Welding is one of the important processes in the automobile manufacturing process, which has high technical index requirements, so the welding quality must be well tested. The traditional detection method is usually a three-coordinate measuring machine, but this method is complicated to operate, slow, and long in cycle, and can only perform random inspections on the workpiece. As a new type of detection method, visual inspection has the advantages of large range, non-contact, intuitive, fast, and high accuracy. Therefore, it can be applied to online inspection of car bodies, and timely feedback of product error information, not only improves the product's pass rate, At the same time, it also provides a closed-loop feedback size control method for process improvement and error reduction, which meets the quality engineering requirements of modern manufacturing. Figure 1 shows a block diagram of a general vision inspection system, where the vision probes are various types of vision sensors.
The key dimensions of the body of the laser vision inspection system are mainly the size of the windshield glass window, the edge position of the door installation position, the position of the positioning hole, and the positional relationship of the sub-assemblies. The spatial position and size of edges, holes, and surfaces are generally fixed measurement systems. Design a measuring station on the production line and place the positioned body in a frame. The frame is composed of longitudinal and horizontally distributed metal columns and rods. You can flexibly install visual sensors on the frame as needed. The number of sensors is usually determined by the number of measured points. At the same time, according to the form of the measured points, the sensors are usually divided into binocular stereo vision sensors, contour sensors and other types.
1. Working principle
In practical applications, usually multiple visual sensors form a visual inspection station, each sensor first calculates the coordinates of the measured point in the current sensor coordinate system, and then converges all visual sensor coordinate systems under the system coordinate system To complete the measurement. The work of the system is mainly based on the camera model and the three-dimensional measurement model of the stereo vision sensor. In order to get the coordinates of the measured point in the body positioning coordinate system, the standard coordinate system needs to be used as an intermediary to convert the measured point in the sensor coordinate system to the measured point in the body positioning coordinate system The coordinate system and the body positioning coordinate system are the same as the standard coordinate system, which is called the same method of intermediary coordinates. The completion of the above work is achieved through the process of local calibration and global calibration. Local calibration uses the lens perspective principle to calibrate 12 external parameters from the world coordinate system to the sensor three-dimensional coordinate system; the global calibration uses the intermediary coordinate system scheme (Figure 2). By using the target, the corresponding measurement sensor is obtained The conversion matrix from the sensor coordinate system to the theodolite coordinate system completes the same coordinate system.
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