Robot workpiece assembly and form and location tolerance detection system and method based on face laser sensor

Abstract

The invention relates to a robot workpiece assembly and form and location tolerance detection system and method based on face laser sensor, and the system is characterized in that the system comprises a positioning assembly; the periphery of the positioning assembly is provided with the face laser sensor, robot equipment, and an industrial control computer, wherein the face laser sensor, the robot equipment and the industrial control computer communicate with each other. The system depends on a robot which is provided with the face laser sensor, so as to carry out the detection of wrong and leaked assembly of workpieces and the detection of the form and location tolerance of the workpieces. The face laser sensor can obtain the characteristics of three-dimensional data gray level image data of the surface of a detected part at a time under the condition that the robot is stationary, and enables the system to be higher in precision. Moreover, compared with a conventional binocular vision detection mode, the system does not need the assistance from external equipment, also does not need an additional marking point, is easy to implement, and is low in cost.

Description

technical field [0001] The invention relates to a tolerance detection system and detection method, in particular to a robot workpiece assembly and shape tolerance detection system and detection method based on a surface laser sensor. Background technique [0002] In the automotive industry, the inspection of auto parts has become more and more popular, and its inspection requirements are generally diverse. For example, the detection of wrong and missing assembly and the detection of shape and position tolerances of key points are usually hoped to be completed together. The detection method of the robot carrying the visual sensor is widely used due to its non-contact and automatic characteristics. However, the detection of wrong and missing assembly and the detection of shape and position tolerance belong to different types of detection. In the field of visual inspection, the detection of wrong and missing assembly is usually judged by the method of plane image processing, wh...

AI Technical Summary

Problems solved by technology

[0003] The current mainstream detection methods cannot handle this complex detection requirements well, such as: the way the robot carries the industrial camera, because the camera cannot obtain 3D data, it can only detect wrong and missing installation, and it is helpless for the shape and position tolerance of key points

The way the robot carries the line laser can effectively detect the geometric tolerance, but it is difficult to detect whether the assembly is correct or not

The way that the robot carries the line laser and the industrial camera at the same time can detect the shape tolerance and misfitting at the same time, but the two sensors at the end of the robot are more likely to cause interference, and the detection accuracy will be lost when the sensor is displaced, and the line laser relies on The way the robot provides the third-axis coordinates makes the hand-eye calibration very complicated and causes a loss of accuracy in the collected data

[0004] At the same time, the detection method of binocular vision often needs to rely on external equipment (such as laser tracker), or mark points on the surface of the measured object to complete the global calibration of the system. The former will increase the limitations of the system on application occasions, while the latter will It is inconvenient for detection, and the cost of binocular vision detection will be high

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