An online detection method and apparatus

Abstract

This application belongs to the field of online inspection and discloses an online inspection method and apparatus. The method includes: after the skid transports the body-in-white to the inspection workstation, acquiring first coordinate data of the positioning identification hole of the calibration block in a visual coordinate system and second coordinate data of the hole of the part to be inspected on the body-in-white in the visual coordinate system through a vision device; determining the coordinate transformation relationship between the visual coordinate system and the body coordinate system based on the first coordinate data and pre-stored third coordinate data of the positioning identification hole in the body coordinate system; and determining the coordinate data of the hole position of the part to be inspected in the body coordinate system based on the second coordinate data and the coordinate transformation relationship. Using this application can avoid the problem of inaccurate measurement of the hole position data of the part to be inspected.

Description

Technical Field

[0001] This application relates to the field of online detection technology, and in particular to an online detection method and apparatus. Background Technology

[0002] Currently, with the continuous advancement of automobile manufacturing technology and the increasing demands of people for automobile quality, automobile manufacturing technology has become a factor for automobile manufacturers to enhance their competitiveness, and the quality inspection of automobile parts assembly in automobile manufacturing technology has become particularly important.

[0003] In existing technologies, the assembly quality inspection of automotive parts in automobile manufacturing processes employs online dimensional measurement methods. A skid transports the body-in-white to the inspection position, and a vision measurement system measures and analyzes the assembly dimensions of the body parts. However, during each measurement process, the skid stops at an inconsistent position after transporting different body-in-whites, resulting in deviations in the inspection position. These deviations in the inspection position inevitably lead to inaccuracies in the assembly dimensions measured by the vision measurement system, resulting in rough automotive manufacturing processes. Summary of the Invention

[0004] Therefore, it is necessary to provide an online detection method and apparatus to address the aforementioned technical problems.

[0005] In a first aspect, an online detection method is provided, the method being applied to a visual detection calibration system, the visual detection calibration system including a vision device and a skid having at least one calibration block, the calibration block having a positioning recognition hole, the method comprising:

[0006] When the skid transports the white body to the inspection station, the vision device acquires the first coordinate data of the positioning recognition hole of the calibration block in the visual coordinate system and the second coordinate data of the hole of the part to be inspected on the white body in the visual coordinate system.

[0007] Based on the first coordinate data and the pre-stored third coordinate data of the positioning recognition hole in the vehicle body coordinate system, the coordinate transformation relationship between the visual coordinate system and the vehicle body coordinate system is determined;

[0008] Based on the second coordinate data and the coordinate transformation relationship, the fourth coordinate data of the hole position of the part to be detected in the vehicle body coordinate system is determined.

[0009] As an optional implementation, determining the coordinate transformation relationship between the visual coordinate system and the vehicle coordinate system based on the first coordinate data and the pre-stored third coordinate data of the positioning recognition hole in the vehicle coordinate system includes:

[0010] Based on the first coordinate data and the pre-stored third coordinate data of the positioning and recognition hole in the vehicle body coordinate system, determine the coordinate transformation matrix between the visual coordinate system and the vehicle body coordinate system;

[0011] Based on the visual coordinate system and the coordinate transformation matrix, a coordinate transformation relationship is established between the visual coordinate system and the vehicle body coordinate system, wherein the coordinates in the vehicle body coordinate system are the product of the coordinates in the visual coordinate system and the coordinate transformation matrix.

[0012] As an optional implementation, determining the fourth coordinate data of the hole position of the part to be detected in the vehicle body coordinate system based on the second coordinate data and the coordinate transformation relationship includes:

[0013] The product of the second coordinate data and the coordinate transformation relationship is determined as the fourth coordinate data of the hole position of the part to be detected in the vehicle body coordinate system.

[0014] As an optional implementation, the pre-stored third coordinate data of the positioning and identification hole in the vehicle body coordinate system is determined by coordinate measuring machine (CMM).

[0015] As an optional implementation, the method further includes:

[0016] If the fourth coordinate data is different from the pre-stored reference coordinate data, an alarm message will be output.

[0017] If the fourth coordinate data is the same as the pre-stored reference coordinate data, then the fourth coordinate data is stored in the database.

[0018] As an optional implementation, the positioning recognition hole of the calibration block has an accuracy of ±10 micrometers.

[0019] As an optional implementation, there are four calibration blocks, which are respectively installed at the four ends of the skid.

[0020] Secondly, an online detection device is provided, the device being applied to a visual inspection and calibration system, the visual inspection and calibration system including a vision device and a skid provided with at least one calibration block, the calibration block being provided with a positioning and identification hole, the device comprising:

[0021] The acquisition module is used to acquire, through the vision device, the first coordinate data of the positioning recognition hole of the calibration block in the visual coordinate system and the second coordinate data of the hole of the part to be inspected on the white body in the visual coordinate system after the skid transports the white body to the inspection work station.

[0022] The first determining module is used to determine the coordinate transformation relationship between the visual coordinate system and the vehicle coordinate system based on the first coordinate data and the pre-stored third coordinate data of the positioning recognition hole in the vehicle coordinate system.

[0023] The second determining module is used to determine the fourth coordinate data of the hole position of the part to be detected in the vehicle body coordinate system based on the second coordinate data and the coordinate transformation relationship.

[0024] As an optional implementation, the first determining module is specifically used for:

[0025] Based on the first coordinate data and the pre-stored third coordinate data of the positioning and recognition hole in the vehicle body coordinate system, determine the coordinate transformation matrix between the visual coordinate system and the vehicle body coordinate system;

[0026] Based on the visual coordinate system and the coordinate transformation matrix, a coordinate transformation relationship is established between the visual coordinate system and the vehicle body coordinate system, wherein the coordinates in the vehicle body coordinate system are the product of the coordinates in the visual coordinate system and the coordinate transformation matrix.

[0027] As an optional implementation, the second determining module is specifically used for:

[0028] The product of the second coordinate data and the coordinate transformation relationship is determined as the fourth coordinate data of the hole position of the part to be detected in the vehicle body coordinate system.

[0029] As an optional implementation, the pre-stored third coordinate data of the positioning and identification hole in the vehicle body coordinate system is determined by coordinate measuring machine (CMM).

[0030] As an optional implementation, the device further includes:

[0031] The output module is used to output an alarm message if the fourth coordinate data is different from the pre-stored reference coordinate data.

[0032] The storage module is used to store the fourth coordinate data in the database if the fourth coordinate data is the same as the pre-stored reference coordinate data.

[0033] As an optional implementation, the positioning recognition hole of the calibration block has an accuracy of ±10 micrometers.

[0034] As an optional implementation, there are four calibration blocks, which are respectively installed at the four ends of the skid.

[0035] Thirdly, an online detection system is provided, the online detection system comprising: the online detection method as described in the first aspect and the online detection device as described in the second aspect.

[0036] Fourthly, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor executes the computer program to implement the steps of the method described in the first aspect.

[0037] Fifthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0038] This application provides an online inspection method and apparatus. The technical solution provided by the embodiments of this application brings at least the following beneficial effects: By using the first coordinate data of the positioning recognition hole of the calibration block in the visual coordinate system and the pre-stored third coordinate data of the positioning recognition hole in the vehicle body coordinate system, the coordinate transformation relationship between the visual coordinate system and the vehicle body coordinate system is determined. Then, the hole position of each part to be inspected in the visual coordinate system is converted to coordinates in the vehicle body coordinate system through the coordinate transformation relationship. This avoids coordinate deviations caused by inconsistent stopping positions each time, further avoiding the problem of inaccurate subsequent measurement of hole position data of the parts to be inspected.

[0039] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the structure of an online detection system provided in an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of the structure of a calibration block provided in an embodiment of this application;

[0043] Figure 3 A flowchart illustrating an online detection method provided in this application embodiment;

[0044] Figure 4 This is a schematic diagram of the structure of an online detection device provided in an embodiment of this application;

[0045] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] The online detection method provided in this application can be applied to online detection systems. For example... Figure 1 As shown, the online inspection system includes a controller 101, a vision device 102, a skid 103, a calibration block 104, and a body-in-white 105. The calibration block 104 has positioning and identification holes. The body-in-white 105 has holes for the parts to be inspected.

[0048] The controller 101, connected to the vision device 102, is used to acquire, through the vision device 102, the first coordinate data of the positioning recognition hole of the calibration block 104 in the vision coordinate system and the second coordinate data of the hole of the part to be inspected on the body-in-white 105 in the vision coordinate system after the skid 103 transports the body-in-white 105 to the inspection station. Based on the first coordinate data and the pre-stored third coordinate data of the positioning recognition hole in the vehicle body coordinate system, the controller 101 determines the coordinate transformation relationship between the vision coordinate system and the vehicle body coordinate system. Based on the second coordinate data and the coordinate transformation relationship, the controller 101 determines the fourth coordinate data of the hole position of the part to be inspected in the vehicle body coordinate system.

[0049] The vision device 102 is used to capture images of the positioning and identification holes of the calibration block 104 and the hole positions of the parts to be inspected on the body-in-white 105, so that the controller 101 can obtain the first coordinate data of the positioning and identification holes of the calibration block 104 in the vision coordinate system and the second coordinate data of the holes of the parts to be inspected on the body-in-white 105 in the vision coordinate system.

[0050] The skid 103 is fixedly connected to the calibration block 104 and is used to carry the body-in-white 105 to the inspection and loading station.

[0051] The calibration block 104 is used to ensure the accuracy of visual inspection through the high-precision positioning and recognition hole.

[0052] The white body 105 is used to inspect whether the hole positions of the part to be inspected are accurate.

[0053] Figure 2 This is a schematic diagram of the structure of a calibration block provided in an embodiment of this application, as shown below. Figure 2As shown, the calibration block support on the calibration block is equipped with fixing bolt holes, locating pin holes, and positioning identification holes. The fixing bolt holes are used to secure the calibration block to the skid with bolts. The locating pin holes provide a mounting pin to achieve a fixed connection between the calibration block and the skid. This allows the controller to calculate the skid's position data using the calibration block's position data. The positioning identification hole is a high-precision hole with an accuracy of ±10 micrometers. Its precision ensures a high-precision connection between the calibration block and the skid. The use of a high-precision positioning identification hole on the calibration block guarantees the accuracy of the data from visual inspection and calculation.

[0054] The positioning and identification holes of the calibration blocks have an accuracy of ±10 micrometers. There are four calibration blocks, which are installed at the four ends of the skid.

[0055] The online detection method provided in this application will now be described in detail with reference to specific implementation methods. Figure 3 A flowchart of an online detection method provided in this application embodiment is shown below. Figure 3 As shown, the specific steps are as follows:

[0056] Step 301: After the skid transports the body-in-white to the inspection station, the first coordinate data of the positioning recognition hole of the calibration block in the visual coordinate system and the second coordinate data of the hole of the part to be inspected on the body-in-white in the visual coordinate system are obtained through the vision device.

[0057] In existing technologies, when conducting online dimensional measurement for automotive parts quality inspection, a skid transports the vehicle body to be inspected to the inspection position. An information acquisition device captures images of the vehicle body parts and establishes the coordinate relationship between the coordinates of the acquisition device and the theoretical vehicle body coordinate system. A vision measurement system then measures and analyzes the assembly dimensions of the vehicle body parts. However, during each measurement process, the skid stops at different positions after transporting different vehicle bodies, resulting in deviations in the inspection position of the vehicle body. This leads to a discrepancy between the theoretical vehicle body coordinates derived from the inspection position and the actual situation, making it impossible to accurately measure the assembly dimensions of the vehicle body parts. To avoid this problem, this application fixes high-precision calibration blocks with a precision of ±10 mm at all four ends of the skid. After the skid transports the vehicle body to the inspection station, the online monitoring of the part assembly dimensions is completed based on the actual vehicle body coordinate system determined by the high-precision calibration blocks and the vision device coordinate system. Therefore, after the skid transports the body-in-white to the inspection station, the first coordinate data of the positioning recognition hole of the calibration block in the visual coordinate system and the second coordinate data of the hole of the part to be inspected on the body-in-white in the visual coordinate system are obtained through the vision device.

[0058] Step 302: Based on the first coordinate data and the pre-stored third coordinate data of the positioning recognition hole in the vehicle body coordinate system, determine the coordinate transformation relationship between the visual coordinate system and the vehicle body coordinate system.

[0059] In implementation, the positioning and identification holes of the calibration block have a high precision of ±10 micrometers. The calibration block is fixedly connected to the skid and fixed at all four ends of the skid. The coordinates of the calibration block in the visual coordinate system are the same as the coordinates of the skid in the visual coordinate system. Simultaneously, the body-in-white is fixedly connected to the skid. Therefore, the coordinate relationship between the calibration block and the body-in-white in the visual coordinate system is also fixed. Thus, the coordinate transformation relationship between the visual coordinate system and the body coordinate system can be determined based on the coordinates of the calibration block in the visual coordinate system and the body coordinate system. This ensures the accuracy of subsequent online detection steps. Therefore, based on the first coordinate data and the pre-stored third coordinate data of the positioning and identification holes in the body coordinate system, the coordinate transformation relationship between the visual coordinate system and the body coordinate system is determined. The pre-stored third coordinate data of the positioning and identification holes in the body coordinate system is determined through coordinate measuring machine (CMM) measurement. A CMM is a measuring instrument used to measure the coordinates of an object in three coordinate directions based on the body model in a pre-stored body model.

[0060] Specifically, the specific steps for determining the coordinate transformation relationship between the visual coordinate system and the vehicle coordinate system based on the first coordinate data and the pre-stored third coordinate data of the positioning recognition hole in the vehicle coordinate system are as follows.

[0061] Step 1: Based on the first coordinate data and the pre-stored third coordinate data of the positioning recognition hole in the vehicle body coordinate system, determine the coordinate transformation matrix between the visual coordinate system and the vehicle body coordinate system.

[0062] In implementation, the coordinate transformation matrix between the visual coordinate system and the vehicle coordinate system is determined based on the first coordinate data and the pre-stored third coordinate data of the positioning recognition holes in the vehicle coordinate system. The pre-stored third coordinate data of the positioning recognition holes in the vehicle coordinate system is determined through coordinate measuring machine (CMM) measurement. For example, the vision device captures four images of the positioning recognition holes of the calibration block and sends them to the controller. The controller obtains the four coordinate values ​​Pr1, Pr2, Pr3, and Pr4 of the four positioning recognition holes in the visual coordinate system. The CMM measures the four coordinate values ​​Pc1, Pc2, Pc3, and Pc4 of the four positioning recognition holes in the vehicle coordinate system in advance and sends them to the controller. The controller determines the coordinate transformation matrix between the visual coordinate system and the vehicle coordinate system based on the two sets of coordinate points Pr1, Pr2, Pr3, and Pr4 and Pc1, Pc2, Pc3, and Pc4.

[0063] Step 2: Based on the visual coordinate system and the coordinate transformation matrix, establish the coordinate transformation relationship between the visual coordinate system and the vehicle coordinate system. The coordinates in the vehicle coordinate system are the product of the coordinates in the visual coordinate system and the coordinate transformation matrix.

[0064] In implementation, a coordinate transformation relationship is established between the visual coordinate system and the vehicle body coordinate system based on the visual coordinate system and the coordinate transformation matrix. The coordinates in the vehicle body coordinate system are the product of the coordinates in the visual coordinate system and the coordinate transformation matrix. This avoids errors and enables online measurement of part assembly dimensions, even if the skid stops at different positions each time.

[0065] Step 303: Based on the second coordinate data and the coordinate transformation relationship, determine the fourth coordinate data of the hole position of the part to be inspected in the vehicle body coordinate system.

[0066] In practice, based on the coordinate transformation relationship between the visual coordinate system and the vehicle body coordinate system determined above, the second coordinate data of the hole position of the part to be inspected in the visual coordinate system is transformed to the vehicle body coordinate system of the hole position of the part to be inspected. This allows for the determination of the accuracy of the part assembly dimensions in subsequent steps.

[0067] Specifically, the product of the second coordinate data and the coordinate transformation relationship is determined as the fourth coordinate data of the hole position of the part to be inspected in the vehicle body coordinate system.

[0068] In practice, the product of the second coordinate data and the coordinate transformation relationship is determined as the fourth coordinate data of the hole position of the part to be inspected in the vehicle body coordinate system.

[0069] As an optional implementation, the formula for determining the fourth coordinate data of the hole position of the part to be detected in the vehicle body coordinate system by multiplying the second coordinate data with the coordinate transformation relationship is as follows:

[0070] Pc = Tcr * Pr

[0071] Where Pc represents the second coordinate data, Tcr represents the coordinate transformation relationship, and Pr represents the fourth coordinate data.

[0072] Furthermore, after determining the fourth coordinate data, it is necessary to compare the fourth coordinate data with the pre-stored reference coordinate data.

[0073] If the fourth coordinate data is different from the pre-stored reference coordinate data, it indicates that there is a deviation in the assembly dimensions of the part to be inspected, and an alarm message is output to call technicians to trace the problem of the part's assembly dimensions.

[0074] If the fourth coordinate data is the same as the pre-stored reference coordinate data, the fourth coordinate data will be stored in the database, and the online detection operation for the assembly dimensions of the body-in-white parts will be completed.

[0075] Furthermore, the above method requires establishing a transformation relationship between the visual coordinate system and the vehicle body coordinate system when inspecting each assembled part of the body-in-white, based on the current stopping position of the body-in-white. Alternatively, this transformation relationship can be pre-established. After each body-in-white stops moving, the position of the skid is first determined to be within the theoretical position of the visual coordinate system in the transformation relationship. If it is within the theoretical position, the inspection of the holes of the parts to be inspected on the body body begins. If the position of the skid is not within the theoretical position of the visual coordinate system in the transformation relationship, the skid position is corrected to the theoretical position before the inspection of the holes of the parts to be inspected on the body body begins.

[0076] This application provides an online detection method. By using the first coordinate data of the positioning recognition holes of the calibration block in the visual coordinate system and the pre-stored third coordinate data of the positioning recognition holes in the vehicle body coordinate system, a coordinate transformation relationship between the visual coordinate system and the vehicle body coordinate system is determined. Then, the hole positions of each part to be inspected in the visual coordinate system are converted to coordinates in the vehicle body coordinate system through the coordinate transformation relationship. This avoids coordinate deviations caused by inconsistent stopping positions each time, further preventing inaccurate subsequent measurements of the hole positions of the parts to be inspected.

[0077] It should be understood that, although Figure 3 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 3 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0078] It is understood that the same / similar parts between the various embodiments of the methods described above in this specification can be referred to each other. Each embodiment focuses on the differences from other embodiments, and relevant parts can be referred to the description of other method embodiments.

[0079] This application also provides an online detection device, such as... Figure 4 As shown, the device includes:

[0080] The acquisition module 401 is used to acquire, through the vision device, the first coordinate data of the positioning recognition hole of the calibration block in the visual coordinate system and the second coordinate data of the hole of the part to be inspected on the white body in the visual coordinate system after the skid transports the white body to the inspection work station.

[0081] The first determining module 402 is used to determine the coordinate transformation relationship between the visual coordinate system and the vehicle coordinate system based on the first coordinate data and the pre-stored third coordinate data of the positioning recognition hole in the vehicle coordinate system.

[0082] The second determining module 403 is used to determine the fourth coordinate data of the hole position of the part to be detected in the vehicle body coordinate system based on the second coordinate data and the coordinate transformation relationship.

[0083] As an optional implementation, the first determining module 402 is specifically used for:

[0084] Based on the first coordinate data and the pre-stored third coordinate data of the positioning and recognition hole in the vehicle body coordinate system, determine the coordinate transformation matrix between the visual coordinate system and the vehicle body coordinate system;

[0085] Based on the visual coordinate system and the coordinate transformation matrix, a coordinate transformation relationship is established between the visual coordinate system and the vehicle body coordinate system, wherein the coordinates in the vehicle body coordinate system are the product of the coordinates in the visual coordinate system and the coordinate transformation matrix.

[0086] As an optional implementation, the second determining module 403 is specifically used for:

[0087] The product of the second coordinate data and the coordinate transformation relationship is determined as the fourth coordinate data of the hole position of the part to be detected in the vehicle body coordinate system.

[0088] As an optional implementation, the pre-stored third coordinate data of the positioning and identification hole in the vehicle body coordinate system is determined by coordinate measuring machine (CMM).

[0089] As an optional implementation, the device further includes:

[0090] The output module is used to output an alarm message if the fourth coordinate data is different from the pre-stored reference coordinate data.

[0091] The storage module is used to store the fourth coordinate data in the database if the fourth coordinate data is the same as the pre-stored reference coordinate data.

[0092] As an optional implementation, the positioning recognition hole of the calibration block has an accuracy of ±10 micrometers.

[0093] As an optional implementation, there are four calibration blocks, which are respectively installed at the four ends of the skid.

[0094] This application provides an online inspection device that determines the coordinate transformation relationship between the visual coordinate system and the vehicle coordinate system by using the first coordinate data of the positioning recognition hole of the calibration block in the visual coordinate system and the pre-stored third coordinate data of the positioning recognition hole in the vehicle coordinate system. Then, the hole position of each part to be inspected in the visual coordinate system is converted to coordinates in the vehicle coordinate system through the coordinate transformation relationship. This avoids coordinate deviations caused by inconsistent stopping positions each time, further preventing inaccurate measurement data of the hole position of the part to be inspected in subsequent measurements.

[0095] Specific limitations regarding the online testing device can be found in the limitations of the online testing method described above, and will not be repeated here. Each module in the aforementioned online testing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0096] In one embodiment, a computer device is provided, such as Figure 5 As shown, it includes a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the above-described online detection method steps.

[0097] In one embodiment, a computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the above-described online detection method.

[0098] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0099] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0100] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0101] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0102] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0103] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An online detection method, characterized in that, The method is applied to a visual detection calibration system, the visual detection calibration system comprising a visual device and a skid provided with at least one calibration block, the calibration block being four, respectively installed at four ends of the skid, the calibration block being provided with a positioning identification hole, the method comprising: When the skid transports a body-in-white to a detection loading station, the visual device is used to acquire first coordinate data of the positioning identification hole of the calibration block in a visual coordinate system and second coordinate data of a part hole to be detected on the body-in-white in the visual coordinate system; According to the first coordinate data and third coordinate data of the positioning identification hole in a body-in-white coordinate system stored in advance, a coordinate conversion relationship between the visual coordinate system and the body-in-white coordinate system is determined, and the specific process of the step is that: according to the first coordinate data and the third coordinate data of the positioning identification hole in the body-in-white coordinate system stored in advance, a coordinate transformation matrix of the visual coordinate system and the body-in-white coordinate system is determined; according to the visual coordinate system and the coordinate transformation matrix, the coordinate conversion relationship between the visual coordinate system and the body-in-white coordinate system is established, and the coordinate in the body-in-white coordinate system is the product of the coordinate in the visual coordinate system and the coordinate transformation matrix; According to the second coordinate data and the coordinate conversion relationship, fourth coordinate data of the part hole to be detected in the body-in-white coordinate system is determined; If the fourth coordinate data is different from reference coordinate data stored in advance, an alarm information is output; if the fourth coordinate data is the same as the reference coordinate data stored in advance, the fourth coordinate data is stored into a database.

2. The method of claim 1, wherein, The fourth coordinate data of the part hole to be detected in the body-in-white coordinate system is determined according to the second coordinate data and the coordinate conversion relationship, and comprises: The product of the second coordinate data and the coordinate conversion relationship is determined as the fourth coordinate data of the part hole to be detected in the body-in-white coordinate system.

3. The method of claim 1, wherein, The third coordinate data of the positioning identification hole in the body-in-white coordinate system stored in advance is determined by a three-coordinate measurement.

4. The method of claim 1, wherein, The accuracy of the positioning identification hole of the calibration block is plus or minus 10 microns.

5. An in-line detection device, characterized in that The device is applied to a visual detection calibration system, the visual detection calibration system comprising a visual device and a skid provided with at least one calibration block, the calibration block being provided with a positioning identification hole, and the device comprising: An acquisition module, configured to, when the skid transports a body-in-white to a detection loading station, acquire first coordinate data of the positioning identification hole of the calibration block in a visual coordinate system and second coordinate data of a part hole to be detected on the body-in-white in the visual coordinate system by the visual device; A first determination module, configured to determine a coordinate conversion relationship between the visual coordinate system and a body-in-white coordinate system according to the first coordinate data and third coordinate data of the positioning identification hole in the body-in-white coordinate system stored in advance; A second determination module, configured to determine coordinate data of the part hole to be detected in the body-in-white coordinate system according to the second coordinate data and the coordinate conversion relationship.

6. A computer device comprising a memory and a processor, the memory having stored thereon a computer program operable to run on the processor, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 4.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 4.

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