A comprehensive dimensional quality inspection method, device and system for automobile parts

Abstract

The present invention relates to the technical field of dimensional quality inspection of rear end covers of automobile electric drives, and specifically to a method, device and system for dimensional quality inspection of automobile parts in an all-round manner, including: obtaining the degree of influence of all reflected light intensity sequences on the vibration of the conveyor belt; obtaining the initial reflected light intensity sequence excluding the influence of vibration; screening out several abnormal reflected light intensity values ​​in the initial reflected light intensity sequence; screening several vibration abnormal reflected light intensity values; correcting the vibration abnormal reflected light intensity values ​​in the initial reflected light intensity sequence to obtain the final reflected light intensity sequence excluding the influence of vibration; obtaining point cloud data of the rear end cover of the automobile electric drive; matching the point cloud data of the rear end cover of the automobile electric drive with the standard point cloud data to obtain the quality parameters of the rear end cover of the automobile electric drive. The present invention reduces the influence of the vibration of the conveyor belt, so that the quality inspection result of the rear end cover of the automobile electric drive is more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of dimensional quality inspection of a rear end cover of an automobile electric drive, and in particular to a method, device and system for all-round dimensional quality inspection of automobile parts. Background Art

[0002] The rear cover of the electric drive is a component of the electric drive integrated system. As the core component of electric vehicles, the electric drive system plays a vital role in outputting torque and controlling the vehicle. Therefore, the rear cover of the electric drive also needs precise size matching to ensure the high performance requirements of the electric drive system.

[0003] The existing method uses a line laser measuring instrument to obtain the point cloud data of the rear end cover of the electric vehicle when conducting a full-scale dimensional quality inspection on the rear end cover of the electric vehicle, and matches it with the standard point cloud data to complete the full-scale dimensional quality inspection of the rear end cover of the electric vehicle. Due to the vibration of the conveyor belt carrying the rear end cover of the electric vehicle, it will cause the point cloud data of the rear end cover of the electric vehicle obtained by the line laser measuring instrument to be offset, which will lead to a large error when matching with the standard point cloud data, making the quality inspection result of the rear end cover of the electric vehicle inaccurate. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a method, device and system for comprehensive dimensional quality inspection of automobile parts.

[0005] The present invention provides a comprehensive dimensional quality inspection method, device and system for automobile parts, which adopts the following technical solutions:

[0006] An embodiment of the present invention provides a comprehensive dimensional quality inspection method for automobile parts, the method comprising the following steps:

[0007] According to the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive, the distances between the three line laser measuring instruments are preset; the rear end cover of the automobile electric drive is measured respectively by the three line laser measuring instruments to obtain three reflected light intensity sequences;

[0008] According to the change of the reflected light intensity values ​​of the same order between the reflected light intensity sequences, the influence degree of all reflected light intensity sequences on the vibration of the conveyor belt is obtained; according to the influence degree, the reflected light intensity values ​​in the reflected light intensity sequence are corrected to obtain the initial reflected light intensity sequence excluding the influence of the vibration;

[0009] According to the magnitude of the reflected light intensity values ​​in the initial reflected light intensity sequence, several abnormal reflected light intensity values ​​in the initial reflected light intensity sequence are screened out; according to the initial reflected light intensity sequence and the vibration frequency of the conveyor belt, a period-related set of each abnormal reflected light intensity value is obtained; according to the similarity between the abnormal reflected light intensity value and the reflected light intensity values ​​in the period-related set to which it belongs, and the similarity between the abnormal reflected light intensity value and the adjacent reflected light intensity values, several vibration abnormal reflected light intensity values ​​are screened out;

[0010] The abnormal vibration reflected light intensity values ​​in the initial reflected light intensity sequence are corrected to obtain a final reflected light intensity sequence excluding the influence of vibration; the point cloud data of the rear end cover of the automobile electric drive is obtained according to the final reflected light intensity sequence excluding the influence of vibration; the point cloud data of the rear end cover of the automobile electric drive is matched with the standard point cloud data to obtain the quality parameters of the rear end cover of the automobile electric drive.

[0011] Furthermore, the distances between the three line laser measuring instruments are preset according to the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive, and the specific steps include the following:

[0012] The vibration wavelength of the conveyor belt is obtained according to the vibration frequency and transmission speed of the conveyor belt; the distance between the first line laser measuring instrument and the second line laser measuring instrument is preset to TH1 times the vibration wavelength, and TH1 is an adjustment coefficient, so that the distance between the first line laser measuring instrument and the second line laser measuring instrument is close to one meter and less than one meter; the distance between the first line laser measuring instrument and the third line laser measuring instrument is preset to the distance between the first line laser measuring instrument and the second line laser measuring instrument plus 0.3 times the vibration wavelength.

[0013] Furthermore, the method of obtaining the degree to which all reflected light intensity sequences are affected by the vibration of the conveyor belt according to the change of the reflected light intensity values ​​of the same order among the reflected light intensity sequences includes the following specific steps:

[0014] For any group of reflected light intensity values ​​of the same order in the three reflected light intensity sequences, the absolute value of the difference between the reflected light intensity value in the first reflected light intensity sequence and the reflected light intensity value in the second reflected light intensity sequence is taken as the difference between the reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the second reflected light intensity sequence, which is recorded as the first difference; the difference between the reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the third reflected light intensity sequence is obtained, which is recorded as the second difference; the ratio of the first difference to the second difference plus 1 is taken as an influencing parameter, the accumulated values ​​of all influencing parameters are normalized, and the degree of influence of all reflected light intensity sequences on the vibration of the conveyor belt is obtained.

[0015] Furthermore, the reflected light intensity values ​​in the reflected light intensity sequence are corrected according to the degree of influence to obtain an initial reflected light intensity sequence excluding the influence of vibration, and the specific steps include the following:

[0016] For any group of reflected light intensity values ​​of the same order in the three reflected light intensity sequences; if the reflected light intensity value in the first reflected light intensity sequence is less than or equal to the reflected light intensity value in the third reflected light intensity sequence, the average value of the reflected light intensity values ​​of the same order in the group is subtracted from the product of the influence degree and the average value of the reflected light intensity values ​​of the same order in the group, to obtain the reflected light intensity values ​​of the corresponding order in the initial reflected light intensity sequence excluding the influence of vibration; if the reflected light intensity value in the first reflected light intensity sequence is greater than the reflected light intensity value in the third reflected light intensity sequence, the average value of the reflected light intensity values ​​of the same order in the group is added to the product of the influence degree and the average value of the reflected light intensity values ​​of the same order in the group, to obtain the reflected light intensity values ​​of the corresponding order in the initial reflected light intensity sequence excluding the influence of vibration;

[0017] All reflected light intensity values ​​in the initial reflected light intensity sequence excluding the influence of vibration are arranged in order to obtain the initial reflected light intensity sequence excluding the influence of vibration.

[0018] Furthermore, the method of screening out a number of abnormal reflected light intensity values ​​in the initial reflected light intensity sequence according to the magnitude of the reflected light intensity values ​​in the initial reflected light intensity sequence comprises the following specific steps:

[0019] For the reflected light intensity values ​​in the initial reflected light intensity sequence that excludes the influence of vibration; the average value of all reflected light intensity values ​​in the initial reflected light intensity sequence that excludes the influence of vibration is recorded as the first average value. If the absolute value of the difference between the reflected light intensity value and the first average value is greater than a preset first threshold, the reflected light intensity value greater than the preset first threshold is taken as an abnormal reflected light intensity value. The first threshold is 0.1 times the first average value.

[0020] Furthermore, the step of obtaining a period-related set of each abnormal reflected light intensity value according to the initial reflected light intensity sequence and the vibration frequency of the conveyor belt includes the following specific steps:

[0021] According to the vibration frequency of the conveyor belt, the vibration period of the conveyor belt is obtained; for any abnormal reflected light intensity value, starting from the abnormal reflected light intensity value in the initial reflected light intensity sequence, the set consisting of all reflected light intensity values ​​on the left and right sides at intervals of one vibration period is recorded as the period-related set of the abnormal reflected light intensity value.

[0022] Further, the method of screening a plurality of vibration abnormal reflected light intensity values ​​according to the similarity between the abnormal reflected light intensity value and the reflected light intensity values ​​in the period-related set to which it belongs, and the similarity between the abnormal reflected light intensity value and the adjacent reflected light intensity values, comprises the following specific steps:

[0023] For any abnormal reflected light intensity value, the average value of the absolute value of the difference between the abnormal reflected light intensity value and the reflected light intensity values ​​in the corresponding period-related set is used as the similarity parameter between the abnormal reflected light intensity value and the reflected light intensity values ​​in the corresponding period-related set; the average value of the absolute value of the difference between the abnormal reflected light intensity value and the two adjacent reflected light intensity values ​​on the left and right is used as the first similarity parameter between the abnormal reflected light intensity value and the adjacent reflected light intensity values; the inverse proportional value of the absolute value of the difference between the similarity parameter and the first similarity parameter is used as the possibility that the abnormal reflected light intensity value is caused by the vibration of the conveyor belt;

[0024] The abnormal reflected light intensity value whose probability is greater than the preset second threshold is used as the vibration abnormal reflected light intensity value.

[0025] Furthermore, the correction of the vibration-abnormal reflected light intensity value in the initial reflected light intensity sequence to obtain the final reflected light intensity sequence excluding the influence of vibration includes the following specific steps:

[0026] For any vibration abnormal reflected light intensity value in the initial reflected light intensity sequence, obtain the values ​​on the left and right sides of the vibration abnormal reflected light intensity value. The non-vibration abnormal reflected light intensity value, is a preset value, and the average of all non-vibration abnormal reflected light intensity values ​​obtained on the left and right sides is used to replace the vibration abnormal reflected light intensity value; all vibration abnormal reflected light intensity values ​​in the initial reflected light intensity sequence are replaced to obtain the final reflected light intensity sequence that eliminates the influence of vibration.

[0027] The present invention also proposes an all-round dimensional quality inspection device for automobile parts, including a mobile frame of a line laser measuring instrument, a line laser measuring instrument, a conveyor belt device, a vibration sensor and a data processor; the mobile frame of the line laser measuring instrument is used to fix the line laser measuring instrument and adjust the distance between the line laser measuring instruments; the line laser measuring instrument is used to obtain a reflected light intensity sequence; the conveyor belt device is used to convey the rear end cover of an automobile electric drive so that the line laser measuring instrument can measure it; the vibration sensor is used to obtain the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive; and the data processor is used to implement the above steps.

[0028] The present invention also proposes an all-round dimensional quality inspection system for automobile parts, comprising a memory and a processor, wherein the processor executes a computer program stored in the memory to implement the steps of the aforementioned method.

[0029] The beneficial effects of the technical solution of the present invention are as follows: by setting the distance between the three line laser measuring instruments, the present invention makes the obtained reflected light intensity sequence more representative and can better reflect the vibration influence of the conveyor belt; by changing the reflected light intensity values ​​of the same order between the reflected light intensity sequences, the degree of influence of all reflected light intensity sequences on the vibration of the conveyor belt is obtained; then, the reflected light intensity values ​​in the reflected light intensity sequence are corrected according to the degree of influence, and an initial reflected light intensity sequence excluding the influence of vibration is obtained, thereby reducing the influence of the vibration of the conveyor belt; by analyzing the similarity between the abnormal reflected light intensity value and the reflected light intensity value at the interval period position, as well as the similarity with the adjacent reflected light intensity values, a number of vibration abnormal reflected light intensity values ​​are more accurately screened out; then, the vibration abnormal reflected light intensity value in the initial reflected light intensity sequence is corrected, and a final reflected light intensity sequence excluding the influence of vibration is obtained; then, the point cloud data of the rear end cover of the automobile electric drive excluding the influence of vibration is obtained; and the point cloud data is matched with the standard point cloud data to obtain the quality parameters of the rear end cover of the automobile electric drive, thereby reducing the vibration influence of the conveyor belt and making the quality inspection result of the rear end cover of the automobile electric drive more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A flowchart of the steps of a comprehensive dimensional quality inspection method for automobile parts provided by one embodiment of the present invention;

[0032] Figure 2 A first isometric view of a device for obtaining a reflected light intensity sequence from a rear end cover of an electric drive vehicle provided by an embodiment of the present invention;

[0033] Figure 3 A second isometric view of a device for obtaining a reflected light intensity sequence for a rear end cover of an electric drive vehicle provided by an embodiment of the present invention;

[0034] Figure 2 and Figure 3 In: 21. The first line laser measuring instrument; 22. The second line laser measuring instrument; 23. The third line laser measuring instrument; 24. The mobile bracket of the line laser measuring instrument; 11. The conveyor belt; 12. The first robotic arm; 13. The second robotic arm; 31. The integrated vibration sensor. DETAILED DESCRIPTION

[0035] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the method, device and system for comprehensive dimensional quality inspection of automotive parts proposed by the present invention, its specific implementation method, structure, features and effects in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0036] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0037] The specific scheme of the comprehensive dimensional quality inspection method, device and system for automobile parts provided by the present invention is described in detail below with reference to the accompanying drawings.

[0038] See also Figure 1 , which shows a flowchart of a method for comprehensive dimensional quality inspection of automotive parts provided by an embodiment of the present invention, the method comprising the following steps:

[0039] Step S001, preset the distances between three line laser measuring instruments according to the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive; measure the rear end cover of the automobile electric drive respectively by the three line laser measuring instruments to obtain three reflected light intensity sequences.

[0040] It should be noted that the main purpose of this embodiment is to determine which reflected light intensity values ​​in the reflected light intensity sequence after measuring the rear end cover of the electric drive of the automobile are abnormal due to the vibration of the conveyor belt, and then correct the abnormality caused by the vibration, obtain the point cloud data of the rear end cover of the electric drive of the automobile and align it with the standard point cloud data, obtain the quality parameters of the rear end cover of the electric drive of the automobile, and complete the quality inspection of the rear end cover of the electric drive of the automobile. Before starting the analysis, the required relevant data should be collected first.

[0041] Please note that Figure 2 and Figure 3 , Figure 2 and Figure 3 Schematic diagrams of two isometric views of a device for obtaining a reflected light intensity sequence from a rear end cover of an electric vehicle according to this embodiment. Figure 2 and Figure 3 The conveying direction of the conveyor belt is from the first mechanical arm to the second mechanical arm. The linear laser measuring instrument used in this embodiment is a device of the Keyence LJ-X8000 series, with a sampling frequency of 16 kHz.

[0042] It should be noted that since the conveyor belt carrying the rear end cover of the automobile electric drive will vibrate during normal operation, in order to better analyze the impact of vibration on the acquired data, it is necessary to set the distance between the three line laser measuring instruments.

[0043] Specifically, according to the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive, the distances between the three line laser measuring instruments are preset as follows:

[0044] A vibration sensor is installed on the conveyor belt carrying the rear end cover of the automobile electric drive, and the vibration frequency of the conveyor belt is obtained by the vibration sensor. It should be noted that the vibration frequency of each part of the conveyor belt in this embodiment is considered to remain unchanged; the preset transmission speed of the conveyor belt is obtained. The transmission speed of the conveyor belt in this embodiment is preset to 0.1 meters per second. According to the vibration frequency and transmission speed of the conveyor belt, the vibration wavelength of the conveyor belt is obtained. It should be noted that obtaining the wavelength according to the frequency and speed is an existing method and will not be repeated in this embodiment; the distance between the first line laser measuring instrument and the second line laser measuring instrument is preset to TH1 times the vibration wavelength. TH1 is an adjustment coefficient, so that the distance between the first line laser measuring instrument and the second line laser measuring instrument is close to one meter and less than one meter. It should be noted that TH1 is set by the implementer and must meet the above conditions of being close to one meter and less than one meter, for example, 0.99 meters; the distance between the first line laser measuring instrument and the third line laser measuring instrument is preset to the distance between the first line laser measuring instrument and the second line laser measuring instrument plus 0.3 times the vibration wavelength.

[0045] It should be noted that the distance between the line laser measuring instruments has been set above, and then the rear end cover of the electric drive of the automobile is measured by the line laser measuring instrument to obtain the reflected light intensity sequence.

[0046] Specifically, the rear end cover of the automobile electric drive is measured respectively by three line laser measuring instruments to obtain three reflected light intensity sequences. It should be noted that obtaining the reflected light intensity sequence according to the line laser measuring instrument is an existing method and will not be repeated in this embodiment. The three reflected light intensity sequences are of equal length, that is, the number of reflected light intensity values ​​in all reflected light intensity sequences is equal.

[0047] So far, three reflected light intensity sequences have been obtained.

[0048] Step S002: according to the change of reflected light intensity values ​​of the same order among reflected light intensity sequences, the influence degree of all reflected light intensity sequences on the conveyor belt vibration is obtained; according to the influence degree, the reflected light intensity values ​​in the reflected light intensity sequence are corrected to obtain the initial reflected light intensity sequence excluding the influence of vibration.

[0049] It should be noted that in order to obtain the initial reflected light intensity sequence without vibration influence, it is first necessary to analyze the degree of influence of all reflected light intensity sequences on the vibration of the conveyor belt. Since the distance between the first and second line laser measuring instruments is an integer multiple of the vibration wavelength of the conveyor belt when the three line laser measuring instruments are set, and the distance between the first and third line laser measuring instruments is not an integer multiple of the vibration wavelength of the conveyor belt, the change of reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the second reflected light intensity sequence, as well as the change of reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the third reflected light intensity sequence, is used to obtain the degree of influence of all reflected light intensity sequences on the vibration of the conveyor belt.

[0050] Preferably, in one embodiment of the present invention, the degree to which all reflected light intensity sequences are affected by the vibration of the conveyor belt is obtained according to the change of reflected light intensity values ​​of the same order between reflected light intensity sequences, as follows:

[0051] For any group of reflected light intensity values ​​of the same order in the three reflected light intensity sequences, the absolute value of the difference between the reflected light intensity value in the first reflected light intensity sequence and the reflected light intensity value in the second reflected light intensity sequence is taken as the difference between the reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the second reflected light intensity sequence, which is recorded as the first difference; the difference between the reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the third reflected light intensity sequence is obtained, which is recorded as the second difference; the ratio of the first difference to the second difference plus 1 is taken as an influencing parameter, the accumulated values ​​of all influencing parameters are normalized, and the degree of influence of all reflected light intensity sequences on the vibration of the conveyor belt is obtained.

[0052] As a specific example, the specific method for obtaining the impact degree is as follows:

[0053]

[0054] In the formula, is the number of reflected light intensity values ​​in any reflected light intensity sequence; is the first reflected light intensity sequence The reflected light intensity value; is the second reflected light intensity sequence The reflected light intensity value; To take the absolute value; is the third reflected light intensity sequence The reflected light intensity value; is the sigmoid function, used for normalization; is the degree to which all reflected light intensity sequences are affected by the vibration of the conveyor belt.

[0055] It should be noted that, when the three line laser measuring instruments are set to a distance, the distance between the first line laser measuring instrument and the second line laser measuring instrument is an integer multiple of the vibration wavelength of the conveyor belt, while the distance between the first line laser measuring instrument and the third line laser measuring instrument is not an integer multiple of the vibration wavelength of the conveyor belt. Therefore, the above formula obtains the degree to which all reflected light intensity sequences are affected by the vibration of the conveyor belt by analyzing the changes in the reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the second reflected light intensity sequence, as well as the changes in the reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the third reflected light intensity sequence. The larger the value is, the greater the influence of the reflected light intensity sequence on the vibration of the conveyor belt is. Since the distance between the first line laser measuring instrument and the second line laser measuring instrument is an integer multiple of the vibration wavelength of the conveyor belt, should be smaller, so The larger it is, the more the reflected light intensity sequence is affected by the vibration of the conveyor belt; The smaller it is, the greater the influence of the reflected light intensity sequence on the vibration of the conveyor belt is. Since the distance between the first line laser measuring instrument and the third line laser measuring instrument is not an integer multiple of the vibration wavelength of the conveyor belt, should be larger, so The smaller it is, the more the reflected light intensity sequence is affected by the vibration of the conveyor belt.

[0056] It should be noted that the above-mentioned obtained degrees of influence of the conveyor belt vibration on all reflected light intensity sequences are used. By correcting the reflected light intensity values ​​in the reflected light intensity sequence according to the degree of influence, an initial reflected light intensity sequence that excludes the influence of vibration can be obtained, so as to obtain the point cloud data of the rear end cover of the automobile electric drive more accurately and perform quality inspection on the rear end cover of the automobile electric drive.

[0057] Specifically, the reflected light intensity values ​​in the reflected light intensity sequence are corrected according to the degree of influence to obtain an initial reflected light intensity sequence excluding the influence of vibration, including the following steps:

[0058] Firstly, the reflected light intensity values ​​in the reflected light intensity sequence are corrected according to the influence degree, so as to obtain each reflected light intensity value in the initial reflected light intensity sequence excluding the influence of vibration.

[0059] Secondly, an initial reflected light intensity sequence excluding the influence of vibration is obtained according to all reflected light intensity values ​​in the initial reflected light intensity sequence excluding the influence of vibration.

[0060] Preferably, in one embodiment of the present invention, the reflected light intensity values ​​in the reflected light intensity sequence are corrected according to the degree of influence, so as to obtain each reflected light intensity value in the initial reflected light intensity sequence excluding the influence of vibration, as follows:

[0061] For any group of reflected light intensity values ​​of the same order in the three reflected light intensity sequences; if the reflected light intensity value in the first reflected light intensity sequence is less than or equal to the reflected light intensity value in the third reflected light intensity sequence, the average value of the reflected light intensity values ​​of the same order in the group is subtracted from the product of the influence degree and the average value of the reflected light intensity values ​​of the same order in the group, so as to obtain the reflected light intensity values ​​of the corresponding order in the initial reflected light intensity sequence excluding the influence of vibration; if the reflected light intensity value in the first reflected light intensity sequence is greater than the reflected light intensity value in the third reflected light intensity sequence, the average value of the reflected light intensity values ​​of the same order in the group is added to the product of the influence degree and the average value of the reflected light intensity values ​​of the same order in the group, so as to obtain the reflected light intensity values ​​of the corresponding order in the initial reflected light intensity sequence excluding the influence of vibration.

[0062] As a specific example, the specific method for obtaining each reflected light intensity value in the initial reflected light intensity sequence excluding the vibration influence is as follows:

[0063]

[0064] In the formula, is the first of three reflected light intensity sequences The average value of the reflected light intensity values; is the degree to which all reflected light intensity sequences are affected by the vibration of the conveyor belt; is the first reflected light intensity sequence The reflected light intensity value; is the third reflected light intensity sequence The reflected light intensity value; The first in the initial reflected light intensity sequence to eliminate the influence of vibration The reflected light intensity value.

[0065] It should be noted that when , indicating that the vibration wavelength of the conveyor belt is in an upward state, and the reflected light intensity value in the reflected light intensity sequence is too large, so the reflected light intensity value needs to be reduced. By combining the degree of influence of the conveyor belt vibration on all reflected light intensity sequences, the greater the influence, the greater the reduction; when , indicating that the vibration wavelength of the conveyor belt is in a downward state, and the reflected light intensity value in the reflected light intensity sequence is small, so the reflected light intensity value needs to be increased. By combining the degree of influence of all reflected light intensity sequences on the conveyor belt vibration, the greater the influence, the greater the increase, and finally each reflected light intensity value in the initial reflected light intensity sequence excluding the influence of vibration is obtained.

[0066] It should be noted that, for each reflected light intensity value in the initial reflected light intensity sequence excluding the influence of vibration, all reflected light intensity values ​​are arranged in order to obtain the initial reflected light intensity sequence excluding the influence of vibration.

[0067] Specifically, according to all reflected light intensity values ​​in the initial reflected light intensity sequence excluding the influence of vibration, an initial reflected light intensity sequence excluding the influence of vibration is obtained, as follows:

[0068] All reflected light intensity values ​​in the initial reflected light intensity sequence excluding the influence of vibration are arranged in order to obtain the initial reflected light intensity sequence excluding the influence of vibration.

[0069] At this point, the initial reflected light intensity sequence excluding the vibration effect is obtained.

[0070] Step S003, based on the magnitude of the reflected light intensity values ​​in the initial reflected light intensity sequence, screen out several abnormal reflected light intensity values ​​in the initial reflected light intensity sequence; based on the initial reflected light intensity sequence and the vibration frequency of the conveyor belt, obtain a period-related set of each abnormal reflected light intensity value; based on the similarity between the abnormal reflected light intensity value and the reflected light intensity values ​​in the period-related set to which it belongs, and the similarity between the abnormal reflected light intensity value and the adjacent reflected light intensity values, screen out several vibration abnormal reflected light intensity values.

[0071] It should be noted that the initial reflected light intensity sequence excluding the influence of vibration is obtained above. In order to better obtain the final reflected light intensity sequence excluding the influence of vibration, it is first necessary to screen out several abnormal reflected light intensity values ​​from the initial reflected light intensity sequence.

[0072] Specifically, in one embodiment of the present invention, according to the magnitude of the reflected light intensity values ​​in the initial reflected light intensity sequence, several abnormal reflected light intensity values ​​in the initial reflected light intensity sequence are screened out, as follows:

[0073] For the reflected light intensity values ​​in the initial reflected light intensity sequence that excludes the influence of vibration; the average value of all reflected light intensity values ​​in the initial reflected light intensity sequence that excludes the influence of vibration is recorded as the first average value. If the absolute value of the difference between the reflected light intensity value and the first average value is greater than a preset first threshold, the reflected light intensity value greater than the preset first threshold is taken as an abnormal reflected light intensity value. The first threshold is 0.1 times the first average value.

[0074] It should be noted that in order to better analyze whether the abnormal reflected light intensity value is caused by the vibration of the conveyor belt, it is necessary to first obtain a periodic correlation set of each abnormal reflected light intensity value. There are several reflected light intensity values ​​in the periodic correlation set, and the interval between each reflected light intensity value and the abnormal reflected light intensity value is a multiple of the period, which can better reflect whether the abnormal reflected light intensity value is caused by the vibration of the conveyor belt.

[0075] Specifically, according to the initial reflected light intensity sequence and the vibration frequency of the conveyor belt, a period-related set of each abnormal reflected light intensity value is obtained, as follows:

[0076] According to the vibration frequency of the conveyor belt, the vibration period of the conveyor belt is obtained. It should be noted that obtaining the period according to the frequency is an existing method and will not be described in detail in this embodiment. For any abnormal reflected light intensity value, starting from the abnormal reflected light intensity value in the initial reflected light intensity sequence, the set consisting of all reflected light intensity values ​​on the left and right sides at intervals of one vibration period is recorded as the period-related set of the abnormal reflected light intensity value.

[0077] It should be noted that the periodically correlated set of abnormal reflected light intensity values ​​is obtained above. By combining the surface of the abnormal reflected light intensity value in the periodically correlated set and the surface in the neighborhood range, the possibility that the abnormal reflected light intensity value is caused by the vibration of the conveyor belt is obtained. If the difference between the abnormal reflected light intensity value and the reflected light intensity value in the periodically correlated set is small, it means that there are similar anomalies in the abnormal reflected light intensity value at the periodically separated positions, and the abnormal reflected light intensity value is more likely to be caused by the vibration of the conveyor belt. At the same time, if the average difference between the abnormal reflected light intensity value and the reflected light intensity value in the periodically correlated set is small, and the average difference between the reflected light intensity value in the neighborhood range of the abnormal reflected light intensity value is small, it means that the periodic characteristics are more obvious and the possibility of the abnormality caused by vibration is higher.

[0078] Specifically, according to the similarity between the abnormal reflected light intensity value and the reflected light intensity values ​​in the period-related set to which it belongs, and the similarity between the abnormal reflected light intensity value and the adjacent reflected light intensity values, a plurality of vibration abnormal reflected light intensity values ​​are screened, including the steps of:

[0079] First, based on the similarity between the abnormal reflected light intensity value and the reflected light intensity values ​​in the period-related set to which it belongs, and the similarity between the abnormal reflected light intensity value and the adjacent reflected light intensity values, the possibility that each abnormal reflected light intensity value is caused by conveyor belt vibration is obtained.

[0080] Secondly, based on the possibility that the abnormal reflected light intensity value is caused by the vibration of the conveyor belt, several vibration abnormal reflected light intensity values ​​are screened.

[0081] Preferably, in one embodiment of the present invention, based on the similarity between the abnormal reflected light intensity value and the reflected light intensity values ​​in the period-related set to which it belongs, and the similarity between the abnormal reflected light intensity value and the adjacent reflected light intensity values, the possibility that each abnormal reflected light intensity value is caused by the vibration of the conveyor belt is obtained, as follows:

[0082] For any abnormal reflected light intensity value, the average value of the absolute value of the difference between the abnormal reflected light intensity value and the reflected light intensity values ​​in the corresponding period-related set is taken as the similarity parameter between the abnormal reflected light intensity value and the reflected light intensity values ​​in the corresponding period-related set; the average value of the absolute value of the difference between the abnormal reflected light intensity value and the two adjacent reflected light intensity values ​​on the left and right is taken as the first similarity parameter between the abnormal reflected light intensity value and the adjacent reflected light intensity values; the inverse proportional value of the absolute value of the difference between the similarity parameter and the first similarity parameter is taken as the possibility that the abnormal reflected light intensity value is caused by the vibration of the conveyor belt.

[0083] As a specific example, the specific method for obtaining the possibility that the abnormal reflected light intensity value is caused by the vibration of the conveyor belt is as follows:

[0084]

[0085] In the formula, For the The average value of the absolute value of the difference between the abnormal reflected light intensity value and the reflected light intensity value in the corresponding period set; For the The average value of the absolute value of the difference between the abnormal reflected light intensity value and the two adjacent reflected light intensity values ​​on the left and right. It should be noted that if the abnormal reflected light intensity value has only one adjacent reflected light intensity value, only this adjacent reflected light intensity value is calculated to obtain ; To take the absolute value; For the The first abnormal reflected light intensity value indicates the possibility that the abnormality is caused by the vibration of the conveyor belt.

[0086] It should be noted that The smaller it is, the smaller the average difference between the abnormal reflected light intensity value and the reflected light intensity values ​​in the periodic related set and the average difference between the reflected light intensity values ​​in the neighborhood range of the abnormal reflected light intensity value, which means that the periodic characteristics are more obvious and the possibility that the abnormality is caused by vibration is higher.

[0087] It should be noted that the above-mentioned obtained abnormal reflected light intensity value is likely to be caused by the vibration of the conveyor belt. By setting a suitable threshold, several vibration abnormal reflected light intensity values ​​are screened, so that the vibration abnormal reflected light intensity values ​​in the initial reflected light intensity sequence can be corrected subsequently to obtain the final reflected light intensity sequence that eliminates the influence of vibration.

[0088] Specifically, according to the possibility that the abnormal reflected light intensity value is caused by the vibration of the conveyor belt, several vibration abnormal reflected light intensity values ​​are screened, as follows:

[0089] The abnormal reflected light intensity value with a probability greater than a preset second threshold is used as the vibration abnormal reflected light intensity value, and the second threshold is 0.7.

[0090] At this point, several vibration abnormal reflected light intensity values ​​have been screened out.

[0091] Step S004, correcting the vibration-abnormal reflected light intensity value in the initial reflected light intensity sequence to obtain a final reflected light intensity sequence that excludes the influence of vibration; obtaining point cloud data of the rear end cover of the automobile electric drive according to the final reflected light intensity sequence that excludes the influence of vibration; matching the point cloud data of the rear end cover of the automobile electric drive with the standard point cloud data to obtain quality parameters of the rear end cover of the automobile electric drive.

[0092] It should be noted that the above-mentioned vibration abnormal reflected light intensity values ​​are obtained by correcting the vibration abnormal reflected light intensity values ​​in the initial reflected light intensity sequence to obtain the final reflected light intensity sequence that eliminates the influence of vibration, so as to obtain the point cloud data of the rear end cover of the automobile electric drive according to the final reflected light intensity sequence that eliminates the influence of vibration.

[0093] Specifically, the vibration abnormal reflected light intensity value in the initial reflected light intensity sequence is corrected to obtain the final reflected light intensity sequence excluding the influence of vibration, as follows:

[0094] For any vibration abnormal reflected light intensity value in the initial reflected light intensity sequence, obtain the values ​​on the left and right sides of the vibration abnormal reflected light intensity value. The non-vibration abnormal reflected light intensity value, is a preset value. The description is as follows: the average of all non-vibration abnormal reflected light intensity values ​​obtained on the left and right sides is used to replace the vibration abnormal reflected light intensity value; all vibration abnormal reflected light intensity values ​​in the initial reflected light intensity sequence are replaced to obtain a final reflected light intensity sequence that excludes the influence of vibration.

[0095] It should be noted that the above correction is made to the vibration abnormal reflected light intensity value in the initial reflected light intensity sequence to obtain the final reflected light intensity sequence that eliminates the influence of vibration, and then obtains better point cloud data of the rear end cover of the automobile electric drive.

[0096] Specifically, the point cloud data of the rear end cover of the electric vehicle is obtained according to the final reflected light intensity sequence excluding the influence of vibration. It should be noted that the point cloud data of the rear end cover of the electric vehicle is obtained according to the final reflected light intensity sequence excluding the influence of vibration. This is an existing method and will not be described in detail in this embodiment.

[0097] It should be noted that the point cloud data of the rear end cover of the automobile electric drive is obtained above. By matching the point cloud data with the standard point cloud data, the quality parameters of the rear end cover of the automobile electric drive can be obtained, and the comprehensive quality inspection of automobile parts can be completed. The standard point cloud data is the point cloud data of the rear end cover of the automobile electric drive without the influence of vibration.

[0098] Specifically, the point cloud data of the rear end cover of the automobile electric drive is matched with the standard point cloud data to obtain the quality parameters of the rear end cover of the automobile electric drive, as follows:

[0099] The ICP algorithm (Iterative Closest Point) is used to align the point cloud data of the rear end cover of the electric vehicle with the standard point cloud data, and the degree of alignment is used as the quality parameter of the rear end cover of the electric vehicle. It should be noted that the higher the degree of alignment, the greater the quality parameter of the rear end cover of the electric vehicle, and the better the quality of the rear end cover of the electric vehicle.

[0100] Through the above steps, a comprehensive dimensional quality inspection method for automotive parts is completed.

[0101] Another embodiment of the present invention provides an all-round dimensional quality inspection device for automobile parts, the device comprising a mobile frame of a line laser measuring instrument, a line laser measuring instrument, a conveyor belt device, a vibration sensor and a data processor; the mobile frame of the line laser measuring instrument is used to fix the line laser measuring instrument and adjust the distance between the line laser measuring instruments; the line laser measuring instrument is used to obtain a reflected light intensity sequence; the conveyor belt device is used to convey the rear end cover of an automobile electric drive so that the line laser measuring instrument can measure it; the vibration sensor is used to obtain the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive; and the data processor is used to implement the above steps.

[0102] Another embodiment of the present invention provides a comprehensive dimensional quality inspection system for automobile parts, the system comprising a memory and a processor, and when the processor executes a computer program stored in the memory, the processor performs the following operations:

[0103] According to the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive, the distances between the three line laser measuring instruments are preset; the rear end cover of the automobile electric drive is measured respectively by the three line laser measuring instruments to obtain three reflected light intensity sequences; according to the changes in the reflected light intensity values ​​of the same order between the reflected light intensity sequences, the degree of influence of all reflected light intensity sequences on the vibration of the conveyor belt is obtained; according to the degree of influence, the reflected light intensity values ​​in the reflected light intensity sequence are corrected to obtain the initial reflected light intensity sequence excluding the influence of vibration; according to the size of the reflected light intensity values ​​in the initial reflected light intensity sequence, several abnormal reflected light intensity values ​​in the initial reflected light intensity sequence are screened out; according to the initial reflected light intensity sequence, the reflected light intensity values ​​are corrected to obtain the initial reflected light intensity sequence ... The method comprises the following steps: according to the degree sequence and the vibration frequency of the conveyor belt, obtaining a period-related set of each abnormal reflected light intensity value; screening a number of vibration abnormal reflected light intensity values ​​according to the similarity between the abnormal reflected light intensity value and the reflected light intensity value in the period-related set to which it belongs, and the similarity between the abnormal reflected light intensity value and the adjacent reflected light intensity value; correcting the vibration abnormal reflected light intensity value in the initial reflected light intensity sequence, and obtaining a final reflected light intensity sequence excluding the influence of vibration; obtaining point cloud data of the rear end cover of the automobile electric drive according to the final reflected light intensity sequence excluding the influence of vibration; matching the point cloud data of the rear end cover of the automobile electric drive with the standard point cloud data, and obtaining the quality parameters of the rear end cover of the automobile electric drive.

[0104] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A comprehensive dimensional quality inspection method for automobile parts, characterized in that: The method comprises the following steps: According to the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive, the distances between the three line laser measuring instruments are preset; the rear end cover of the automobile electric drive is measured respectively by the three line laser measuring instruments to obtain three reflected light intensity sequences; According to the change of the reflected light intensity values ​​of the same order between the reflected light intensity sequences, the influence degree of all reflected light intensity sequences on the vibration of the conveyor belt is obtained; according to the influence degree, the reflected light intensity values ​​in the reflected light intensity sequence are corrected to obtain the initial reflected light intensity sequence excluding the influence of the vibration; According to the magnitude of the reflected light intensity values ​​in the initial reflected light intensity sequence, several abnormal reflected light intensity values ​​in the initial reflected light intensity sequence are screened out; according to the initial reflected light intensity sequence and the vibration frequency of the conveyor belt, a period-related set of each abnormal reflected light intensity value is obtained; according to the similarity between the abnormal reflected light intensity value and the reflected light intensity values ​​in the period-related set to which it belongs, and the similarity between the abnormal reflected light intensity value and the adjacent reflected light intensity values, several vibration abnormal reflected light intensity values ​​are screened out; Correct the vibration-abnormal reflected light intensity value in the initial reflected light intensity sequence to obtain a final reflected light intensity sequence excluding the influence of vibration; obtain point cloud data of the rear end cover of the electric drive of the automobile according to the final reflected light intensity sequence excluding the influence of vibration; match the point cloud data of the rear end cover of the electric drive of the automobile with the standard point cloud data to obtain the quality parameters of the rear end cover of the electric drive of the automobile; The specific steps of presetting the distances between the three line laser measuring instruments according to the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive are as follows: According to the vibration frequency and transmission speed of the conveyor belt, the vibration wavelength of the conveyor belt is obtained; the distance between the first line laser measuring instrument and the second line laser measuring instrument is preset to TH1 times the vibration wavelength, where TH1 is an adjustment coefficient, so that the distance between the first line laser measuring instrument and the second line laser measuring instrument is close to one meter and less than one meter; the distance between the first line laser measuring instrument and the third line laser measuring instrument is preset to the distance between the first line laser measuring instrument and the second line laser measuring instrument plus 0.3 times the vibration wavelength; The method of obtaining the degree of influence of the conveyor belt vibration on all reflected light intensity sequences according to the change of reflected light intensity values ​​of the same order between the reflected light intensity sequences comprises the following specific steps: For any group of reflected light intensity values ​​of the same order in the three reflected light intensity sequences, the absolute value of the difference between the reflected light intensity value in the first reflected light intensity sequence and the reflected light intensity value in the second reflected light intensity sequence is taken as the difference between the reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the second reflected light intensity sequence, which is recorded as the first difference; the difference between the reflected light intensity values ​​of the same order in the first reflected light intensity sequence and the third reflected light intensity sequence is obtained, which is recorded as the second difference; the ratio of the first difference to the second difference plus 1 is taken as an influencing parameter, the accumulated values ​​of all influencing parameters are normalized, and the degree of influence of all reflected light intensity sequences on the vibration of the conveyor belt is obtained.

2. The method for omnidirectional dimensional quality inspection of automobile parts according to claim 1, characterized in that: The specific steps of correcting the reflected light intensity values ​​in the reflected light intensity sequence according to the degree of influence to obtain an initial reflected light intensity sequence excluding the influence of vibration are as follows: For any group of reflected light intensity values ​​of the same order in the three reflected light intensity sequences; if the reflected light intensity value in the first reflected light intensity sequence is less than or equal to the reflected light intensity value in the third reflected light intensity sequence, the average value of the reflected light intensity values ​​of the same order in the group is subtracted from the product of the influence degree and the average value of the reflected light intensity values ​​of the same order in the group, to obtain the reflected light intensity values ​​of the corresponding order in the initial reflected light intensity sequence excluding the influence of vibration; if the reflected light intensity value in the first reflected light intensity sequence is greater than the reflected light intensity value in the third reflected light intensity sequence, the average value of the reflected light intensity values ​​of the same order in the group is added to the product of the influence degree and the average value of the reflected light intensity values ​​of the same order in the group, to obtain the reflected light intensity values ​​of the corresponding order in the initial reflected light intensity sequence excluding the influence of vibration; All reflected light intensity values ​​in the initial reflected light intensity sequence excluding the influence of vibration are arranged in order to obtain the initial reflected light intensity sequence excluding the influence of vibration.

3. The method for omnidirectional dimensional quality inspection of automobile parts according to claim 1, characterized in that: The specific steps of screening out a number of abnormal reflected light intensity values ​​in the initial reflected light intensity sequence according to the magnitude of the reflected light intensity values ​​in the initial reflected light intensity sequence are as follows: For the reflected light intensity values ​​in the initial reflected light intensity sequence that excludes the influence of vibration; the average value of all reflected light intensity values ​​in the initial reflected light intensity sequence that excludes the influence of vibration is recorded as the first average value. If the absolute value of the difference between the reflected light intensity value and the first average value is greater than a preset first threshold, the reflected light intensity value greater than the preset first threshold is taken as an abnormal reflected light intensity value. The first threshold is 0.1 times the first average value.

4. The method for omnidirectional dimensional quality inspection of automobile parts according to claim 1, characterized in that: The specific steps of obtaining a period-related set of each abnormal reflected light intensity value according to the initial reflected light intensity sequence and the vibration frequency of the conveyor belt are as follows: According to the vibration frequency of the conveyor belt, the vibration period of the conveyor belt is obtained; for any abnormal reflected light intensity value, starting from the abnormal reflected light intensity value in the initial reflected light intensity sequence, the set consisting of all reflected light intensity values ​​on the left and right sides at intervals of one vibration period is recorded as the period-related set of the abnormal reflected light intensity value.

5. The method for omnidirectional dimensional quality inspection of automobile parts according to claim 1, characterized in that: The specific steps of screening a plurality of vibration abnormal reflected light intensity values ​​according to the similarity between the abnormal reflected light intensity value and the reflected light intensity values ​​in the period-related set to which it belongs and the similarity between the abnormal reflected light intensity value and the adjacent reflected light intensity values ​​are as follows: For any abnormal reflected light intensity value, the average value of the absolute value of the difference between the abnormal reflected light intensity value and the reflected light intensity values ​​in the corresponding period-related set is used as the similarity parameter between the abnormal reflected light intensity value and the reflected light intensity values ​​in the corresponding period-related set; the average value of the absolute value of the difference between the abnormal reflected light intensity value and the two adjacent reflected light intensity values ​​on the left and right is used as the first similarity parameter between the abnormal reflected light intensity value and the adjacent reflected light intensity values; the inverse proportional value of the absolute value of the difference between the similarity parameter and the first similarity parameter is used as the possibility that the abnormal reflected light intensity value is caused by the vibration of the conveyor belt; The abnormal reflected light intensity value whose probability is greater than the preset second threshold is used as the vibration abnormal reflected light intensity value.

6. The method for omnidirectional dimensional quality inspection of automobile parts according to claim 1, characterized in that: The specific steps of correcting the vibration abnormal reflected light intensity value in the initial reflected light intensity sequence to obtain the final reflected light intensity sequence excluding the influence of vibration are as follows: For any vibration abnormal reflected light intensity value in the initial reflected light intensity sequence, obtain the values ​​on the left and right sides of the vibration abnormal reflected light intensity value. The non-vibration abnormal reflected light intensity value, is a preset value, and the average of all non-vibration abnormal reflected light intensity values ​​obtained on the left and right sides is used to replace the vibration abnormal reflected light intensity value; all vibration abnormal reflected light intensity values ​​in the initial reflected light intensity sequence are replaced to obtain the final reflected light intensity sequence that eliminates the influence of vibration.

7. An all-round dimensional quality inspection device for automobile parts, the device comprising a mobile frame of a line laser measuring instrument, a line laser measuring instrument, a conveyor belt device, a vibration sensor and a data processor, characterized in that: The movable frame of the line laser measuring instrument is used to fix the line laser measuring instrument and adjust the distance between the line laser measuring instruments; the line laser measuring instrument is used to obtain the reflected light intensity sequence; the conveyor belt device is used to convey the rear end cover of the automobile electric drive so that the line laser measuring instrument can measure it; the vibration sensor is used to obtain the vibration wavelength of the conveyor belt carrying the rear end cover of the automobile electric drive; the data processor is used to implement the steps of a comprehensive dimensional quality inspection method for automobile parts as described in any one of claims 1-6.

8. A comprehensive dimensional quality inspection system for automobile parts, the system comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is executed by a processor, the steps of a comprehensive dimensional quality inspection method for automotive parts as described in any one of claims 1 to 6 are implemented.

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