Automobile front windshield optical detector and optical detection method

Abstract

The present invention relates to the field of automotive glass manufacturing, and discloses an optical detector for automotive front windshield glass, which includes: an optical simulator, a positioning frame, an articulated robot and a control system. Among them, the base of the articulated robot and the optical simulator are both fixedly connected to the positioning frame. The optical simulator is configured to display a standard image to the front windshield glass. A camera is provided at the front end of the articulated robot. A virtual coordinate system that coincides with the actual coordinate system is provided in the control system. A plurality of detection points are provided on the front windshield glass, and the detection coordinates of the plurality of detection points are built in the control system. The control system can control the movement of the articulated robot to align the camera with a plurality of detection points on the front windshield glass for photographing. The articulated robot uploads the taken photos to the control system, and the control system can judge whether the optical distortion of the corresponding detection points is qualified according to the photos. The optical detector for automotive front windshield glass has the performance of being compatible with various models of front windshield glass.

Description

Technical Field

[0001] The present invention relates to the field of automotive glass manufacturing, and particularly to an optical inspection machine and an optical inspection method for automotive front windshield glass. Background Art

[0002] As early as more than 80 years ago, the front windshield has been widely installed on the Model T cars produced by Ford in the United States. At that time, flat glass was installed at the front end of the carriage to protect the driver from wind and rain. In the following decades, the glass industry gradually got involved in the automotive industry and created various types of safety glass, such as laminated glass, tempered glass, and zone-tempered glass, etc. These have greatly improved the performance of automotive glass and enhanced the practicality and safety of the whole vehicle. Now, the development of car body shapes is closely related to the development of glass technology. As early as more than 40 years ago, single-piece curved windshields have been adopted for car front windshields, and flat windshields have been gradually abandoned. Now, car windshields are generally large-curved single-piece type with certain curvatures in all directions. Such curved glass is a product with very high technical requirements both in terms of the processing process and the fitting during installation, because it involves many issues such as vehicle models, strength, heat insulation, and assembly.

[0003] When the glass surface is uneven or optically non-uniform locally, the light passing through it will be deviated, resulting in image distortion. When the glass has image distortion, we say that the glass has optical distortion. Since the front windshield has a certain thickness and there are arcs at many places on the large-curved surface of the surface, generally there will be a certain degree of optical distortion in the front windshield. If the degree of optical distortion is large, it will easily cause fatigue in the driver's eyes and lead to traffic accidents. Therefore, it is necessary to control the degree of optical distortion of the front windshield glass.

[0004] Currently, the optical distortion of the front windshield glass is mainly detected by optical simulation inspection of the front windshield glass. However, due to the large size differences of windshields of different models, different models of front windshield glass need to be measured using different optical simulation inspection machines. In actual production, when inspecting different models of front windshield glass, the equipment needs to be replaced, resulting in high fixed investment in optical simulation inspection, low work efficiency, and low utilization efficiency of each optical simulation inspection machine. Summary of the Invention

[0005] In order to overcome the problems of low work efficiency and low utilization rate of the optical simulation inspection machine existing in the prior art, the present invention provides an optical inspection machine for automotive front windshield glass, which has the performance of being able to be compatible with various models of front windshield glass.

[0006] The present invention provides an optical inspection machine for an automotive front windshield. The optical inspection machine for the automotive front windshield includes: an optical simulator, a positioning frame, an articulated robot, and a control system. Among them,

[0007] the positioning frame is configured to support and position the front windshield. The base of the articulated robot and the optical simulator are both fixedly connected to the positioning frame and are located below the front windshield. The optical simulator is configured to display a standard image to the front windshield, and the standard image forms a target virtual image after being reflected by the front windshield. A camera capable of photographing the target virtual image through the front windshield is provided at the front end of the articulated robot, and the camera is located below the front windshield;

[0008] a virtual coordinate system is provided in the control system, and an actual coordinate system is provided on the positioning frame, and the virtual coordinate system coincides with the actual coordinate system. A plurality of detection points are provided on the front windshield, and the control system internally stores detection point coordinates corresponding to the plurality of detection points one by one;

[0009] the articulated robot, the positioning frame, and the optical simulator are all electrically connected to the control system. The control system can control the optical simulator to turn on and off and control the positioning frame to position the front windshield. At the same time, the control system can also control the articulated robot to move to align the camera with the plurality of detection points on the front windshield for photographing, and the articulated robot uploads the photographed photos to the control system. The control system is configured to determine whether the optical distortion of the corresponding detection points is qualified according to the photos.

[0010] Preferably, the positioning frame includes a bottom support and a centering positioning device that is symmetrically arranged on the left and right and is inclined and fixedly connected to the bottom support for centering the front windshield;

[0011] the centering positioning device includes a left-right centering mechanism and a bottom limiting rod provided at the bottom and configured to limit the front windshield downward by abutting against the bottom of the front windshield. At least two bottom limiting rods are provided, and the plurality of bottom limiting rods are located on the same horizontal straight line;

[0012] the left-right centering mechanism includes two centering rods that are symmetric about the symmetry plane of the centering positioning device and can approach or move away from each other synchronously. The two centering rods that approach each other synchronously can center the front windshield in the left-right direction.

[0013] Preferably, the left-right centering mechanism further includes a power cylinder, a cylinder mounting plate, a first connecting plate, a cylinder slide rail, an inclined movable rod, a second connecting plate, and a centering slide rail;

[0014] The cylinder mounting plate is fixedly connected to the bottom support obliquely, the power cylinder is fixedly connected to the cylinder mounting plate, the center line of the power cylinder is located in the symmetry plane of the centering device, and the push rod of the power cylinder is detachably fixedly connected to the first connecting plate. A cylinder slider extending along the center line of the power cylinder is arranged on the side of the first connecting plate facing the cylinder mounting plate, and a cylinder slide rail matching with the cylinder slider is arranged on the cylinder mounting plate;

[0015] Two inclined movable rods are provided. The two inclined movable rods are symmetrically arranged on both sides of the power cylinder. The upper ends of the two inclined movable rods are rotatably and fixedly connected to the first connecting plate, and the lower ends of the two inclined movable rods are respectively rotatably and fixedly connected to the two second connecting plates located on both sides of the front windshield; Two centering slide rails are provided. The two centering slide rails are obliquely and detachably fixedly connected to the bottom support. A centering slider capable of matching with the centering slide rail is arranged on the side of the second connecting plate facing the centering slide rail;

[0016] Two centering rods are respectively fixedly connected to the sides of the two second connecting plates facing away from the centering slide rails. When the push rod of the power cylinder extends, it can drive the two inclined movable rods to swing, and then drive the two second connecting plates and the centering rods to approach each other.

[0017] The present invention also provides an optical detection method for an automotive front windshield. The optical detection method uses an optical detector for automotive front windshields to perform optical detection on the front windshield, including:

[0018] Step 1: Input the model of the front windshield to be detected into the control system;

[0019] Step 2: Place the front windshield on the centering device. The centering device performs centering and fixing on the front windshield, and the control system controls the optical simulator to be turned on;

[0020] Step 3: The camera moves to the detection point coordinates built in the control system and takes pictures of the detection points. The pictures taken by the camera are uploaded to the control system;

[0021] Step 4: After the camera finishes taking pictures of all the detection points, the control system determines whether the optical distortion of the detection points is qualified according to the pictures taken by the camera.

[0022] Preferably, the camera is installed at the front end of the articulated robot. The control system has the initial position coordinates of the articulated robot built therein. The detection point coordinates correspond to the actual positions of the detection points on the front windshield and multiple detection point coordinates are set. In step three, the control system can control the front end of the articulated robot to move from the initial coordinate position to multiple detection point coordinates in sequence; the control system can also control the posture of the articulated robot so that the optical axis of the camera is perpendicular to the front windshield;

[0023] After the camera finishes taking pictures of all the detection points, the control system controls the articulated robot to return to the initial coordinate position.

[0024] Preferably, in step three, the control system controls the camera to move to multiple detection points in sequence to take pictures, and the pictures taken by the camera correspond to the multiple detection points one by one.

[0025] Preferably, in step four, the control system generates a detection report according to the detection results, and the detection report identifies the detection conclusions of each detection point.

[0026] Preferably, the brightness of the optical simulator is 200 - 300 cd / ㎡;

[0027] The ambient illuminance where the optical detection machine for the automotive front windshield is located is not higher than 50 lux.

[0028] Preferably, in step two, the control system outputs the standard image to the optical simulator;

[0029] In step four, the control system has a comparison algorithm built therein. The comparison algorithm can extract standard features from the standard image, extract comparison features from the pictures taken by the camera, and compare the comparison features with the standard features.

[0030] Preferably, the comparison algorithm can also identify the clarity of the pictures taken by the camera.

[0031] According to the above technical solution, the positioning rack can position front windshields of different models. After the positioning rack finishes positioning and supporting the front windshield, the optical simulator provides a specific image for the front windshield. The control system controls the actions of the articulated robot and moves the camera to the detection points corresponding to the model of the front windshield to be detected and takes pictures through the detection points. The pictures are uploaded to the control system. The control system compares the pictures with the standard image and judges whether the optical distortion of the corresponding detection points is qualified.

[0032] The control system is built - in with a virtual coordinate system, which corresponds to the actual coordinate system. The actual positions of the front windshield of different models are consistent with the simulated positions in the control system. The control system is built - in with the detection point coordinates corresponding to the detection points of the front windshield model, and the control system controls the actions of the articulated robot through the detection point coordinates. Description of the Drawings

[0033] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation to the present invention. In the drawings:

[0034] Figure 1 is a schematic diagram of an optical inspection machine for automotive front windshields including workpieces in a preferred embodiment;

[0035] Figure 2 is a right - view of an optical inspection machine for automotive front windshields including workpieces in a preferred embodiment;

[0036] Figure 3 is a top - view of an optical inspection machine for automotive front windshields including workpieces in a preferred embodiment;

[0037] Figure 4 is a schematic diagram of an optical inspection machine for automotive front windshields without workpieces in a preferred embodiment;

[0038] Figure 5 is a schematic diagram of the action of the left - right centering mechanism in a preferred embodiment;

[0039] Figure 6 is a standard image in a preferred embodiment;

[0040] Figure 7 is a photo taken by a camera in a preferred embodiment.

[0041] Description of the Reference Numerals

[0042] 1 Optical simulator 2 Articulated robot

[0043] 01 Front windshield 21 Camera

[0044] 3 Bottom support 41 Bottom limit rod

[0045] 51 Centering rod 52 Power cylinder

[0046] 53 First connecting plate 54 Obliquely - placed movable rod

[0047] 31 Cylinder mounting plate 311 Cylinder slide rail

[0048] 55 Second connecting plate 32 Centering slide rail

[0049] 33 Centering positioning device symmetry plane 61 Linear region

[0050] 62 Circular region 71 First interface

[0051] 72 Second interface 81 First virtual image

[0052] 82 Second virtual image Detailed implementation manners

[0053] The following further describes in detail the specific implementation manners of the present invention with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only for explaining and illustrating the present invention, and are not used to limit the present invention.

[0054] In the present invention, unless otherwise stated, the directional terms such as "both sides, horizontal, inclined, above, below, upper end, lower end" included in the terms only represent the directions of the terms in the normal use state, or the common names understood by those skilled in the art, and should not be regarded as a limitation to the terms.

[0055] Refer to Figures 1-4 An optical inspection machine for an automotive front windshield as shown. The optical inspection machine for the automotive front windshield includes: an optical simulator 1, a positioning frame, an articulated robot 2, and a control system. Among them,

[0056] The positioning frame is configured to support and position the front windshield 01. The base of the articulated robot 2 and the optical simulator 1 are both fixedly connected to the positioning frame and are located below the front windshield 01. The optical simulator 1 is configured to display a standard image to the front windshield 01, and the standard image forms a target virtual image after being reflected by the front windshield 01. The front end of the articulated robot 2 is provided with a camera 21 capable of photographing the target virtual image through the front windshield 01, and the camera 21 is located below the front windshield 01.

[0057] A virtual coordinate system is set in the control system, and an actual coordinate system is on the positioning frame. The virtual coordinate system coincides with the actual coordinate system. A plurality of detection points are set on the front windshield 01, and the control system internally stores the detection point coordinates corresponding to the plurality of detection points one by one.

[0058] The articulated robot 2, the positioning frame, and the optical simulator 1 are all electrically connected to the control system. The control system can control the optical simulator 1 to turn on and off and control the positioning frame to position the front windshield 01. At the same time, the control system can also control the articulated robot 2 to move the camera 21 to align with a plurality of detection points on the front windshield 01 for photographing, and the articulated robot 2 uploads the taken photos to the control system. The control system is configured to determine whether the optical distortion of the corresponding detection points is qualified according to the photos.

[0059] Through the implementation of the above technical solution, a virtual coordinate system that coincides with the actual coordinate system is built into the control system. After the front windshield 01 is positioned by the positioning frame, the position of the front windshield 01 in the actual coordinate system can correspond to its position in the virtual coordinate system. The model of the front windshield 01 is input into the control system so that the front windshield 01 can call the detection point coordinates corresponding to the front windshield 01 of the corresponding model. When the control system controls the articulated robot 2 to move and align the camera 21 with the measurement point coordinates, in the actual coordinate system, the camera 21 can also align with the set detection points on the front windshield 01.

[0060] Both the optical simulator 1 and the articulated robot are fixedly connected to the positioning frame and ensure that their relative positions to the fixed frame remain unchanged. During the use of the optical inspection machine for automotive front windshields, the fixed frame needs to remain stable so that the relative positions of the front windshield 01, the optical simulator 1, and the articulated robot located on it always remain unchanged.

[0061] The optical simulator 1 is located below the front windshield 01. The control system controls the optical simulator 1 to turn on. After the optical simulator 1 is turned on, it will display a standard image. The standard image contains a light source that can emit light. The light emitted by the light source contained in the standard image enters the camera 21 aligned with the detection point after being reflected by the front windshield 01. When the camera 21 takes a photo, it receives these lights reflected by the front windshield 01 and forms a photo of the detection point.

[0062] The photo is uploaded to the control system. The control system will compare the received photo with the standard image and determine whether the optical distortion of the detection point corresponding to the photo is qualified according to the comparison result.

[0063] In the above technical solution, preferably, the positioning frame includes a bottom support 3 and a centering positioning device that is symmetrically arranged on the left and right and is inclined and fixedly connected to the bottom support 3 for centering the front windshield 01;

[0064] The centering positioning device includes a left - right centering mechanism and a bottom limiting rod 41 arranged at the bottom and used to limit the front windshield 01 downward by abutting against the bottom of the front windshield 01. At least two bottom limiting rods 41 are provided, and multiple bottom limiting rods 41 are located on the same horizontal straight line;

[0065] The left - right centering mechanism includes two centering rods 51 that are symmetric about the symmetry plane 33 of the centering positioning device and can approach or move away from each other synchronously. The two centering rods 51 that approach each other synchronously can center the front windshield 01 in the left - right direction.

[0066] Taking the support surface formed by the glass with the centering positioning device as the reference plane of the actual coordinate system, the horizontal straight line formed by multiple bottom limit rods 41 is the reference line of the actual coordinate system. The straight line obtained by the intersection of the symmetry plane 33 of the centering positioning device and the reference plane is another reference line. The two reference lines are perpendicular to each other, which are the two coordinate axes of the actual coordinate system. The intersection point of the two reference lines is the coordinate origin of the actual coordinate system. The straight line perpendicular to the reference plane and passing through the coordinate origin is the other coordinate axis of the actual coordinate system. Thus, the position of the actual coordinate system can be determined. Set the position of the virtual coordinate system built in the control system to be consistent with the position of the actual coordinate system, and set the articulated robot in the virtual coordinate system according to its position in the actual coordinate system, then the purpose of controlling the articulated robot 2 to move to the target position through the coordinates of the virtual coordinate system can be achieved.

[0067] After the front windshield 01 is placed on the centering positioning device, under the action of gravity, the front windshield 01 abuts against the bottom limit rods 41, and multiple bottom limit rods 41 realize the lower limit of the front windshield 01; then the two centering rods 51 approach synchronously and center the front windshield 01. When the centering rods 51 stop moving, the front windshield 01 is located at a position symmetrical about the symmetry plane 33 of the centering positioning device. Different models of front windshields 01 are limited to a unique position in the actual coordinate system after being centered by the centering positioning device, and this position is the fixed position of the front windshield 01 defined in the virtual coordinate system.

[0068] In this embodiment, preferably, the left and right centering mechanisms further include a power cylinder 52, a cylinder mounting plate 31, a first connecting plate 53, a cylinder slide rail 311, an inclined movable rod 54, a second connecting plate 55, and a centering slide rail 32;

[0069] The cylinder mounting plate 31 is fixedly connected to the bottom support 3 obliquely. The power cylinder 52 is fixedly connected to the cylinder mounting plate 31. The center line of the push rod of the power cylinder 52 is located on the symmetry plane of the centering positioning device, and the push rod of the power cylinder 52 is detachably fixedly connected to the first connecting plate 53. A cylinder slider extending along the center line of the push rod of the power cylinder 52 is provided on the surface of the first connecting plate 53 facing the cylinder mounting plate 31. A cylinder slide rail 311 cooperating with the cylinder slider is provided on the cylinder mounting plate 31;

[0070] Two inclined movable rods 54 are provided. The two inclined movable rods 54 are symmetrically arranged on both sides of the power cylinder 52. The upper ends of the two inclined movable rods 54 are rotatably fixedly connected to the first connecting plate 53, and the lower ends of the two inclined movable rods 54 are respectively rotatably fixedly connected to the two second connecting plates 55 located on both sides of the front windshield 01; two centering slide rails 32 are provided. The two centering slide rails 32 are obliquely and detachably fixedly connected to the bottom support 3. A centering slider capable of cooperating with the centering slide rail 32 is provided on the surface of the second connecting plate 55 facing the centering slide rail 32;

[0071] Two centering rods 51 are respectively fixedly connected to one side of the two second connecting plates 55 facing away from the centering slide rail 32. When the push rod of the power cylinder 52 extends, it can drive the two inclined movable rods 54 to swing, thereby driving the two second connecting plates 55 and the centering rods 51 to approach each other.

[0072] See Figure 5 the schematic diagram of the action of the left and right centering mechanism shown. When the push rod of the power cylinder 52 extends, it will push the first connecting plate 53 to slide upward. Under the cooperation of the cylinder slider and the cylinder slide rail 311, the first connecting plate 53 moves upward along the cylinder slide rail 311. As the first connecting plate 53 moves, the two inclined movable rods 54 will approach each other while moving upward, which is the Figure 5 dotted line position shown in. During the movement process, the two inclined movable rods 54 will always be symmetric about the symmetry plane 33 of the centering positioning device. Therefore, the two inclined movable rods 54 can achieve synchronous movement during the movement process, and the final stop positions of the two inclined movable rods 54 will also be symmetric about the symmetry axis 33 of the centering positioning device. Driven by the inclined movable rods 54, the second connecting plates 55 will also approach each other synchronously. After stopping the movement, the positions of the two second connecting plates 55 will also be symmetric about the symmetry plane 33 of the centering positioning device, so that the two centering rods 51 can achieve centering positioning of the front windshield 01.

[0073] In addition, the present invention also provides an optical detection method for an automotive front windshield. The optical detection method uses an automotive front windshield optical detector to perform optical detection on the front windshield 01, including:

[0074] Step 1: Input the model of the front windshield to be detected into the control system;

[0075] Step 2: Place the front windshield 01 on the centering positioning device. The centering positioning device performs centering positioning and fixing on the front windshield 01, and the control system controls the optical simulator 1 to turn on;

[0076] Step 3: The camera 21 moves to the detection point coordinates built into the control system and takes pictures of the detection points. The pictures taken by the camera 21 are uploaded to the control system;

[0077] Step 4: After the camera 21 finishes taking pictures of all the detection points, the control system determines whether the optical distortion of the detection points is qualified according to the pictures taken by the camera 21.

[0078] Through the implementation of the above technical solutions, first, it is necessary to input the model of the front windshield 01 to be detected into the control system. The control system will call the monitoring point coordinates corresponding to the model of the front windshield 01 according to the model of the front windshield 01, so as to control the articulated robot 2 to move the camera 21 to the detection points set by the system.

[0079] Then place the front windshield 01 on the centering positioning device, so that the actual position of the front windshield 01 in the automotive front windshield optical inspection machine coincides with the position of the front windshield 01 set in the virtual coordinate system in the control system. In this way, the control system can control the movement of the articulated robot 2 corresponding to the coordinates of the virtual coordinate system so as to move the camera 21 to the position corresponding to the actual detection point set by the system.

[0080] Next, the control system controls the movement of the articulated robot 2 and moves the camera 21 to the monitoring point set by the system. After the camera 21 arrives, the control system controls the camera 21 to aim at the detection point for taking pictures, and transmits the pictures to the control system. Finally, the control system determines whether the optical distortion of the detection point is qualified according to the collected pictures.

[0081] In the above embodiment, preferably, the camera 21 is installed at the front end of the articulated robot 2, and the control system internally stores the initial position coordinates of the articulated robot 2. In step three, the control system can control the front end of the articulated robot 2 to move from the initial coordinate position to the coordinates of multiple detection points in sequence; the control system can also control the posture of the articulated robot 2 so that the optical axis of the camera 21 is perpendicular to the front windshield 01;

[0082] After the camera 21 finishes taking pictures of all detection points, the control system controls the articulated robot 2 to return to the initial coordinate position.

[0083] Since the driver's field of vision is reflected as an area on the front windshield 01, in order to make the optical distortion detection of the front windshield 01 more reasonable and accurate, multiple detection points can be selected according to certain principles within the effective area of the driver's field of vision on the front windshield 01, and the detection point coordinates corresponding to these detection points are built into the control system, so that the control system can control the camera 21 to reach the detection point through the detection coordinates.

[0084] In a preferred manner, the detection points can be arranged in a matrix within the effective area of the driver's field of vision on the front windshield 01.

[0085] The control system controls the rotation of each joint of the articulated robot 2 so that the front end of the articulated robot 2 first reaches the position corresponding to the detection point coordinates. After the front end of the articulated robot 2 reaches this position, the control system will adjust the angle between the optical axis of the camera 21 and the front windshield 01 so that the optical axis of the camera 21 is perpendicular to the front windshield 01.

[0086] When the optical axis of the camera 21 at the detection point is perpendicular to the front windshield 01, the rotation angle of the last axis of the articulated robot 2 relative to the initial position of this axis when the position of the camera 21 corresponding to the coordinates of this detection point is correct is recorded in the control system. This rotation angle is the rotation target value of the last axis corresponding to the coordinates of this detection point. In the subsequent control process, after the articulated robot 2 moves to this detection point, it will rotate the last axis to the angle of this target value according to the rotation target value in the control system, so that the optical axis of the camera 21 at this detection point can be perpendicular to the front windshield 01.

[0087] After taking pictures at all detection points, the articulated robot 2 returns to the initial position, so that the starting point and destination of the articulated robot 2 are fixed each time. In this way, the moving path of the articulated robot 2 is also fixed, preventing interference between the articulated robot 2 and surrounding equipment or workpieces due to the uncertain movement trajectory when the articulated robot 2 starts at any point.

[0088] In the above embodiment, preferably, in step three, the control system controls the camera 21 to move to multiple detection points in sequence for taking pictures, and the pictures taken by the camera 21 correspond one by one to the multiple detection points.

[0089] In the above embodiment, preferably, after the automotive front windshield optical detector completes the detection of the front windshield 01, the control system generates a detection report according to the detection results, and the detection report identifies the detection conclusions of each detection point.

[0090] The detection report corresponding to the detection point will show the specific situation of the optical distortion at this detection point, that is, how the detection point performs corresponding to each judgment standard of optical distortion, and what the deviation value from the standard is. These information are integrated in the detection report. Quality management personnel can analyze the specific reasons for the unqualified optical distortion of the front windshield 01 at this point according to the detection report and make targeted technical adjustments, which is beneficial to guiding the on-site production arrangement.

[0091] In the above embodiment, preferably, the brightness of the optical simulator 1 is 200 - 300 cd / ㎡;

[0092] The illuminance of the environment where the automotive front windshield optical detector is located is not higher than 50 lux.

[0093] Since the light received by the camera 21 during taking pictures is actually the reflected light after the light emitted by the optical simulator 1 and irradiated on the strong windshield 01 is reflected, and because the glass has a certain light transmittance, only a part of the light emitted by the optical simulator 1 will be reflected and then received by the camera 21. Therefore, the brightness of the optical simulator 1 needs to be large enough so that there is enough reflected light entering the camera 21 to enable the picture taken by the camera 21 to more accurately reflect the optical characteristics of the detection point.

[0094] An optical detector for automotive front windshield is usually set in a dark room, and the environmental illuminance needs to be kept stable to avoid the influence of ambient light on the detection result of the optical detector for automotive front windshield.

[0095] In the above embodiment, preferably, the control system outputs a standard image to the optical simulator 1;

[0096] The control system has a built-in comparison algorithm. The comparison algorithm can extract standard features from the standard image, extract comparison features from the photo taken by the camera 21, and compare the comparison features with the standard features.

[0097] Refer to the Figure 6 shown standard image. The standard features in this standard image include the width of the straight line area 61 and the center position of the circular area 62, etc. These standard features are to be recorded in the control system for comparison with the comparison features. After the camera 21 takes a photo, the comparison algorithm will extract the comparison features of this photo, that is, the width of the straight line area 61 and the center position of the circular area 62, etc. in the taken photo. The control system will compare the comparison features with each item of the standard features one by one, and judge whether the light distortion of this detection point is qualified according to whether the difference meets the standard.

[0098] Refer to the Figure 7 photo taken by the camera 21 as shown. It can be seen that compared with the standard image, there is a ghost image in the straight line area 61 in the photo. When the comparison algorithm extracts the comparison features of the photo, it will consider the ghost image below the straight line area 61 and include the area of the ghost image in the width of the straight line area 61.

[0099] In the above embodiment, preferably, the comparison algorithm can also identify the clarity of the photo taken by the camera 21.

[0100] Before the comparison algorithm extracts the comparison features of the photo, it first identifies the clarity of the photo to determine whether the photo itself is qualified. Since the photo taken by the camera 21 is an image formed by two reflections of the front windshield 01, that is, the two virtual images of the standard image displayed by the optical simulator 1 are captured. One of the two virtual images is bright and the other is dark, which appears as a ghost in the photo taken by the camera 21. When the comparison algorithm analyzes the photo, it will include the width of the common superposition of the two virtual images in the width of the straight line area 61. Therefore, if the light incident on the camera 21 is insufficient due to insufficient brightness of the optical simulator 1 or dust on the lens of the camera 21, etc., resulting in unclear imaging of the darker virtual image and inaccurate recognition of the width of the straight line area 61 by the comparison algorithm, then the correctness of the detection result will be affected. Therefore, before comparing the photo with the standard picture, it is necessary to first identify the clarity of the photo and determine whether the photo meets the detection requirements by identifying the clarity of the photo. If the clarity of the photo is insufficient, the staff needs to check the brightness of the optical simulator 1 and the lens of the camera 21.

[0101] Since the size of the standard picture is fixed, the position of the optical simulator 1 relative to the front windshield 01 is also fixed, and the relative position between the camera 21 and the front windshield 01 at each detection point is also fixed. Therefore, the size of the photo taken and the relative position of the target pattern in the photo are also fixed. Therefore, it can be understood that the pictures obtained from multiple photos taken at the same detection point should theoretically be the same. Therefore, multiple sampling points can be set on the photo. These points include evenly distributed positions that should be bright and positions that should be dark in the photo. The comparison algorithm extracts brightness and color data at these points and compares these data with the brightness and color data corresponding to these points in the photo taken under normal circumstances to determine whether the clarity of the currently taken photo meets the requirements.

[0102] The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0103] In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any suitable manner without conflict. To avoid unnecessary repetition, the present invention will not separately describe various possible combination methods.

[0104] Furthermore, any combination can be made between various different embodiments of the present invention as long as it does not violate the idea of the present invention, and it should also be regarded as the content disclosed by the present invention.

Claims

1. An optical inspection machine for the front windshield of an automobile, characterized in that, The optical inspection machine for the automotive front windshield includes: an optical simulator (1), a positioning frame, an articulated robot (2), and a control system. Among them, the positioning frame is configured to support and position the front windshield (01). The base of the articulated robot (2) and the optical simulator (1) are both fixedly connected to the positioning frame and are located below the front windshield (01). The optical simulator (1) is configured to display a standard image to the front windshield (01), and the standard image forms a target virtual image after being reflected by the front windshield (01). A camera (21) capable of photographing the target virtual image through the front windshield (01) is provided at the front end of the articulated robot (2), and the camera (21) is located below the front windshield (01); a virtual coordinate system is provided in the control system, and an actual coordinate system is on the positioning frame. The virtual coordinate system coincides with the actual coordinate system. A plurality of detection points are provided on the front windshield (01), and the control system internally stores detection point coordinates corresponding one by one to the plurality of detection points; the articulated robot (2), the positioning frame, and the optical simulator (1) are all electrically connected to the control system. The control system can control the optical simulator (1) to turn on and off and control the positioning frame to position the front windshield (01). At the same time, the control system can also control the articulated robot (2) to move to align the camera (21) with the plurality of detection points on the front windshield (01) for photographing. The articulated robot (2) uploads the photographed photos to the control system, and the control system is configured to determine whether the optical distortion of the corresponding detection points is qualified according to the photos; the positioning frame includes a bottom support (3) and a centering positioning device that is symmetrically arranged on the left and right and is inclined and fixedly connected to the bottom support (3) for centering the front windshield (01); the centering positioning device includes a left-right centering mechanism and a bottom limiting rod (41) provided at the bottom and abutted against the bottom of the front windshield (01) to perform a lower limit on the front windshield (01). At least two bottom limiting rods (41) are provided, and the plurality of bottom limiting rods (41) are located on the same horizontal line; the left-right centering mechanism includes two centering rods (51) that are symmetric about the symmetry plane (33) of the centering positioning device and can approach or move away synchronously. The two centering rods (51) that approach synchronously can center the front windshield (01) in the left-right direction.

2. The optical inspection machine for the front windshield of an automobile according to claim 1, characterized in that, the left-right centering mechanism further includes a power cylinder (52), a cylinder mounting plate (31), a first connecting plate (53), a cylinder slide rail (311), an inclined movable rod (54), a second connecting plate (55), and a centering slide rail (32); The cylinder mounting plate (31) is fixedly connected to the bottom support (3) obliquely. The power cylinder (52) is fixedly connected to the cylinder mounting plate (31). The center line of the power cylinder (52) is located in the symmetry plane (33) of the centering device, and the push rod of the power cylinder (52) is detachably fixedly connected to the first connecting plate (53). On the side of the first connecting plate (53) facing the cylinder mounting plate (31), a cylinder slider extending along the center line of the power cylinder (52) is provided. On the cylinder mounting plate (31), a cylinder slide rail (311) cooperating with the cylinder slider is provided. Two inclined movable rods (54) are provided. The two inclined movable rods (54) are symmetrically arranged on both sides of the power cylinder (52). The upper ends of the two inclined movable rods (54) are rotatably fixedly connected to the first connecting plate (53). The lower ends of the two inclined movable rods (54) are respectively rotatably fixedly connected to two second connecting plates (55) located on both sides of the front windshield (01). Two centering slide rails (32) are provided. The two centering slide rails (32) are obliquely and detachably fixedly connected to the bottom support (3). On the side of the second connecting plate (55) facing the centering slide rail (32), a centering slider capable of cooperating with the centering slide rail (32) is provided. Two centering rods (51) are respectively fixedly connected to the sides of the two second connecting plates (55) facing away from the centering slide rails (32). When the push rod of the power cylinder (52) extends, it can drive the two inclined movable rods (54) to swing, thereby driving the two second connecting plates (55) and the centering rods (51) to approach each other.

3. An optical detection method for the front windshield of an automobile, characterized in that, The optical detection method uses the automotive front windshield optical detection machine according to claim 1 or 2 to perform optical detection on the front windshield (01), including: Step 1: Input the model of the front windshield to be detected into the control system. Step 2: Place the front windshield (01) on the centering device. The centering device performs centering and fixing on the front windshield (01), and the control system controls the optical simulator (1) to turn on. Step 3: The camera (21) sequentially moves to the coordinates of multiple detection points built into the control system and takes pictures of the detection points. The pictures taken by the camera (21) are uploaded to the control system. Step 4: After the camera (21) finishes taking pictures of all the detection points, the control system determines whether the optical distortion of the detection points is qualified according to the pictures taken by the camera (21).

4. The optical detection method according to claim 3, wherein The camera (21) is installed at the front end of the articulated robot (2). The control system has the initial position coordinates of the articulated robot (2) built in. In step three, the control system can control the front end of the articulated robot (2) to move from the initial coordinate position to the coordinates of multiple detection points in sequence; the control system can also control the posture of the articulated robot (2) so that the optical axis of the camera (21) is perpendicular to the front windshield (01); After the camera (21) finishes taking pictures of all the detection points, the control system controls the articulated robot (2) to return to the initial coordinate position.

5. The optical detection method according to claim 4, characterized in that In step three, the control system controls the camera (21) to move to multiple detection points in sequence for taking pictures, and the pictures taken by the camera (21) correspond one by one to the multiple detection points.

6. The optical detection method according to claim 5, characterized in that In step four, the control system generates a detection report according to the detection results, and the detection report identifies the detection conclusions of each detection point.

7. The optical detection method according to claim 3, wherein The brightness of the optical simulator (1) is 200 - 300 cd / ㎡; The ambient illuminance where the automotive front windshield optical detector is located is not higher than 50 lux.

8. The optical detection method according to claim 7, characterized in that, In step two, the control system outputs the standard image to the optical simulator (1); In step four, the control system has a comparison algorithm built in. The comparison algorithm can extract standard features from the standard image, extract comparison features from the pictures taken by the camera (21), and compare the comparison features with the standard features.

9. The optical detection method according to claim 8, wherein The comparison algorithm can also identify the clarity of the pictures taken by the camera (21).

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