阅读说明：本技术 用于车身自动化铆接的激光视觉定位传感器 (Laser vision positioning sensor for automatic riveting of vehicle body ) 是由 孟繁冲 何志成 尚继辉 裘泽锋 陈小虎 高洋 于 2020-12-22 设计创作，主要内容包括：本发明提供用于车身自动化铆接的激光视觉定位传感器,固定在机器人末端铆枪上,包括：智能相机模块；双线垂直激光光源,发射两根互相垂直的激光线；外触发控制器,分别与所述智能相机模块以及所述双线垂直激光光源连接,使用单脉冲向所述智能相机模块以及所述双线垂直激光光源发送信号。本发明提供的用于车身自动化铆接的激光视觉定位传感器,采用双线激光发射器作为线结构光,可以单次拍照达到单根激光多次拍照的效果,增加了外触发控制器,适应动态拍照的需求,可应用于汽车白车身生产线中,达到高节拍的要求。(The invention provides a laser vision positioning sensor for automatic riveting of a vehicle body, which is fixed on a robot tail end riveter and comprises: a smart camera module; the double-line vertical laser light source emits two mutually vertical laser lines; and the external trigger controller is respectively connected with the intelligent camera module and the double-line vertical laser light source and sends signals to the intelligent camera module and the double-line vertical laser light source by using single pulse. According to the laser visual positioning sensor for automatic riveting of the automobile body, the double-line laser transmitter is used as line structure light, the effect of taking a picture for multiple times by using single laser can be achieved by taking a picture once, the external trigger controller is added, the requirement of dynamic picture taking is met, and the laser visual positioning sensor can be applied to an automobile body-in-white production line and meets the requirement of high beat.)

1. The utility model provides a be used for automatic riveted laser vision positioning sensor of automobile body, fixes on the terminal riveter of robot, its characterized in that includes:

a smart camera module;

the double-line vertical laser light source emits two mutually vertical laser lines;

and the external trigger controller is respectively connected with the intelligent camera module and the double-line vertical laser light source and sends signals to the intelligent camera module and the double-line vertical laser light source by using single pulse.

2. The laser vision positioning sensor for automatic riveting of vehicle bodies according to claim 1, characterized in that the angle between the plane of the double laser line of the double-line vertical laser light source and the laser is 45 °.

3. The laser visual positioning sensor for automatic riveting of vehicle bodies according to claim 1, characterized in that the plane of the double laser line of the double-line vertical laser light source forms an angle of 45 ° with the plane of the camera axis.

4. The laser visual positioning sensor for automatic riveting of vehicle bodies according to claim 1, wherein the smart camera module comprises a lens and a filter assembly, the lens and the filter assembly being mounted at a front end of the smart camera module.

5. The laser vision positioning sensor for automatic riveting of vehicle bodies according to claim 1, wherein the smart camera module and the double-line vertical laser light source are respectively connected to an industrial personal computer.

6. The laser vision positioning sensor for automatic riveting of the vehicle body according to claim 5, wherein the industrial personal computer performs feature extraction on the double-line laser to obtain four points at the edge of the riveting hole, combines the information through space conversion, and obtains the feature information of the complete riveting hole through single quick photographing.

7. The laser vision alignment sensor for the automated riveting of vehicle bodies of claim 1, wherein the smart camera module is provided with an industrial lens and a polarizer filter.

8. The laser visual positioning sensor for the automated riveting of vehicle bodies according to claim 1, characterized in that the housing dimensions are not greater than 70 x 70 mm.

Technical Field

The invention relates to the technical field of three-dimensional sensors for riveting and positioning automobile aluminum bodies, in particular to a laser vision positioning sensor for automatic riveting of automobile bodies.

Background

With the development of the automobile industry, the body-in-white light weight becomes the direction of the development of passenger cars, and new materials and new technologies are continuously applied to the body-in-white manufacturing. Aluminum alloys weigh approximately one third of steel and are one of the most preferred new materials for body-in-white. The application of new materials promotes the development of new connecting technologies, and the special riveting of the aluminum body-in-white of the automobile becomes an extremely hot and common new connecting mode.

Correspondingly, when the aluminum body-in-white is riveted, the riveting hole is positioned, so that extremely high requirements are met. In practical application, the conventional sensor is easy to collide with the original tool and cannot meet the requirement of high takt time of an automobile production workshop, so that the development of a new sensor for meeting the requirement becomes a great priority.

Disclosure of Invention

The invention aims to provide a laser vision positioning sensor for automatic riveting of a vehicle body, and aims to solve the problems that a conventional sensor is easy to collide with an original tool and cannot meet the requirement of high takt time in an automobile production workshop.

In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides a laser vision positioning sensor for automatic riveting of automobile body fixes on the terminal riveter of robot, includes: a smart camera module; the double-line vertical laser light source emits two mutually vertical laser lines; and the external trigger controller is respectively connected with the intelligent camera module and the double-line vertical laser light source and sends signals to the intelligent camera module and the double-line vertical laser light source by using single pulse.

Furthermore, the included angle between the plane of the double laser lines of the double-line vertical laser light source and the laser is 45 degrees.

Furthermore, the included angle formed by the plane of the double laser lines of the double-line vertical laser light source and the plane of the camera axis is 45 DEG

Further, the intelligent camera module comprises a lens and a filter component, and the lens and the filter component are installed at the front end of the intelligent camera module.

Furthermore, the intelligent camera module and the double-line vertical laser light source are respectively connected to an industrial personal computer

Further, the industrial personal computer performs feature extraction on the double-line laser to obtain four points at the edge of the riveting hole, combines information through space conversion, and takes a picture quickly once to obtain complete riveting hole feature information.

Furthermore, the intelligent camera module is provided with an industrial lens and a polaroid filter.

Further, the laser vision positioning sensor housing for automatic riveting of the vehicle body has a size not larger than 70 x 70 mm.

According to the laser visual positioning sensor for automatic riveting of the automobile body, the double-line laser transmitter is used as line structure light, the effect of taking a picture for multiple times by using single laser can be achieved by taking a picture once, the external trigger controller is added, the requirement of dynamic picture taking is met, and the laser visual positioning sensor can be applied to an automobile body-in-white production line and meets the requirement of high beat.

Drawings

The invention is further described with reference to the accompanying drawings:

fig. 1 is a schematic structural view of a laser line of a laser vision positioning sensor for automatic riveting of a vehicle body, which is provided by the embodiment of the invention, being punched in a riveting hole.

Detailed Description

The laser vision positioning sensor for automatic riveting of the vehicle body, which is provided by the invention, is further described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are all used in a non-precise ratio for the purpose of facilitating and distinctly aiding in the description of the embodiments of the invention.

The core idea of the invention is that the laser vision positioning sensor for automatic riveting of the vehicle body provided by the invention adopts a double-line laser transmitter as line-structured light, can achieve the effect of taking a picture for multiple times by a single laser by taking a picture once, is added with an external trigger controller, meets the requirement of dynamic shooting, can be applied to a vehicle body-in-white production line, and meets the requirement of high beat.

The technical scheme of the invention provides a laser vision positioning sensor for automatic riveting of a vehicle body, which is fixed on a riveter at the tail end of a robot, and comprises the following components: a smart camera module; the double-line vertical laser light source emits two mutually vertical laser lines; and the external trigger controller is respectively connected with the intelligent camera module and the double-line vertical laser light source and sends signals to the intelligent camera module and the double-line vertical laser light source by using single pulse.

The industrial personal computer is used for carrying out feature extraction on the double-line laser to obtain four points at the edge of the riveting hole, combining information through space conversion, and rapidly photographing once to obtain complete riveting hole feature information.

Fig. 1 is a schematic structural view of a laser line of a laser vision positioning sensor for automatic riveting of a vehicle body, which is provided by the embodiment of the invention, being punched in a riveting hole. Referring to fig. 1, when the laser vision positioning sensor for automatic vehicle body riveting provided by the invention is used for operation, the sensor is fixed on a rivet gun at the tail end of a robot, the robot drives the rivet gun and the laser vision positioning sensor to reach a photographing position under the control of the robot and sends an external trigger signal to the laser vision positioning sensor, the laser vision positioning sensor sends two laser planes, two outlines 11 are formed on a riveting hole welding seam, the two laser lines perpendicular to each other and the riveting hole 12 are photographed and transmitted to an industrial personal computer, the industrial personal computer performs image processing to obtain characteristic information of the four intersection points, complete information of the riveting hole is further obtained, the industrial personal computer extracts and transmits the riveting hole position information to the robot, and the robot moves to a corresponding position for riveting.

The double-line laser of the laser visual positioning sensor for automatic riveting of the vehicle body can be separated in the operation of the controller and is treated as two single-line lasers, more specifically, the double-line laser is applied and calculated by two laser triangulation methods, the double laser lines and hole features form 4 intersection points, the intersection points are called feature points, the spatial coordinates of the four points can be obtained, and further, the spatial circle features can be calculated through the four points, so that the hole is positioned.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.