A method, system, medium and product for detecting glue application in a vehicle body compartment

Abstract

Embodiments of the present application disclose a kind of vehicle body inner cabin glue coating detection method, system, medium and product.The method comprises: in response to the relative position of vehicle body and each detection machine equipment meets the case where preset requirement is satisfied, control each detection machine equipment according to preset detection track to the inner cabin glue coating position of vehicle body carries out image acquisition;Based on the image feature of target image and glue coating detection standard, the inner cabin glue coating state of vehicle body is carried out glue coating detection and obtains detection result.The embodiments of the present application, when the relative position of vehicle body and each detection machine equipment meets the case where preset requirement is satisfied, control each detection machine equipment according to preset detection track to the inner cabin glue coating position of vehicle body carries out image acquisition, and based on the image acquisition and glue coating detection standard, glue coating detection can be carried out, the automatic detection of inner cabin glue coating quality can be realized, the detection rate of glue coating defect problem is improved, the false detection rate is within 1%, and the detection result obtained can guide subsequent manual operation.

Description

Technical Field

[0001] This invention relates to the field of vehicle body interior coating quality inspection technology, and in particular to a method, system, medium and product for inspecting vehicle body interior coatings. Background Technology

[0002] Body sealing, especially interior sealing, is a key process for achieving overall vehicle sealing performance. 90% of the sealant applied to the interior compartments is directly related to leaks, and the quality of this sealing directly impacts the vehicle's overall sealing performance. Currently, body compartment sealing on various production lines primarily relies on automated robotic application, supplemented by manual inspection and touch-ups, consistent with mainstream industry practices. While robotic sealing has made progress in equipment and parameter control—monitoring aspects like total flow rate and equipment pressure fluctuations, combined with manual quality monitoring, still carries the risk of defects leaking out due to the instantaneous nature of defects and the uncertainty of manual inspection. In recent years, vision-based defect detection technology has seen breakthroughs and applications in battery sealing and body sound insulation damping adhesive application. However, in the field of interior sealing, due to the complexity of the structure and the diverse requirements, there is still no effective automated inspection solution in the industry. Summary of the Invention

[0003] In view of this, the present invention provides a method, system, medium and product for detecting adhesive coating in the interior of a vehicle body, which can realize automatic detection of adhesive coating quality, improve the detection rate of adhesive coating defects, and reduce the false detection rate to less than 1%. The detection results can guide subsequent manual operations.

[0004] According to one aspect of the present invention, an embodiment of the present invention provides a method for detecting adhesive coating in the interior compartment of a vehicle, the method comprising:

[0005] In response to the fact that the relative positions of the vehicle body and each of the aforementioned detection devices meet the preset requirements, each of the aforementioned detection devices is controlled to acquire images of the adhesive coating position inside the vehicle body according to the preset detection trajectory to obtain the corresponding target image.

[0006] The adhesive application status of the vehicle body's interior compartment is detected based on the image features of the target image and the pre-configured adhesive application detection standards.

[0007] According to another aspect of the present invention, embodiments of the present invention also provide a vehicle interior adhesive coating detection system, the system comprising:

[0008] The system includes: at least four inspection machines, a visual positioning module, electronic devices connected to each of the inspection machines, and a large display screen for the inspection station connected to the electronic devices; wherein, each electronic device corresponds to a corresponding display panel; each of the inspection machines is connected to a corresponding first control cabinet; and the visual positioning module is connected to a corresponding second control cabinet.

[0009] The visual positioning module is used to determine the positional relationship between the at least four detection machines and the vehicle body.

[0010] The electronic device is used to perform the vehicle interior coating detection method according to any embodiment of the present invention.

[0011] The detection equipment is used to acquire images of the adhesive coating location inside the vehicle body according to a preset detection trajectory when the electronic device receives a control request from the electronic device, so as to obtain the corresponding target image.

[0012] The detection station display screen connected to the electronic device is used to receive and display the detection results transmitted by the electronic device.

[0013] According to another aspect of the present invention, embodiments of the present invention also provide an electronic device, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the vehicle interior adhesive coating detection method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the vehicle interior coating detection method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, an embodiment of the present invention also provides a computer program product, characterized in that the computer program product includes a computer program, which, when executed by a processor, implements the vehicle interior coating detection method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, an embodiment of the present invention also provides a computer program product, characterized in that the computer program product includes a computer program, which, when executed by a processor, implements the vehicle interior coating detection method described in any embodiment of the present invention.

[0020] The technical solution of this invention, under the condition that the relative positions of the vehicle body and each testing machine meet the preset requirements, enables each testing machine to acquire images of the glue application position of the vehicle body's interior compartment according to the preset testing trajectory, and to detect the glue application status of the interior compartment based on the acquired image information and glue application detection standards. This can realize automatic detection of the glue application quality of the interior compartment, improve the detection rate of glue application defects, and reduce the false detection rate to within 1%. The obtained detection results can guide subsequent manual operations.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0023] Figure 1 A flowchart illustrating a method for detecting adhesive coating in the interior of a vehicle body, as provided in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of a robot equipped with a camera according to an embodiment of the present invention;

[0025] Figure 3 A flowchart illustrating another method for detecting adhesive coating in the interior of a vehicle body, provided in an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of a first detection machine device according to a first area detection trajectory performing adhesive coating detection according to an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram illustrating the display of detection results according to a display template, as provided in an embodiment of the present invention.

[0028] Figure 6 This is a structural block diagram of a vehicle interior adhesive coating detection system according to an embodiment of the present invention;

[0029] Figure 7This is a structural block diagram of another vehicle interior adhesive coating detection system provided in an embodiment of the present invention;

[0030] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] In one embodiment, Figure 1 This is a flowchart of a method for detecting adhesive coating in the interior compartment of a vehicle according to an embodiment of the present invention. This embodiment is applicable to the situation of detecting adhesive coating in the interior compartment of a vehicle. The method can be executed by electronic equipment in the vehicle interior compartment adhesive coating detection system, such as a host computer operating console.

[0034] like Figure 1 As shown in this embodiment, the method for detecting adhesive coating in the vehicle interior compartment includes the following steps:

[0035] S110, In response to the fact that the relative positions of the vehicle body and each testing machine meet the preset requirements, control each testing machine to collect images of the glue-coated position inside the vehicle body according to the preset testing trajectory to obtain the corresponding target image.

[0036] The inspection equipment, also known as inspection robots, can be configured according to requirements before inspecting the adhesive application in the vehicle interior. For example, to complete the relevant inspection tasks within the production cycle, four inspection robots can be used to inspect the adhesive application in the vehicle interior. The production cycle can be understood as the time interval between the sequential production of two identical products, indicating the productivity of the production line and is one of the most important operating parameters of the production line. The target image refers to the image obtained by image acquisition at various trajectory positions during the adhesive application in the vehicle interior; each trajectory position corresponds to a specific image.

[0037] In this embodiment, the preset detection trajectory can be understood as a pre-configured area detection trajectory based on the adhesive application trajectory during vehicle adhesive application. The adhesive application trajectory for the vehicle's interior compartment is divided into four area detection trajectories. These area detection trajectories need to be pre-configured in the detection equipment. In this embodiment, the preset detection trajectory includes: a first area detection trajectory, a second area detection trajectory, a third area detection trajectory, and a fourth area detection trajectory; the first area detection trajectory is configured in the first detection equipment; the second area detection trajectory is configured in the second detection equipment; the third area detection trajectory is configured in the third detection equipment; and the fourth area detection trajectory is configured in the fourth detection equipment. This can be understood as... Since multiple inspection machines are configured for the adhesive coating inspection of the vehicle's interior, each machine has a different inspection trajectory. This can be understood as each machine corresponding to a different inspection area. In this embodiment, the vehicle body can be divided into several areas, which can be the adhesive coating trajectory area during the adhesive coating process. To facilitate the implementation of the adhesive coating inspection of the vehicle's interior, in this embodiment, the preset inspection trajectory is the adhesive coating trajectory area of ​​the vehicle's interior. The preset inspection trajectory can be divided into multiple area inspection trajectories, and the divided area inspection trajectories are configured into the corresponding machine inspection equipment so that the inspection machine equipment can acquire images according to the corresponding area inspection trajectory to obtain the target image.

[0038] In one embodiment, the inspection equipment includes: a first inspection equipment, a second inspection equipment, a third inspection equipment, and a fourth inspection equipment; wherein each inspection equipment is equipped with a vision camera; the standard field of view of the vision camera configured on the inspection equipment is 500*500mm, the measurement accuracy is 0.15mm, and the resolution is a preset number of pixels or higher; the first inspection equipment is located in a first inspection area inside the vehicle body compartment; the second inspection equipment is located in a second inspection area inside the vehicle body compartment; the third inspection equipment is located in a third inspection area inside the vehicle body compartment; and the fourth inspection equipment is located in a fourth inspection area inside the vehicle body compartment; each inspection equipment is a six-axis industrial machine equipped with a 7-axis robot guide and a mechanized roller bed, and the arm span requirement of each inspection equipment is higher than that of the machine used for the glue application operation inside the vehicle body compartment; the distance between each inspection equipment and the vehicle body is within a preset distance range.

[0039] In this embodiment, the testing equipment and vision hardware within the testing station are configured as follows: a first testing machine, a second testing machine, a third testing machine, and a fourth testing machine. Each testing machine corresponds to a specific control cabinet, and each testing machine is equipped with a vision camera. To address the complex adhesive coating structure of the vehicle's interior, the vision cameras are integrated into each testing machine, forming a 6-axis industrial robot. The robot's multi-axis flexible operation ensures the accessibility of image acquisition by the imaging system. The testing machine is configured with a vision camera whose standard field of view, optimal measurement accuracy, and resolution are preset in pixels or higher. This preset pixel count can be manually configured according to requirements; for example, the resolution can be 2000W or higher. For example, the camera is an industrial-grade high-definition camera with a working distance within 600mm, a standard field of view of 500*500mm, an optimal measurement accuracy of 0.15mm, and a resolution of 2000W or higher. The robot is a conventional industrial robot equipped with a 7-axis guide rail, and its arm span is required to be no less than that of a robot used for adhesive coating of the interior compartment. For example, to facilitate a better understanding of the camera-equipped robot, Figure 2 This is a schematic diagram of a robot equipped with a camera according to an embodiment of the present invention, that is, a structural diagram of a robot carrying a visual inspection camera.

[0040] In this embodiment, the first detection device is located in the first adhesive application section of the vehicle body interior; the second detection device is located in the second adhesive application section of the vehicle body interior; the third detection device is located in the third adhesive application section of the vehicle body interior; and the fourth detection device is located in the fourth adhesive application section of the vehicle body interior. The first, second, third, and fourth detection areas are different detection areas for the adhesive application in the vehicle body interior. For example, after the adhesive application in the vehicle body interior is completed, the adhesive application is divided into four parts, each occupying one-quarter of the total area.

[0041] In this embodiment, each inspection machine is a six-axis industrial machine equipped with a seven-axis robot guide and a mechanized roller bed. The reach of each inspection machine is required to be greater than that of the machines used for adhesive application in the vehicle's interior compartment. This allows for easier acquisition of image information at trajectory points, facilitating more accurate adhesive application inspection later. In this embodiment, each inspection machine maintains a certain distance from the vehicle body, meaning the distance between each inspection machine and the vehicle body is within a preset distance range. This preset distance range is determined manually according to requirements and is not limited in this embodiment. It should be noted that the distance between each inspection robot and the vehicle body is the same.

[0042] In this embodiment, after the vehicle's interior compartment adhesive is applied, the adhesive application is inspected. Upon entering the inspection station, the visual positioning module in the station begins to determine the positional relationship between the vehicle and each inspection robot. When the relative positions of the vehicle body and each inspection robot meet preset requirements, the inspection robot's imaging system activates, controlling each inspection robot to acquire images of the vehicle's interior compartment adhesive application location according to a pre-configured preset inspection trajectory, thus obtaining the target image. Alternatively, after dividing the inspection area, images can be acquired sequentially for each inspection area during adhesive application inspection. In this embodiment, the interior compartment adhesive application locations include multiple first interior compartment adhesive application location points in the first inspection area, multiple second interior compartment adhesive application location points in the second inspection area, multiple third interior compartment adhesive application location points in the third inspection area, and multiple fourth interior compartment adhesive application location points in the fourth inspection area.

[0043] S120. Based on the image features of the target image and the pre-configured adhesive application detection standards, the adhesive application status of the interior compartment of the vehicle body is detected to obtain the detection results.

[0044] Among them, the adhesive application test standard is a pre-configured adhesive application test standard based on the user's needs for adhesive application test of the vehicle's interior compartment. This adhesive application test standard can be added as needed.

[0045] In this embodiment, each image includes image features characterizing the adhesive application status. These features may include, but are not limited to, whether there is adhesive breakage and its area, whether there are adhesive gaps and their degree, whether there is adhesive offset and its degree, whether the adhesive width is within the normal range, and whether there are differences in the adhesive application, etc. Furthermore, to facilitate better identification of the adhesive and sheet metal in the image features, this embodiment requires the grayscale contrast between the adhesive material and the sheet metal to exceed 100. Therefore, the image information can also identify which is the adhesive and which is the sheet metal, facilitating the identification of the adhesive and sheet metal. This can be understood as, in accordance with the on-site electrophoresis of the vehicle body color, while ensuring that the material properties remain unchanged, when applying adhesive to the vehicle, a white paste is added to the adhesive to fine-tune the adhesive color.

[0046] In this embodiment, the adhesive application status of the inner cabin may include, but is not limited to, whether the adhesive application is interrupted and the area of ​​the interruption, whether there are adhesive gaps and the degree of gaps, whether there is adhesive offset and the degree of offset, whether the adhesive width is within the normal range, whether there are differences in adhesive application, etc.

[0047] In this embodiment, since the target image contains images corresponding to multiple detection areas, the glue application status of the inner compartment needs to be detected separately for each of the multiple images according to the pre-configured glue application detection standard to obtain the corresponding detection results. In some embodiments, the detection results include at least: the total number of detection points, the total number of detections that passed, the total number of detections that failed, the total number of detection defects, the defect level corresponding to the detection defects, the location of the detection defects at the detection trajectory points corresponding to each detection machine, and the defect name and image information corresponding to the location of the detection defects.

[0048] In one embodiment, the target detection involved in the adhesive application inspection standard includes at least: adhesive breakage, adhesive gaps, adhesive offset, adhesive width, and adhesive difference. Correspondingly, the pre-configuration of the adhesive application inspection standard includes: if the area of ​​adhesive breakage in the vehicle body interior reaches a first preset area, and the number of adhesive breakage areas is greater than or equal to a preset first number of breakages, the adhesive application defect level of the vehicle interior is identified as a first-level defect; if the area of ​​adhesive breakage in the vehicle body interior reaches a second preset area, and the number of adhesive breakage areas is greater than or equal to a preset second number of breakages, the adhesive application defect level of the vehicle interior is identified as a second-level defect; wherein, the second number of adhesive breakages is less than the first number of adhesive breakages; and the first preset area is greater than the second adhesive area. In this embodiment, the identification accuracy of the adhesive breakage area is adhesive loss of 1mm or more. This can be understood as adhesive breakage exceeding 1mm being considered an adhesive application defect, requiring determination of whether the adhesive breakage area reaches the first or second preset area for subsequent defect level determination.

[0049] In this embodiment, if the adhesive leakage in the vehicle body interior compartment reaches a preset leakage threshold, the adhesive offset reaches a preset offset threshold, the adhesive width reaches a preset width threshold, or the residual adhesive is from an assembly surface, the adhesive defect in the vehicle body interior compartment is identified as a Level 3 defect. The identification precision for the adhesive leakage is defined as an inadequate seal of 0.5mm or more; the identification precision for the offset is defined as an offset of 1mm or more from the adhesive centerline; and the identification precision for the abnormal width is defined as an abnormal adhesive width exceeding 1mm. If the adhesive leakage in the vehicle body interior compartment does not reach a preset leakage threshold, the adhesive offset does not reach a preset offset threshold, or the adhesive width does not reach a preset width threshold, the adhesive defect in the vehicle body interior compartment is identified as a Level 5 defect.

[0050] In this embodiment, if the difference in adhesive application in the vehicle body interior reaches a preset difference threshold and triggers an alarm, the defect level of the adhesive application in the vehicle body interior is identified as a fourth-level defect; if the difference in adhesive application in the vehicle body interior does not reach the preset difference threshold and does not trigger an alarm, the defect level of the adhesive application in the vehicle body interior is identified as a sixth-level defect.

[0051] It should be noted that each defect level corresponds to a specific handling scheme. Among the above-mentioned defect levels, the first defect level is the highest level, and the sixth defect level is the lowest.

[0052] For example, in order to better understand the defect level, the definition of the defect level and the configuration of the corresponding treatment plan, the inner compartment adhesive coating inspection standard is formulated as shown in Table 1 for various adhesive coating forms and process requirements.

[0053] Table 1: Inner Cabin Adhesive Coating Inspection Standards

[0054]

[0055] Meanwhile, the following definitions and detection accuracy requirements are set for the relevant defects in Table 1: Leaks: Inadequate sealing with adhesive—100% identification of defects with an absolute accuracy of 0.5mm or higher; Incomplete adhesive: Missing adhesive—Full identification of defects with an absolute accuracy of 1mm or higher; Offset: Offset of the adhesive centerline—100% identification of defects with an absolute accuracy of 1mm or higher; Width: Abnormal adhesive width—100% identification of defects with an absolute accuracy of 1mm or higher; Residual adhesive: Residual adhesive on the assembly surface—100% detection accuracy. The above detection requirements are based on a standard width of 20mm and a standard thickness of 2mm for adhesive strips. All glue gun sections on the vehicle body are identified, and manual marking is used to increase the process allowance and identify manual operation detection methods, thus realizing the detection of defects under various adhesive requirements.

[0056] In this embodiment, for each image information contained in the target image information, since the adhesive material and sheet metal have a certain grayscale ratio, the adhesive and sheet metal contained in each image information can be identified by the grayscale ratio of the two. Therefore, the adhesive application location in the vehicle body interior is detected based on the adhesive application status and adhesive application detection standards to obtain the detection result. In some embodiments, the area of ​​adhesive overflow and the overflow diffusion time can also be collected by monitoring images, and the adhesion coefficient of the adhesive application can be calculated using the collected data to determine whether the adhesive application is accurate and adjust the adhesive application accordingly. In other embodiments, the adhesive application image can be collected and a depth map can be formed to improve detection accuracy. The travel path of the adhesive application head is obtained, and abnormal adhesive application points are detected.

[0057] The technical solution of this invention, under the condition that the relative positions of the vehicle body and each testing machine meet the preset requirements, enables each testing machine to acquire images of the glue application position of the vehicle body's interior compartment according to the preset testing trajectory, and to detect the glue application status of the interior compartment based on the acquired image information and glue application detection standards. This can realize automatic detection of the glue application quality of the interior compartment, improve the detection rate of glue application defects, and reduce the false detection rate to within 1%. The obtained detection results can guide subsequent manual operations.

[0058] In one embodiment, the method further includes:

[0059] The test results are displayed according to the preset display template and synchronized to the large display screen of the glue application test station to guide the user's subsequent manual operations.

[0060] In this embodiment, the adhesive application test station also includes a large display screen connected to an electronic device (e.g., a host computer console). Test results can be displayed on the host computer console according to a certain template, and then synchronized to the large display screen of the adhesive application test station to guide subsequent manual operations. In this embodiment, the display panel is designed to guide subsequent manual operations. The preset display template is a pre-designed display mode, featuring vehicle body markings and detailed magnification, displaying problematic areas one by one to facilitate manual identification and repair.

[0061] In one embodiment, Figure 3 This is a flowchart of another method for detecting adhesive coating in the interior compartment of a vehicle body, provided by an embodiment of the present invention. Based on the above embodiments, this embodiment further refines the detection method by controlling each detection machine to acquire images of the adhesive coating position in the interior compartment of the vehicle body according to a preset detection trajectory to obtain corresponding target images, and by performing adhesive coating detection on the adhesive coating state in the interior compartment of the vehicle body based on the image features of the target images and the pre-configured adhesive coating detection standards to obtain detection results.

[0062] like Figure 3As shown, the method for detecting adhesive coating in the vehicle interior compartment in this embodiment may specifically include the following steps:

[0063] S310, In response to the fact that the relative positions of the vehicle body and each testing machine equipment meet the preset requirements, the first testing machine equipment is controlled to perform image acquisition on each first inner compartment adhesive point of the vehicle body according to the first area testing trajectory, and the corresponding first image is obtained.

[0064] The first area detection trajectory includes at least two first inner compartment adhesive coating detection trajectory coordinates, and each first inner compartment adhesive coating detection trajectory coordinate corresponds to a corresponding detection speed and detection angle.

[0065] The first area detection trajectory is the area detection trajectory pre-configured for the first detection robot. The first area detection trajectory includes multiple inner compartment glue application detection trajectory points in the first area. Each inner compartment glue application detection point corresponds to a corresponding detection coordinate, detection speed, and detection angle. The coordinate system of the detection coordinates of each detection point can be determined according to the vehicle model. Different vehicle models can choose different coordinate systems.

[0066] In this embodiment, in response to the relative positions of the vehicle body and each detection device meeting preset requirements, the first detection device is controlled to acquire images of each first inner compartment adhesive application point on the vehicle body according to multiple inner compartment adhesive application detection trajectory points in the first area detection trajectory, thereby obtaining the corresponding first image. Specifically, starting from the first inner compartment adhesive application detection trajectory point, detection is performed according to the set detection coordinates, detection speed, and detection angle, and an image is acquired at each trajectory detection point to obtain the corresponding first image.

[0067] S320: Control the second inspection machine to collect images of each second inner compartment adhesive application point on the vehicle body according to the second area inspection trajectory, and obtain the corresponding second image.

[0068] The second area detection trajectory includes at least two second inner compartment adhesive coating detection trajectory coordinates, and each second inner compartment adhesive coating detection trajectory coordinate corresponds to a corresponding detection speed and detection angle.

[0069] In this embodiment, the second inspection robot is controlled to acquire images of each second inner compartment adhesive application point on the vehicle body according to multiple inner compartment adhesive application detection trajectory points in the second region inspection trajectory, thereby obtaining corresponding second images. The second region inspection trajectory is a pre-configured region inspection trajectory for the second inspection robot, which includes multiple inner compartment adhesive application detection trajectory points in the second region. Each inner compartment adhesive application detection point corresponds to specific detection coordinates, detection speed, and detection angle. Specifically, starting from the first inner compartment adhesive application detection trajectory point, detection is performed according to the set detection coordinates, detection speed, and detection angle, and an image is acquired at each trajectory detection point to obtain the corresponding second image information.

[0070] S330: Control the third inspection equipment to collect images of each adhesive application point in the third inner compartment of the vehicle body according to the inspection trajectory points in the third area, and obtain the corresponding third image.

[0071] The third area detection trajectory includes at least two third inner compartment adhesive coating detection trajectory coordinates, and each third inner compartment adhesive coating detection trajectory coordinate corresponds to a corresponding detection speed and detection angle.

[0072] In this embodiment, the third inspection robot is controlled to acquire images of each of the third interior adhesive application inspection points on the vehicle body according to multiple interior adhesive application inspection trajectory points in the third region inspection trajectory points, thereby obtaining the corresponding third image. The third region inspection trajectory is a pre-configured region inspection trajectory for the third inspection robot, which includes multiple interior adhesive application inspection trajectory points in the third region. Each interior adhesive application inspection point corresponds to specific inspection coordinates, inspection speed, and inspection angle. Specifically, starting from the first interior adhesive application inspection trajectory point, inspection is performed according to the set inspection coordinates, inspection speed, and inspection angle, and an image is acquired at each trajectory inspection point to obtain the corresponding third image information.

[0073] S340: Control the fourth inspection machine to collect images of each of the fourth interior adhesive application points on the vehicle body according to the fourth area inspection trajectory points, and obtain the corresponding fourth image.

[0074] The fourth zone detection trajectory includes at least two fourth inner compartment adhesive coating detection trajectory coordinates, with each fourth inner compartment adhesive coating detection trajectory coordinate corresponding to a specific detection speed and detection angle.

[0075] In this embodiment, the fourth inspection robot is controlled to acquire images of each of the fourth interior adhesive application inspection points on the vehicle body according to multiple interior adhesive application inspection trajectory points in the fourth region inspection trajectory points, thereby obtaining the corresponding fourth image. The fourth region inspection trajectory is a pre-configured region inspection trajectory for the fourth inspection robot, which includes multiple interior adhesive application inspection trajectory points in the fourth region. Each interior adhesive application inspection point corresponds to specific inspection coordinates, inspection speed, and inspection angle. Specifically, starting from the first interior adhesive application inspection trajectory point, inspection is performed according to the set inspection coordinates, inspection speed, and inspection angle, and an image is acquired at each trajectory inspection point to obtain the corresponding fourth image information.

[0076] S350, Each of the first images, each of the second images, each of the third images, and each of the fourth images are used as target images for applying adhesive to the interior compartment of the vehicle body.

[0077] In this embodiment, the first image, second image, third image and fourth image collected at each trajectory detection point are used as target images for applying adhesive to the interior of the vehicle body.

[0078] In one embodiment, to facilitate a better understanding of how each testing machine acquires images of the adhesive coating testing points in each interior compartment of the vehicle body according to the testing trajectory. Figure 4 This is a schematic diagram illustrating the adhesive application detection performed by a first detection machine according to a first area detection trajectory, as provided in an embodiment of the present invention. In this embodiment, the first area detection trajectory corresponding to the first detection machine is used as an example for explanation; the detection speed, detection turning radius, and coordinates of the detection robot are selected to execute each detection trajectory point. In this embodiment, the first area detection trajectory is as follows:

[0079] moveJ[[5543.84,962.96,1850.65],[0.157015,0.890015,-0.50515,-0.255686],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model;

[0080] moveL[[5681.01,-8.38,1644.47],[0.141255,0.838215,-0.455346,-0.264771],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model;

[0081] moveL[[5538.6,-8.04,1685.90],[0.141273,0.838211,-0.455359,-0.264748],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model;

[0082] moveL[[5544.33,-6.72,1766.08],[0.141271,0.838261,-0.455301,-0.264693],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model;

[0083] moveL[[5633.42,-11.01,2075.33],[0.125642,0.850112,-0.447145,-0.248164],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model;

[0084] moveL[[5652.46,-12.62,2389.13],[0.125653,0.850134,-0.447084,-0.248194],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model;

[0085] moveL[[5637.43,-13.55,2575.24],[0.125627,0.850153,-0.447045,-0.248212],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model;

[0086] moveL[[5512.68,-14.79,2835.85],[0.1257,0.850202,-0.446942,-0.248193],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model;

[0087] moveL[[5522.65,-14.72,2845.76],[0.125714,0.850198,-0.446959,-0.248168],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model;

[0088] moveL[[5496.92,3.89,2842.71],[0.125699,0.850219,-0.446893,-0.248222],[0,0,-1,0]],vPaint600,z Paint20,tVMTTool\Wobj:=Workbject_Vehicle Model.

[0089] S360. For each target image, sequentially identify the image features contained in each target image; wherein, the image features include: the adhesive material and sheet metal identified due to the grayscale ratio between the adhesive material and sheet metal of the vehicle body.

[0090] In this embodiment, for each image, the adhesive and sheet metal contained in each image are identified. Specifically, since the adhesive material and sheet metal have a certain grayscale ratio, the adhesive and sheet metal contained in each image information are directly identified based on the grayscale ratio between the adhesive material and sheet metal of the vehicle body.

[0091] S370. Identify the adhesive application state corresponding to the adhesive material, and detect the adhesive application location in the vehicle interior according to the adhesive application state and adhesive application detection standards to obtain the detection results.

[0092] In this embodiment, the adhesive application status can include: whether the adhesive is broken and the area of ​​the broken adhesive, whether there are adhesive gaps and the degree of gaps, whether there is adhesive offset and the degree of offset, whether the adhesive width is within the normal range, whether there are differences in adhesive application, etc. The adhesive application position in the vehicle interior can be detected based on the adhesive application status and adhesive application detection standards to obtain the detection results. Specifically, the detection results can be obtained by judging whether there is an adhesive break area, whether the adhesive break area reaches a preset area, whether the adhesive application status reaches a preset gap threshold, whether the adhesive offset reaches a preset offset threshold, whether the adhesive width reaches a preset width threshold, whether the residual adhesive is residual adhesive on the assembly surface, whether the adhesive difference reaches a preset difference threshold, and whether an alarm is triggered, etc., etc., to detect the adhesive application position in the vehicle interior.

[0093] In some embodiments, the detection results are obtained by detecting the adhesive application location in the vehicle interior compartment according to the adhesive application state and adhesive application detection standards, including: if there is a broken area in the adhesive application state, the broken area reaches a first preset area, and the number of broken areas is greater than or equal to a first number of adhesive application breaks, the defect level of the vehicle interior compartment adhesive application is determined to be a first-level defect, and the corresponding handling solution for the first-level defect is displayed; if the broken area reaches a second preset area, and the number of broken areas is greater than or equal to a second number of adhesive application breaks, the defect level of the vehicle interior compartment adhesive application is determined to be a second-level defect, and the corresponding handling solution for the second-level defect is displayed; if the adhesive application state reaches a preset leak threshold, the adhesive application offset reaches a preset offset threshold, the adhesive application width reaches a preset width threshold, or the residual adhesive is assembly surface residual adhesive, the defect level of the vehicle interior compartment adhesive application is determined to be a third-level defect. The system identifies three levels of defects and displays the corresponding handling solutions. If the difference in adhesive application reaches a preset difference threshold and triggers an alarm, the defect level of the adhesive application in the vehicle's interior is determined to be a level four defect, and the corresponding handling solution is displayed. If, during adhesive application, one of the following occurs: adhesive gaps do not reach a preset gap threshold, adhesive offset does not reach a preset offset threshold, or adhesive width does not reach a preset width threshold, the defect level of the adhesive application in the vehicle's interior is determined to be a level five defect, and the corresponding handling solution is displayed. If the difference in adhesive application does not reach a preset difference threshold and no alarm is triggered, the defect level of the adhesive application in the vehicle's interior is determined to be a level six defect, and the corresponding handling solution is displayed. The system uses level one, level two, level three, level four, level five, and level six defects as the detection results.

[0094] In one embodiment, the display of the inspection results is designed to facilitate better understanding, featuring vehicle body annotations and detailed magnification. Problematic areas are displayed one by one to facilitate manual identification and repair. Figure 5 This is a schematic diagram of displaying detection results according to a display template, as provided in an embodiment of the present invention. As shown in the figure, the display results include the total number of detection points, the total number of detections that passed, the total number of detections that failed, the total number of detection defects, the defect level corresponding to the detection defects being the first defect level A1, the location of the detection defects at the detection trajectory points corresponding to each detection machine, and the defect name and image information corresponding to the location of the detection defects.

[0095] The technical solution described in this embodiment involves controlling a first detection device to acquire images of each first inner compartment adhesive application point on the vehicle body according to a first area detection trajectory, controlling a second detection device to acquire images of each second inner compartment adhesive application point on the vehicle body according to a second area detection trajectory, controlling a third detection device to acquire images of each third inner compartment adhesive application point on the vehicle body according to a third area detection trajectory, and controlling a fourth detection device to acquire images of each fourth inner compartment adhesive application point on the vehicle body according to a fourth area detection trajectory. For each image, the image features contained in each image are identified sequentially. These image features include: the adhesive material and sheet metal identified due to the grayscale ratio between the adhesive material and sheet metal on the vehicle body; the adhesive application state corresponding to the adhesive material is identified; and the detection results are obtained by detecting the adhesive application position in the vehicle body's inner compartments based on the adhesive application state and adhesive application detection standards. This achieves automatic detection of the inner compartment adhesive application quality, improves the detection rate of adhesive application defects, and reduces the false detection rate to within 1%. The obtained detection results can guide subsequent manual operations.

[0096] In one embodiment, Figure 6 This is a structural block diagram of a vehicle interior adhesive coating inspection system according to an embodiment of the present invention. The system includes: a visual positioning module 610, at least four inspection machines 620, electronic devices 630 connected to each of the inspection machines, and a large inspection station display screen 640 connected to the electronic devices 630; wherein, the electronic devices 630 correspond to corresponding display panels; each of the inspection machines 610 is connected to a corresponding first control cabinet; and the visual positioning module 620 is connected to a corresponding second control cabinet.

[0097] The visual positioning module 620 is used to locate the positional relationship between the at least four detection machines 610 and the vehicle body.

[0098] The electronic device 630 is used to perform the vehicle interior coating detection method described in any of the embodiments of the present invention.

[0099] The detection machine 610 is used to acquire images of the adhesive coating position inside the vehicle body according to a preset detection trajectory when it receives a control request from the electronic device, so as to obtain the corresponding target image.

[0100] The detection station display screen 640, connected to the electronic device, is used to receive and display the detection results transmitted by the electronic device.

[0101] In one embodiment, Figure 7The present invention provides a structural block diagram of another vehicle interior adhesive coating inspection system according to an embodiment of the present invention. The system includes: 1: a first control cabinet corresponding to each inspection robot; 2: a vision positioning module; 3: a robot guide rail; 4: a mechanized roller bed; 5: inspection robot R2 (i.e., the second inspection machine mentioned above); 6: an entrance / exit light grating; 7: inspection robot R3 (i.e., the third inspection machine mentioned above); 8: inspection robot R4 (i.e., the fourth inspection machine mentioned above); 9: inspection robot R1 (i.e., the first inspection machine mentioned above); 10: electronic equipment; 11: a second control cabinet corresponding to the vision positioning module.

[0102] In this embodiment, after the vehicle body undergoes interior adhesive coating, LASD adhesive coating, and manual processing, it mechanically enters the inspection station through the entrance / exit grating 6. Inside the station, the visual positioning module 2 locks the relative position of the vehicle body and the inspection robots. The camera systems corresponding to inspection robots R1, R2, R3, and R4 are activated. The host computer operating console (electronic device) 790 controls each inspection machine to collect images of the interior adhesive coating position of the vehicle body according to the preset inspection trajectory to obtain the corresponding target image. The adhesive coating status of the vehicle body's interior is inspected by the image features of the target image and the pre-configured adhesive coating inspection standards to obtain the inspection result, identify the problem points of the vehicle body adhesive coating, and output them to the operation screen of the subsequent manual work station to guide the manual operation.

[0103] In one embodiment, Figure 8 This is a schematic diagram of an electronic device provided for an embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0104] like Figure 8As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0105] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0106] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the adhesive detection method for the interior of a vehicle body.

[0107] In some embodiments, the vehicle interior adhesive application detection method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle interior adhesive application detection method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the vehicle interior adhesive application detection method by any other suitable means (e.g., by means of firmware).

[0108] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable vehicle interior adhesive testing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0110] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0111] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0112] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0113] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0114] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0115] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for detecting adhesive coating in the interior of a vehicle body, characterized in that, The method, applicable to situations involving adhesive application inspection of vehicle interior compartments, includes: In response to the relative positions of the vehicle body and each testing device meeting preset requirements, each testing device is controlled to acquire images of the adhesive application location inside the vehicle body according to a preset testing trajectory to obtain the corresponding target image. The preset testing trajectory includes: a first region testing trajectory, a second region testing trajectory, a third region testing trajectory, and a fourth region testing trajectory; the first region testing trajectory is configured in the first testing device; the second region testing trajectory is configured in the second testing device; the third region testing trajectory is configured in the third testing device; and the fourth region testing trajectory is configured in the fourth testing device. The adhesive application location inside the vehicle body includes a first adhesive application location point in the first testing region, a second adhesive application location point in the second testing region, a third adhesive application location point in the third testing region, and a fourth adhesive application location point in the fourth testing region. The adhesive application status of the vehicle body's interior compartment is detected based on the image features of the target image and the pre-configured adhesive application detection standards to obtain the detection results; The detection results include at least: the total number of detection points, the total number of passes, the total number of failures, the total number of defects, the defect level corresponding to the defects, the location of the defects at the detection trajectory points corresponding to each of the detection machines, the name of the defects at the location of the defects, and the image information corresponding to the location of the defects. Accordingly, the detection result of the adhesive application status of the vehicle body's interior compartment based on the image features of the target image and the pre-configured adhesive application detection standard includes: For each of the target images, the image features contained in each target image are identified sequentially; wherein, the image features include: the adhesive material and sheet metal identified due to the grayscale ratio between the adhesive material and sheet metal of the vehicle body; The adhesive application state corresponding to the adhesive material is identified, and the adhesive application position in the vehicle interior is detected according to the adhesive application state and the adhesive application detection standard to obtain the detection result. The adhesive application detection standard is the adhesive application detection standard pre-configured by the user according to the adhesive application detection requirements of the vehicle interior. The step of detecting the adhesive application location in the vehicle interior based on the adhesive application status and the adhesive application detection standards to obtain the detection results includes: If a broken area of ​​adhesive appears in the adhesive application process, and the broken area reaches a first preset area, and the number of broken areas is greater than or equal to a first number of adhesive breaks, the defect level of the adhesive application in the vehicle interior is determined to be a first-level defect, and the corresponding handling solution for the first-level defect is displayed. If the area of ​​the broken adhesive reaches the second preset area, and the number of broken adhesive areas is greater than or equal to the second number of broken adhesive areas, the defect level of the adhesive coating in the vehicle interior is determined to be a second-level defect, and the corresponding handling solution for the second-level defect is displayed. If, during the adhesive application process, the adhesive application gaps reach a preset gap threshold, the adhesive application offset reaches a preset offset threshold, the adhesive application width reaches a preset width threshold, or the residual adhesive is from the assembly surface, or if any one or more of these conditions occur, the defect level of the adhesive application in the vehicle interior compartment is determined to be a Level 3 defect, and the corresponding handling solution for the Level 3 defect is displayed. If the difference in the adhesive coating reaches a preset difference threshold and triggers an alarm, the defect level of the adhesive coating in the vehicle interior is determined to be a fourth-level defect, and the corresponding handling solution for the fourth-level defect is displayed. If, during the adhesive application process, a gap occurs where the gap does not reach a preset gap threshold, the adhesive offset does not reach a preset offset threshold, or the adhesive width does not reach a preset width threshold, the defect level of the adhesive application in the vehicle interior is determined to be a Level 5 defect, and the corresponding handling solution for the Level 5 defect is displayed. If the difference in adhesive application does not reach the preset difference threshold and no alarm is triggered, the defect level of the adhesive application in the vehicle interior is determined to be a sixth-level defect, and the corresponding handling solution for the sixth-level defect is displayed. The first-level defect, the second-level defect, the third-level defect, the fourth-level defect, the fifth-level defect, and the sixth-level defect are taken as the detection results.

2. The method according to claim 1, characterized in that, The method further includes: The test results are displayed according to the preset display template and synchronized to the large display screen of the glue coating test station to guide the user's subsequent manual operations.

3. The method according to claim 1, characterized in that, The testing equipment includes: a first testing equipment, a second testing equipment, a third testing equipment, and a fourth testing equipment; wherein each of the testing equipment is equipped with a visual camera; The first detection device is located in the first detection area of ​​the vehicle body compartment; the second detection device is located in the second detection area of ​​the vehicle body compartment; the third detection device is located in the third detection area of ​​the vehicle body compartment; and the fourth detection device is located in the fourth detection area of ​​the vehicle body compartment. Each of the aforementioned testing equipment is a six-axis industrial machine equipped with a seven-axis robot guide and a mechanized roller bed. The reach of each of the aforementioned testing equipment is higher than that of the machine used for the adhesive application in the vehicle body interior. The distance between each of the aforementioned detection devices and the vehicle body is within a preset distance range.

4. The method according to claim 1, characterized in that, The target detections involved in the adhesive application inspection standard include at least: adhesive breakage, adhesive leakage, adhesive offset, adhesive width, and adhesive difference; correspondingly, the pre-configuration of the adhesive application inspection standard includes: If the area of ​​the broken adhesive in the interior compartment of the vehicle body reaches a first preset area, and the number of broken adhesive areas is greater than or equal to the preset first number of broken adhesives, the defect level of the adhesive coating in the interior compartment of the vehicle body is identified as a first-level defect. If the area of ​​adhesive breakage in the interior compartment of the vehicle body reaches a second preset area, and the number of adhesive breakage areas is greater than or equal to the preset second number of adhesive breakages, the defect level of adhesive application in the interior compartment of the vehicle body is identified as a second-level defect; wherein, the second number of adhesive breakages is less than the first number of adhesive breakages. If the adhesive leakage in the vehicle body interior reaches a preset leakage threshold, the adhesive offset reaches a preset offset threshold, the adhesive width reaches a preset width threshold, or the residual adhesive is residual adhesive from the assembly surface, or if the adhesive leakage in the vehicle body interior reaches a preset threshold, the defect level of the adhesive coating in the vehicle body interior is identified as a third-level defect. If the difference in the adhesive coating of the vehicle body interior reaches a preset difference threshold and triggers an alarm, the defect level of the adhesive coating of the vehicle body interior is identified as a fourth-level defect. If any of the following conditions are met: the glue leakage in the vehicle body interior coating does not reach the preset leakage threshold, the glue offset does not reach the preset offset threshold, or the glue width does not reach the preset width threshold, the defect level of the glue in the vehicle body interior coating is identified as a fifth-level defect. If the difference in adhesive application in the vehicle body interior compartment does not reach the preset difference threshold and no alarm is triggered, the defect level of the adhesive application in the vehicle body interior compartment is identified as a level 6 defect.

5. The method according to claim 1, characterized in that, The control of each of the aforementioned detection devices to acquire images of the adhesive application location inside the vehicle body according to a preset detection trajectory to obtain the corresponding target image includes: The first detection machine is controlled to collect images of each first inner compartment adhesive application point on the vehicle body according to the first area detection trajectory, and obtain the corresponding first image; wherein, the first area detection trajectory includes at least two first inner compartment adhesive application detection trajectory coordinates, and each first inner compartment adhesive application detection trajectory coordinate corresponds to a corresponding detection speed and detection angle. The second detection machine is controlled to acquire images of each second inner compartment adhesive application point on the vehicle body according to the second area detection trajectory, and obtain the corresponding second image; wherein, the second area detection trajectory includes at least two second inner compartment adhesive application detection trajectory coordinates, and each second inner compartment adhesive application detection trajectory coordinate corresponds to the corresponding detection speed and detection angle; The third detection machine is controlled to acquire images of each third interior adhesive application point on the vehicle body according to the third region detection trajectory points, thereby obtaining the corresponding third image; wherein, the third region detection trajectory includes at least two third interior adhesive application detection trajectory coordinates, and each third interior adhesive application detection trajectory coordinate corresponds to a corresponding detection speed and detection angle; The fourth detection machine is controlled to acquire images of each fourth interior adhesive application point on the vehicle body according to the fourth region detection trajectory points, thereby obtaining the corresponding fourth image; wherein, the fourth region detection trajectory includes at least two fourth interior adhesive application detection trajectory coordinates, and each fourth interior adhesive application detection trajectory coordinate corresponds to a corresponding detection speed and detection angle; Each of the first image, each of the second image, each of the third image, and each of the fourth image are respectively used as target images for applying adhesive to the interior of the vehicle body.

6. A vehicle interior adhesive coating detection system, characterized in that, The system includes: at least four inspection machines, a visual positioning module, electronic devices connected to each of the inspection machines, and a large display screen for the inspection station connected to the electronic devices; wherein, each electronic device corresponds to a corresponding display panel; each of the inspection machines is connected to a corresponding first control cabinet; and the visual positioning module is connected to a corresponding second control cabinet. The visual positioning module is used to determine the positional relationship between the at least four detection machines and the vehicle body. The electronic device is used to perform any one of the vehicle interior compartment adhesive detection methods described in 1-5; The detection equipment is used to acquire images of the adhesive coating location inside the vehicle body according to a preset detection trajectory when the electronic device receives a control request from the electronic device, so as to obtain the corresponding target image. The detection station display screen connected to the electronic device is used to receive and display the detection results transmitted by the electronic device.

7. The system according to claim 6, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle interior adhesive testing method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle interior adhesive coating detection method according to any one of claims 1-5.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the vehicle interior adhesive coating detection method according to any one of claims 1-5.

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