-12-18 | 2020-06-18 | GM Global Technology Operations LLC | Nondeterministic assembly system and method |
| CN112947349A (en) * | 2021-04-06 | 2021-06-11 | 南京航空航天大学苏州研究院 | Binocular vision based secondary positioning device and method for AGV and station in automatic production line |
| CN113306654A (en) * | 2021-07-13 | 2021-08-27 | 三一建筑机器人(西安)研究院有限公司 | Vehicle tire mounting method and mounting method of double tires of rear axle of wheel type engineering vehicle |
-
2022
- 2022-03-18 CN CN202210271977.1A patent/CN114750857A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011008299A1 (en) * | 2011-01-11 | 2011-09-22 | Daimler Ag | Method for mounting cockpit-module part in body of passenger car, involves detecting reference point which characterizes position of door inner cover part to be mounted relative to body |
| CN109483539A (en) * | 2018-11-19 | 2019-03-19 | 施努卡(苏州)智能装备有限公司 | Vision positioning method |
| US20200189675A1 (en) * | 2018-12-18 | 2020-06-18 | GM Global Technology Operations LLC | Nondeterministic assembly system and method |
| CN110843964A (en) * | 2019-12-13 | 2020-02-28 | 湖北大冶汉龙汽车有限公司 | Sunroof assembly quality |
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