Vehicle frame part assembling hole detection method and detection system

Abstract

The invention provides a frame part assembly hole detection method and system, and relates to the technical field of frame part detection. The frame part assembly hole detection method comprises the following steps: acquiring model information of a to-be-detected part; obtaining detection requirement information according to the model information of the to-be-detected part; the detection requirement information comprises at least one detection workpiece number and detection path information corresponding to each detection workpiece number; acquiring a detection workpiece corresponding to the detection workpiece number, and controlling the detection workpiece to perform plug-in detection on the assembly hole in the to-be-detected part according to the detection path information to obtain a detection result; the detection result is detection qualification or detection failure; the situation of fault detection includes that insertion cannot be performed, insertion can be performed but cannot reach a set depth, and insertion can be performed to a set depth but cannot be pulled out. The detection method is high in automation degree and high in detection efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle frame parts detection, and in particular to a vehicle frame parts assembly hole detection method and detection system. Background Art

[0002] The automobile frame is the basic structure of the automobile, which bears the functions of support and protection. The frame parts are the various parts that make up the frame, ensuring the stability and safety of the frame. Frame parts are generally provided with assembly holes. Before assembly, each assembly hole needs to be inspected, and only frame parts that pass the inspection can be assembled.

[0003] The existing method for inspecting the assembly holes on the frame parts is a manual inspection method, specifically, the frame part to be inspected is fixed on the inspection table, a suitable standard insertion rod is selected, and the standard insertion rod is held and inserted into each assembly hole in turn. If all can be inserted, it means that the assembly holes on the frame part are qualified. If there is at least one assembly hole that cannot be inserted, it means that the current frame part is unqualified.

[0004] It can be seen that the existing detection methods mainly require manual participation, with a low degree of automation and low detection efficiency. Summary of the invention

[0005] The purpose of this application is to address the above problems and to provide a frame parts assembly hole detection method and detection system with high automation and high detection efficiency.

[0006] In a first aspect, the present application provides a method for detecting assembly holes of vehicle frame parts, which is used to detect a part to be detected, wherein the part to be detected is provided with an assembly hole; the method comprises the following steps: Obtain model information of the part to be tested; According to the model information of the to-be-tested workpiece, the testing requirement information is obtained; the testing requirement information includes at least one testing workpiece number and testing path information corresponding to each testing workpiece number; Obtain an inspection workpiece corresponding to the inspection workpiece number, control the inspection workpiece to perform insertion inspection on the assembly hole on the to-be-inspected part according to the inspection path information, and obtain an inspection result; the inspection result is a qualified inspection or a inspection failure; the inspection failure situations include being unable to insert, being able to insert but unable to reach a set depth, and being able to insert to a set depth but unable to be pulled out.

[0007] According to the technical solutions provided in some embodiments of the present application, the method further includes: If the obtained detection result is a detection failure and the corresponding situation is that the insertion cannot be performed, then obtaining an actual image of the part to be detected; Acquire a standard image corresponding to the model information of the part to be inspected; Comparing the actual image of the object to be inspected with the standard image to obtain a matching value between the two; If the matching value is less than a first threshold, a first prompt message is issued, wherein the first prompt message is used to prompt that the model information of the component to be detected is incorrect.

[0008] According to the technical solutions provided in some embodiments of the present application, the method further includes: If the matching value is greater than or equal to the first threshold, obtaining the actual serial number of the detected workpiece; If the inspection workpiece number and the actual number are inconsistent, obtaining the correct inspection workpiece to continue inspection; If the inspection workpiece number is consistent with the actual number, a second prompt message is issued, and the second prompt message is used to prompt that the inspection workpiece is unqualified.

[0009] According to the technical solutions provided by some embodiments of the present application, after controlling the inspection workpiece to perform insertion inspection on the assembly hole on the to-be-inspected part according to the inspection path information and obtaining the inspection result, the method further includes: Obtaining the usage time of the detection workpiece in this detection; According to the usage time, updating the detection workpiece life database; the detection workpiece life database includes the detection workpiece number, and the accumulated usage time and predicted remaining time corresponding to each detection workpiece number; When it is determined that the predicted remaining time of the detection workpiece is lower than the second threshold, a third prompt message is issued, and the third prompt message is used to prompt that there is a risk in continuing to use the detection workpiece.

[0010] According to the technical solutions provided by some embodiments of the present application, after controlling the inspection workpiece to perform insertion inspection on the assembly hole on the to-be-inspected part according to the inspection path information and obtaining the inspection result, the method further includes: Obtaining the usage time of the inspection workpiece in this inspection and the inspection result of this inspection; According to the usage time and the detection result, updating the detection workpiece life database; the detection workpiece life database includes the detection workpiece number, and the accumulated usage time and predicted remaining time corresponding to each detection workpiece number; When it is determined that the predicted remaining time of the detection workpiece is lower than the second threshold, a third prompt message is issued, and the third prompt message is used to prompt that there is a risk in continuing to use the detection workpiece.

[0011] According to the technical solutions provided in some embodiments of the present application, the method further includes: The detection workpiece life database is queried regularly to obtain a target detection workpiece number set; the target detection workpiece number set stores at least one target detection workpiece number; the target detection workpiece number is a detection workpiece number whose predicted remaining time is lower than a third threshold; the third threshold is greater than the second threshold; According to the target inspection workpiece number set, the corresponding inspection workpiece is inspected to obtain the inspection result; The detection workpiece life database is updated according to the inspection result.

[0012] According to the technical solutions provided in some embodiments of the present application, the corresponding inspection workpiece is inspected, and the inspection results obtained include: Acquire the actual image of the inspected workpiece; Preprocessing the actual image of the detected workpiece to obtain a preprocessed image of the detected workpiece; Extracting a first contour according to the preprocessed image; the first contour is a contour of a detected workpiece in the preprocessed image; A similarity value between the first contour and the standard contour is obtained; the similarity value is the test result.

[0013] According to the technical solutions provided in some embodiments of the present application, updating the detected workpiece life database according to the inspection results includes: Obtain the standard size data corresponding to the target detection workpiece number; The accurate predicted remaining time of the current detected workpiece is calculated based on the standard size data and the similarity value, and the accurate predicted remaining time is updated in the detected workpiece life database.

[0014] According to the technical solutions provided in some embodiments of the present application, the method further includes: If the test result obtained is a test failure and the corresponding situation is that it can be inserted but cannot reach the set depth or can be inserted to the set depth but cannot be pulled out, a fourth prompt message is issued, and the fourth prompt message is used to prompt that the part to be tested is unqualified.

[0015] In a second aspect, the present application provides a frame part assembly hole detection system for detecting a part to be detected, wherein the part to be detected is provided with an assembly hole; the system comprises: An acquisition module, wherein the acquisition module is configured to acquire model information of the part to be detected; A processing module, wherein the processing module is configured to obtain detection requirement information according to the model information of the to-be-detected workpiece; the detection requirement information includes at least one detection workpiece number and detection path information corresponding to each detection workpiece number; A control module, wherein the control module is configured to obtain a test workpiece corresponding to the test workpiece number, control the test workpiece to perform insertion detection on the assembly hole on the to-be-tested part according to the test path information, and obtain a test result; the test result is a qualified test or a test failure; the test failure includes being unable to insert, being able to insert but unable to reach a set depth, and being able to insert to a set depth but unable to be pulled out.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows: the frame parts assembly hole detection method provided by the present application first obtains the model information of the part to be detected, and then obtains the detection requirement information of the part to be detected based on the model information, the detection requirement information includes at least one detection workpiece number and detection path information corresponding to each detection workpiece number, and then obtains the detection workpiece corresponding to the detection workpiece number, controls the detection workpiece to perform insertion detection on the assembly hole on the part to be detected according to the detection path information, and obtains the detection result. The detection method has a high degree of automation and high detection efficiency.

[0017] It should be understood that the description of technical features, technical solutions, beneficial effects or similar language in this application does not imply that all features and advantages can be realized in any single embodiment. On the contrary, it is understood that the description of features or beneficial effects means that specific technical features, technical solutions or beneficial effects are included in at least one embodiment. Therefore, the description of technical features, technical solutions or beneficial effects in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in the present embodiment can also be combined in any appropriate manner. Those skilled in the art will understand that the embodiment can be realized without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in a specific embodiment that does not embody all embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of the structure of a vehicle frame parts assembly hole detection device provided in Example 1 of the present application; Figure 2 A flow chart of a method for detecting assembly holes of vehicle frame parts provided in Example 1 of the present application; Figure 3 A schematic diagram of the structure of the component to be detected provided in Example 1 of the present application; Figure 4 This is a schematic diagram of the structure of the detection workpiece provided in Example 1 of the present application.

[0020] The text annotations in the figure represent: 1. Inspection table; 2. Fixing assembly; 3. First manipulator; 4. Mounting frame; 5. Second manipulator; 6. Scanning assembly; 7. Photographing assembly; 8. Parts to be inspected; 9. Inspection workpiece. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. The description in this section is only exemplary and explanatory and should not have any limiting effect on the protection scope of the present application. Specifically, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work should fall within the scope of protection of the present application.

[0022] It should be noted that similar reference numerals and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] Example 1 This embodiment provides a frame part assembly hole detection method, which is used to automatically detect assembly holes on a frame part to be detected. The detection method is implemented based on a frame part assembly hole detection device.

[0024] refer to Figure 1 , the frame parts assembly hole detection device includes: A testing platform 1, on which a testing station is provided, at which a fixing assembly 2 is provided, and the fixing assembly 2 is used to fix the frame parts to be tested at the testing station, and the fixing assembly 2 can be a clamp in the prior art; A first manipulator 3, which is disposed on one side of the testing platform 1 and is used to place the frame parts to be tested at the testing station; The mounting frame 4 is arranged on one side of the detection platform 1 and is used to place various types of detection workpieces 9; the mounting frame 4 is provided with a plurality of mounting holes, each of which is provided with a detection workpiece 9, and different detection workpieces 9 can be used to detect different assembly holes; The second manipulator 5 is arranged at one side of the testing platform 1, and is used to obtain the corresponding testing workpiece 9 from the mounting frame 4, and insert the testing workpiece 9 into the corresponding assembly holes on the frame parts to be tested in sequence according to a certain path for insertion testing; Scanning component 6, scanning component 6 is installed on the detection table 1, and is used to scan the identification of the frame part to be detected placed on the detection station, obtain the model information of the frame part to be detected, and send it to the controller, the identification and the model information are one-to-one corresponding; the frame part is generally pasted with an identification, the identification is a QR code or a barcode, which is pasted after the part is manufactured, and the scanning component 6 is a QR code scanner or a barcode scanner; The controller is connected to the scanning component 6. The controller can obtain corresponding detection requirement information according to the model information, and send corresponding control instructions to the second manipulator 5 according to the detection requirement information, so that the second manipulator 5 can obtain the corresponding detection workpiece 9 according to the control instructions and perform insertion detection; there are two ways for the controller to obtain the model information of the frame parts to be detected, one is to obtain it through the scanning component 6, and the other is to obtain it through the upper computer connected thereto. When batch testing the same model of frame parts, in order to save time and improve efficiency, the staff can directly input the model information on the upper computer.

[0025] Please refer to Figure 2 The frame parts assembly hole detection method comprises the following steps: S1. Obtain the model information of the part to be tested.

[0026] Specifically, the part to be tested 8 refers to a frame part, and a plurality of assembly holes for assembly are distributed on the frame part, and all the assembly holes may be of the same model or of different models; the model information of the part to be tested 8 refers to the model ID of the part to be tested 8. When the part to be tested 8 that has been clamped and fixed is placed on the inspection station of the inspection table 1, the model information of the part to be tested 8 is obtained, and there are two specific ways to obtain it: the first is to obtain it by scanning the mark pasted on the part to be tested 8 through the scanning component 6 provided on the inspection table 1; the second is to obtain it by the staff directly inputting it on the upper computer, which is suitable for mass inspection of the same model of the parts to be tested 8.

[0027] For example, the structure of the test piece 8 is as follows: Figure 3As shown, the model ID of the to-be-tested component 8 is J021, and two types of assembly holes are provided thereon. For the convenience of the following description, the assembly hole with a smaller aperture is recorded as the first through hole, and the assembly hole with a larger aperture is recorded as the second through hole. Figure 3 A total of four first through holes and one second through hole are included.

[0028] S2. Obtaining detection requirement information according to the model information of the to-be-detected workpiece; the detection requirement information includes at least one detection workpiece number and detection path information corresponding to each detection workpiece number.

[0029] Specifically, a first database is stored in the controller, and the first database stores multiple model information and detection requirement information corresponding to each model information. After the model information is obtained, the detection requirement information can be obtained by querying the database. The detection workpiece 9 is a standard workpiece used to detect assembly holes. The same detection workpiece 9 can detect assembly holes of the same model. Each detection workpiece 9 corresponds to a unique detection workpiece number. The detection path information refers to the motion trajectory information when the end of the second manipulator 5 carries the detection workpiece 9 for insertion detection. The detection path information can reflect the detection order, detection position and other information of different assembly holes. There are several types of assembly holes distributed on the part 8 to be detected, and the detection requirement information includes several detection workpiece numbers and corresponding detection path information.

[0030] Exemplarily, for the to-be-tested component 8 whose model information is J021, the corresponding test requirement information stored in the first database includes two test workpiece numbers (A002 and A018) and the test path information corresponding to the two test workpiece numbers, respectively. The test path information corresponding to A002 includes: initial coordinates (0,0,0), first position point coordinates (x1,y1,0), second position point coordinates (x1,y1,z1), third position point coordinates (x1,y1,0), fourth position point coordinates (x2,y2,0), fifth position point coordinates (x2,y2,z1), sixth position point coordinates (x1,y1,0), sixth position point coordinates (x2,y2,0), sixth position point coordinates (x2,y2,z1), and eighth position point coordinates (x2,y2,z1). The coordinates of the first position point (x2, y2, 0), the coordinates of the seventh position point (x3, y3, 0), the coordinates of the eighth position point (x3, y3, z1), the coordinates of the ninth position point (x3, y3, 0), the coordinates of the tenth position point (x4, y4, 0), the coordinates of the eleventh position point (x4, y4, z1), and the coordinates of the twelfth position point (x4, y4, 0); the detection path information corresponding to A018 includes: initial coordinates (0, 0, 0), coordinates of the thirteenth position point (x5, y5, 0), coordinates of the fourteenth position point (x5, y5, z2), and coordinates of the fifteenth position point (x5, y5, 0). Among them, A002 detection workpiece 9 is used to detect four first through holes, and A018 is used to detect one second through hole.

[0031] S3. Obtain a test workpiece corresponding to the test workpiece number, control the test workpiece to perform insertion detection on the assembly hole on the to-be-tested part according to the test path information, and obtain a test result; the test result is a qualified test or a test failure; the test failure includes being unable to insert, being able to insert but unable to reach a set depth, and being able to insert to a set depth but unable to be pulled out.

[0032] Specifically, after obtaining the detection requirement information corresponding to the model information of the to-be-detected part 8, the controller will send a corresponding control instruction to the second manipulator 5, and the second manipulator 5 will execute the control instruction to detect the to-be-detected part 8. During the detection, the second manipulator 5 will first obtain a detection workpiece 9 corresponding to the detection workpiece number in the order of the detection workpiece number from small to large. The structure of the detection workpiece 9 is as follows: Figure 4 As shown, it includes a detection part and a grasping part. The detection part is used to detect the assembly holes, and the grasping part facilitates the second robot arm to grasp it; then it will move according to the coordinates of each position point corresponding to the detection workpiece number, so as to realize insertion detection of each assembly hole through the grasped detection workpiece 9.

[0033] Exemplarily, when inspecting the to-be-inspected part 8 with model information J021, the second manipulator 5 will first obtain the inspection workpiece 9 with the inspection workpiece number A002 from the mounting frame 4 and move it to the initial coordinate position, and then carry the inspection workpiece 9 with the number A002 and move it to the first position point coordinates, the second position point coordinates, the third position point coordinates, the fourth position point coordinates, the fifth position point coordinates, the sixth position point coordinates, the seventh position point coordinates, the eighth position point coordinates, the ninth position point coordinates, the tenth position point coordinates, the eleventh position point coordinates, the twelfth position point coordinates, and the second position point coordinates. Point coordinates, initial coordinates, complete the detection of the four first through holes, and then put the detection workpiece 9 numbered A002 back to the corresponding mounting hole position on the mounting frame 4, and obtain the detection workpiece 9 numbered A018 from the mounting frame 4 and move it to the initial coordinate position, then carry the detection workpiece 9 numbered A018 and move it to the thirteenth position point coordinates, the fourteenth position point coordinates, the fifteenth position point coordinates, and the initial coordinates in sequence to complete the detection of a second through hole, and finally put the detection workpiece 9 numbered A018 back to the corresponding mounting hole position on the mounting frame 4.

[0034] If the second manipulator 5 successfully completes the above detection process, it means that the assembly hole of the part to be detected 8 is qualified, that is, a qualified detection result is obtained; if the second manipulator 5 does not successfully complete the above detection process, a detection result of a detection failure is obtained. The detection failure may be that the part to be detected 8 is unqualified or that there is a problem with the detection device, which will be described in detail below. Among them, there are many situations in which the detection process is not successfully completed, such as the detection part of the detection workpiece 9 cannot be inserted into a certain assembly hole, and the detection part of the detection workpiece 9 can be inserted into the assembly hole but cannot reach the corresponding position point coordinates, and the detection part of the detection workpiece 9 can be inserted into the assembly hole and can reach the corresponding position point coordinates, but cannot be pulled out from the assembly hole, that is, cannot reach the next position point coordinates. In summary, the situations of the detection failure include being unable to insert into the assembly hole, being able to insert into the assembly hole but unable to reach the set depth, and being able to insert into the assembly hole to the set depth but unable to be pulled out. When the second manipulator 5 carries the inspection workpiece 9 and moves downward, the pressure in the vertical direction will be detected. If the pressure is greater than the set pressure value, the operation will be suspended. For example, when the inspection workpiece 9 cannot be inserted due to the small size of the assembly hole or the position offset, the operation will be suspended; for example, when the inspection workpiece 9 can be inserted but cannot reach the set depth due to the assembly hole being not transparent enough, the operation will be suspended; when the second manipulator 5 carries the inspection workpiece 9 and moves upward, if the actual power value is greater than the set power value, the operation will be suspended. For example, when the inspection workpiece 9 can be inserted to the set depth but cannot be pulled out due to deformation of the assembly hole.

[0035] It should be noted that a second database is also stored in the controller, and the second database represents the position information of various inspection workpieces 9 on the mounting frame 4. The second database stores multiple mounting hole position information and the inspection workpiece number corresponding to each mounting hole position information. The inspection workpiece 9 placed in each mounting hole position on the mounting frame 4 is consistent with the second database. When the second manipulator 5 wants to obtain a certain numbered inspection workpiece 9, it only needs to obtain the mounting hole position information corresponding to the number from the second database, and can accurately grab the inspection workpiece 9 corresponding to the number. After the inspection is completed, the inspection workpiece 9 can be accurately placed back to the mounting hole position corresponding to the inspection workpiece number.

[0036] The frame parts assembly hole detection method provided in the present embodiment first obtains the model information of the part to be detected 8, and then obtains the detection requirement information of the part to be detected 8 according to the model information, the detection requirement information includes at least one detection workpiece number and detection path information corresponding to each detection workpiece number, and then obtains the detection workpiece 9 corresponding to the detection workpiece number, controls the detection workpiece 9 to perform insertion detection on the assembly holes on the part to be detected 8 according to the detection path information, and obtains the detection result. The detection method has a high degree of automation and high detection efficiency.

[0037] Furthermore, the method further comprises: S4. If the obtained detection result is a detection failure and the corresponding situation is that the insertion is impossible, then an actual image of the to-be-detected component is obtained.

[0038] Specifically, there are many reasons for the detection failure in the case of being unable to insert, which may be a problem with the test piece 8 or a problem with the test workpiece 9. Therefore, when the result of the detection failure is obtained, it cannot be directly determined that the test piece 8 is unqualified.

[0039] The frame part assembly hole detection device also includes a shooting component 7, which is installed on the detection platform 1 and is used to take pictures of the part to be detected 8 placed on the detection station to obtain the actual image of the part to be detected 8 and send it to the controller; the shooting component 7 includes a telescopic part and a camera installed at the telescopic end of the telescopic part. Under normal circumstances, the camera will be retracted to one side of the detection station and will not affect the normal detection work. When taking pictures is required, the telescopic part is extended so that the camera is located directly above the detection workpiece 9 to take pictures of the part to be detected 8 and obtain its actual image.

[0040] S5. Acquire a standard image corresponding to the model information of the part to be inspected.

[0041] Specifically, the first database also stores a standard image corresponding to each model information, and the standard image can be a picture of a design model corresponding to the model information, or a picture of a qualified standard frame part produced corresponding to the model information.

[0042] S6. Compare the actual image of the object to be inspected with the standard image to obtain a matching value between the two.

[0043] Specifically, the controller stores a pre-trained matching model, which is a neural network model built using a deep learning framework (TensorFlow / Keras or PyTorch), whose input is the two images to be compared, and the output is the matching value of the two images, and the matching value range is 0-1. The smaller the value, the lower the matching degree, and the larger the value, the higher the matching degree. In this step, the actual image of the part to be detected 8 and the standard image obtained from the first database are input into the matching model to obtain the matching value of the two.

[0044] It should be noted that the matching model in this step mainly compares the image including the outer contour of the frame parts, the number of assembly holes on the frame parts, and the approximate position and size of each assembly hole. It is only used as a means to eliminate signal information errors of the test part 8 with a relatively small probability of occurrence, and cannot achieve accurate matching and comparison between the test part 8 and the standard part.

[0045] S7. If the matching value is less than a first threshold, a first prompt message is issued, wherein the first prompt message is used to prompt that the model information of the component to be detected is incorrect.

[0046] Specifically, the first threshold is a set value. In this embodiment, the first threshold is 0.95. In other embodiments of the present application, the corresponding value can also be set according to actual needs. If the matching value is greater than or equal to the first threshold, it means that the model information of the detected part 8 obtained in step S1 is correct; if the matching value is less than the first threshold, it means that the model information of the detected part 8 obtained in step S1 is incorrect. If the method of obtaining the model information of the detected part 8 in step S1 is obtained by scanning the mark on the detected part 8, the first prompt information is used to prompt the staff that the mark is wrongly pasted. If the method of obtaining the model information of the detected part 8 in step S2 is through manual input, the first prompt information is used to prompt the staff that the input is wrong.

[0047] By adopting the above technical solution, it is possible to avoid misjudgment of the detection result of the assembly hole of the component to be detected 8 due to incorrect model information of the component to be detected 8.

[0048] Furthermore, the method further comprises: S8. If the matching value is greater than or equal to the first threshold, obtaining the actual serial number of the detected workpiece.

[0049] Specifically, if the matching value is greater than or equal to the first threshold, only the detection failure caused by the model information can be excluded, but the to-be-detected part 8 cannot be directly determined to be unqualified, and the detection workpiece 9 needs to be checked. Each detection workpiece 9 is affixed with its own number (i.e., actual number) and QR code. During normal detection, the actual number of each detection workpiece 9 is generally not identified, because in general, the position of each detection workpiece 9 on the mounting frame 4 is accurate. Therefore, when performing the detection, it is only necessary to obtain the detection workpiece 9 according to the position information of the mounting hole stored in the second database. In particular, if the staff needs to take the detection workpiece 9 out of the mounting frame 4 and put it back, it is easy to make a placement error.

[0050] When it is determined that the matching value is greater than or equal to the first threshold, the scanning component 6 on the frame part assembly hole detection device can be used to scan the QR code on the detection workpiece 9 to obtain the actual number of the detection workpiece 9, and the actual number can be sent to the controller.

[0051] S9. If the inspection workpiece number and the actual number are inconsistent, obtain the correct inspection workpiece and continue the inspection.

[0052] Specifically, after obtaining the actual number of the current inspection workpiece 9, it is necessary to compare it with the inspection workpiece number in the inspection requirement information. If the two are inconsistent, it means that the inspection workpiece 9 currently used is not the inspection workpiece 9 that meets the inspection requirement information, and it needs to be replaced with the correct inspection workpiece 9 to continue inspection.

[0053] There are also several idle holes on the mounting frame 4. If new frame parts are developed later, new detection workpieces 9 may be needed. The idle holes are used to reserve positions for new detection workpieces 9. Before obtaining the correct detection workpiece 9, it is necessary to place the wrong detection workpiece 9 back to the correct installation hole position. The most likely error in the placement of the detection workpiece 9 is that the two detection workpieces 9 are placed in reverse. For the convenience of description, the two detection workpieces 9 that are placed in reverse positions are respectively recorded as the first workpiece and the second workpiece. The correct installation hole position of the first workpiece is the first hole position, and the correct installation hole position of the second workpiece is the second hole position. The first workpiece is the wrong detection workpiece 9 currently used for detection. Therefore, in order to obtain the correct inspection workpiece 9, the erroneous inspection workpiece 9 (i.e., the first workpiece) can be first placed in an idle hole position, and the corresponding installation hole position information can be obtained from the second database according to the actual number of the erroneous inspection workpiece 9 (i.e., the first workpiece), and then the inspection workpiece 9 (i.e., the second workpiece) in the installation hole position (i.e., the first hole position) corresponding to the installation hole position information is identified to obtain its actual number, and it is determined whether the actual number is the number of the inspection workpiece 9 previously obtained for inspecting the current inspected piece 8. If so, the correct inspection workpiece 9 (i.e., the second workpiece) is placed in the correct installation hole position (i.e., the second hole position), and the erroneous inspection workpiece 9 (i.e., the first workpiece) in the idle hole position is placed in the corresponding correct installation hole position (i.e., the first hole position), and finally the correct inspection workpiece 9 (i.e., the second workpiece) is obtained to continue the inspection.

[0054] It should be noted that the probability of multiple inspection workpieces 9 being placed incorrectly on the mounting frame 4 at the same time is extremely low. If this happens, it is necessary to scan and identify the inspection workpieces 9 in each mounting hole one by one, and exchange their positions with the help of idle holes. The specific method has been described above, so it will not be repeated here.

[0055] S10. If the detected workpiece number is consistent with the actual number, a second prompt message is issued, wherein the second prompt message is used to prompt that the workpiece to be detected is unqualified.

[0056] Specifically, if the inspection workpiece number is consistent with the actual number, it means that the inspection workpiece 9 currently used is the correct inspection workpiece 9 that meets the inspection requirement information. At this point, after eliminating the inspection failure caused by the model information of the inspection workpiece 8, the inspection failure caused by the incorrect use of the inspection workpiece 9 is also eliminated. Therefore, it can be determined that the inspection workpiece 8 is unqualified. At this time, the first machine can be used to transfer it to the unqualified product area.

[0057] By adopting the above technical solution, it is possible to avoid misjudgment of the detection result of the assembly hole of the to-be-detected part 8 due to the incorrect placement of the detection workpiece 9.

[0058] Optionally, after controlling the inspection workpiece 9 to perform insertion inspection on the assembly hole on the to-be-inspected piece 8 according to the inspection path information and obtaining the inspection result, the method further includes: S11-1. Obtain the usage time of the inspection workpiece in this inspection.

[0059] Specifically, when a certain inspection workpiece 9 is taken out from the mounting frame 4, timing starts and ends when the inspection workpiece 9 is placed back on the mounting frame 4. The timing duration is used as the usage duration of the inspection workpiece 9 in this inspection.

[0060] S12-1. Update the detection workpiece life database according to the usage time; the detection workpiece life database includes the detection workpiece number, and the accumulated usage time and predicted remaining time corresponding to each detection workpiece number.

[0061] Specifically, a detection workpiece life database is also stored in the controller, which stores the detection workpiece number of each detection workpiece 9, as well as the cumulative usage time and predicted remaining time of each detection workpiece 9. Each time the detection workpiece 9 is used, after its use is completed, the current usage time is added to the cumulative usage time of the detection workpiece 9 in the detection workpiece life database before the current detection, to obtain the cumulative usage time after the current detection, and update it to the detection workpiece life database. At the same time, the predicted remaining time of the detection workpiece 9 in the detection workpiece life database before the current detection is subtracted from the current usage time to obtain the predicted remaining time after the current detection.

[0062] S13-1. When it is determined that the predicted remaining time of the detection workpiece is lower than a second threshold, a third prompt message is issued, wherein the third prompt message is used to prompt that there is a risk in continuing to use the detection workpiece.

[0063] Each time the detection workpiece life database is updated, the predicted remaining time of the detection workpiece 9 that has changed during this update is judged. If the predicted remaining time is lower than the second threshold, it means that the detection workpiece 9 has reached the critical service life. If it continues to be used, misjudgment may occur. The controller sends a third prompt message to remind the staff to replace it in time. The second threshold is a preset value, for example, 30 minutes.

[0064] By adopting the above technical solution, it is convenient for the staff to understand the usage of each detection workpiece 9 in real time, and to replace the detection workpiece 9 that has been used for too long in time, so as to avoid misjudgment during the detection process.

[0065] Optionally, after controlling the inspection workpiece 9 to perform insertion inspection on the assembly hole on the to-be-inspected piece 8 according to the inspection path information and obtaining the inspection result, the method further includes: S11-2, obtaining the usage time of the inspection workpiece in this inspection and the inspection result of this inspection.

[0066] Specifically, the method for obtaining the usage time of the inspection workpiece 9 in this inspection is the same as step S11 - 1 , which will not be repeated here.

[0067] S12-2. Update the detection workpiece life database according to the usage time and the detection result; the detection workpiece life database includes the detection workpiece number, and the accumulated usage time and predicted remaining time corresponding to each detection workpiece number.

[0068] Specifically, the detection workpiece life database has been introduced in step S12-1 and will not be repeated here. Each time the detection workpiece 9 is used, after its use is completed, a correction coefficient for the current usage time is obtained according to the detection result. The correction coefficients include two types, namely a first correction coefficient and a second correction coefficient. The first correction coefficient is greater than 1, and its value range is 1.1-1.5, for example, 1.2; the second correction coefficient is less than 1, and its value range is 0.5-0.9, for example, 0.8; when the detection result is a qualified detection, the second correction coefficient is used, and when the detection result is a detection failure, the first correction coefficient is used; first, the current usage time is multiplied by the corresponding correction coefficient to obtain the corrected usage time, and then the corrected usage time is added to the cumulative usage time of the detection workpiece 9 in the detection workpiece life database before the current detection to obtain the cumulative usage time after the current detection, which is updated to the detection workpiece life database, and at the same time, the predicted remaining time of the detection workpiece 9 in the detection workpiece life database before the current detection is subtracted from the corrected usage time to obtain the predicted remaining time after the current detection.

[0069] S13-2: When it is determined that the predicted remaining time of the detection workpiece is lower than a second threshold, a third prompt message is issued, wherein the third prompt message is used to prompt that there is a risk in continuing to use the detection workpiece.

[0070] The above-mentioned steps S11-2 to S13-2 can be used as alternative steps to steps S11-1 to S13-1. Compared with the scheme recorded in steps S11-1 to S13-1, considering that the qualified detection of the test piece 8 causes less wear damage to the test workpiece 9, and the fault detection of the test piece 8 causes greater wear damage to the test workpiece 9, by correcting the actual usage time of the test workpiece 9, a more realistic and accurate prediction of the remaining time can be obtained, thereby more accurately grasping the replacement timing of the test workpiece 9.

[0071] Furthermore, the method further comprises: S14. Regularly query the detection workpiece life database to obtain a target detection workpiece number set; the target detection workpiece number set stores at least one target detection workpiece number; the target detection workpiece number is the detection workpiece number whose predicted remaining time is lower than a third threshold; the third threshold is greater than the second threshold.

[0072] Specifically, whether the inspection workpiece 9 is standard is directly related to the inspection result of the part to be tested, so it is particularly important to inspect the inspection workpiece 9 according to the set period, and the set period is not specifically limited here. Considering that there are many types of inspection workpieces 9 and different inspection workpieces 9 are used at different frequencies, it is too time-consuming and unnecessary to inspect all inspection workpieces 9 regularly. This embodiment regularly traverses the inspection workpiece life database and only inspects the inspection workpiece 9 whose predicted remaining time is lower than the third threshold, which saves inspection time and improves the accuracy of the inspection. The value of the third threshold should not be too small or too large. If it is too small, it will not be of much significance to correct it. If it is too large, it will waste inspection time. In this embodiment, the value range of the third threshold is 100-300 minutes, for example, it can be 200 minutes.

[0073] S15. Inspect the corresponding inspection workpiece according to the target inspection workpiece number set to obtain an inspection result.

[0074] Specifically, the specific method for inspecting the inspection workpiece 9 to obtain the inspection result is: S15-1. Acquire the actual image of the inspection workpiece.

[0075] Specifically, according to the inspection workpiece number, the target inspection workpiece 9 is obtained from the corresponding mounting hole position of the mounting frame 4, and a photo is taken of the target inspection workpiece 9 to obtain an actual image of the inspection workpiece 9.

[0076] S15 - 2 , preprocessing the actual image of the inspection workpiece to obtain a preprocessed image of the inspection workpiece 9 .

[0077] Specifically, the preprocessing of the actual image of the detected workpiece 9 mainly includes grayscale conversion and denoising, wherein grayscale conversion refers to converting a color image into a grayscale image to simplify processing; denoising refers to using a filter (such as a Gaussian filter) to remove image noise.

[0078] S15-3, extracting a first contour according to the preprocessed image; the first contour is the contour of the detected workpiece in the preprocessed image.

[0079] Specifically, the findContours function of OpenCV is used to extract the contour of the detection workpiece 9 from the preprocessed image to obtain the first contour.

[0080] S15-4. Obtain a similarity value between the first contour and the standard contour, where the similarity value is the inspection result.

[0081] Specifically, for each inspection workpiece 9, there will be a standard contour corresponding to the number, which is stored in the controller and is generated according to the design requirements of the inspection workpiece 9. The first contour and the standard contour are compared using a contour matching algorithm to obtain a similarity value, wherein the contour matching algorithm may be, for example, Hu moment, Zernike moment, shape context, etc. The similarity value ranges from 0 to 1, the larger the value, the higher the similarity, and the smaller the value, the lower the similarity.

[0082] S16. Update the detected workpiece life database according to the inspection result.

[0083] Specifically, updating the detected workpiece life database according to the inspection result specifically includes: S16-1. Obtain standard size data corresponding to the target detection workpiece number.

[0084] Specifically, the second database also stores standard size data corresponding to each detection workpiece number. The standard size data is obtained based on the design requirements of the corresponding detection workpiece number, and in this embodiment mainly refers to the diameter size of the detection workpiece 9.

[0085] S16-2. Calculate the accurate predicted remaining time of the current inspection workpiece according to the standard size data and the similarity value, and update the accurate predicted remaining time in the inspection workpiece life database.

[0086] Specifically, in this step, the trained prediction model is used to accurately predict the remaining service life of the current detection workpiece 9. The prediction model is obtained based on a data set formed by a large amount of data collected in the previous stage during the actual use of multiple detection workpieces 9. Each group of collected data at least includes the standard size data corresponding to the detection workpiece 9, the rated life span corresponding to the detection workpiece 9, the similarity value between the actual contour of the detection workpiece 9 and the standard contour, and the actual remaining life span of the detection workpiece 9. After preparing a large amount of data, select an appropriate model, such as linear regression, support vector regression (SVR), decision tree regression, neural network, etc., and train and optimize according to the size and characteristics of the data set. In addition, the model needs to be evaluated, such as using cross-validation and other methods to evaluate the performance of the model to ensure its generalization ability on new data. The input data of the prediction model are standard size data, similarity value and rated life span, and the output data is the accurate prediction of the remaining time.

[0087] By adopting the above technical solution, the remaining time of the inspection workpiece 9 at the end of its service life can be accurately predicted regularly, thereby ensuring that the inspection is carried out efficiently and accurately without taking up too much time and avoiding invalid inspections.

[0088] Furthermore, the method further comprises: S17. If the obtained detection result is a detection failure and the corresponding situation is that the device can be inserted but cannot reach the set depth or can be inserted to the set depth but cannot be pulled out, a fourth prompt message is issued, and the fourth prompt message is used to prompt that the device to be detected is unqualified.

[0089] Further, after obtaining the inspection requirement information according to the model information of the to-be-inspected workpiece 8 and before obtaining the inspection workpiece 9 corresponding to the inspection workpiece number, it also includes: Determine whether there is a detection workpiece 9 corresponding to the detection workpiece number; If yes, execute step S3; If not, a replacement workpiece corresponding to the inspection workpiece number is obtained, and the replacement workpiece is controlled to perform insertion inspection on the assembly hole on the to-be-inspected part 8 according to the inspection path information.

[0090] Specifically, during the inspection process, it may be encountered that the mounting hole corresponding to the inspection workpiece number on the mounting frame 4 is empty, that is, the required inspection workpiece 9 is temporarily used by the staff, or the previous deformation and damage cannot be used, and the new inspection workpiece 9 has not yet been placed on the mounting frame 4. At this time, in order to quickly complete the inspection, a replacement inspection workpiece 9 can be selected for insertion inspection. The replacement workpiece number corresponding to each inspection workpiece number and the installation hole position information of the replacement workpiece number are also stored in the second database. When the inspection workpiece 9 corresponding to the model information of the part 8 to be inspected is not in the corresponding installation hole, the second database is queried, and the replacement workpiece number and the installation hole position information of the replacement workpiece are obtained from the second database. The second manipulator 5 obtains the replacement workpiece to complete the subsequent inspection.

[0091] It should be noted that the replacement workpiece is determined based on the required accuracy of the part to be detected 8. For the parts to be detected 8 with relatively high accuracy requirements, it is not recommended to use a replacement workpiece for detection, while for the parts to be detected 8 with relatively low accuracy requirements, a replacement workpiece can be used for detection. Therefore, when it is determined that there is no detection workpiece 9 corresponding to the detection workpiece number, it can be determined whether the grade of the part to be detected 8 allows the use of a replacement workpiece. The grade of the part to be detected 8 is obtained in the same way as the model information and will not be repeated. The size of the replacement workpiece is within a certain range of deviation from the size of the detection workpiece. For example, if the diameter of the detection workpiece 9 is 2 cm, the diameter of the replacement workpiece is 1.9 cm.

[0092] In addition, depending on the purpose, the structure of the part to be detected 8 is also different. The assembly hole described in the present application includes not only assembly through holes that pass through from top to bottom, but also assembly slot holes that only pass through the upper side. For the part to be detected 8 with assembly slot holes, the size of the detection part of the corresponding detection workpiece 9 is larger than the size of the gripping part, and the flatness of the bottom end face of the detection part will have a certain impact on the detection result. Therefore, it is necessary to regularly maintain this type of detection workpiece 9 to prevent its bottom end face from being uneven due to foreign matter sticking to it.

[0093] Specifically, the inspection workpiece life library also stores special identification corresponding to the inspection workpiece number of each inspection workpiece 9. The special identification of the inspection workpiece 9 that does not require special maintenance is "0", and the inspection workpiece 9 that requires special maintenance is distinguished by numbers to distinguish the type of special maintenance required. For example, the inspection workpiece 9 that needs to be tested for the flatness of the bottom end surface of the inspection part has a corresponding special identification of "1". When the detection workpiece life database is regularly queried to obtain a target detection workpiece number set, the target detection workpiece number set is divided into two subsets, one of which only stores the target detection workpiece numbers with a special mark of "0", and the other subset stores the target detection workpiece numbers with a special mark not of "0"; for the former subset, the inspection result is obtained by inspection in the conventional manner of step S15, and for the latter subset, in addition to the inspection in the conventional manner of step S15, a special inspection method is also required. For example, the detection workpiece 9 with a special mark of "1" also needs to be inspected for the flatness of its bottom end face. The inspection method is, for example, a surface flatness measuring instrument is provided on the inspection table 1 to determine whether it is qualified based on the measurement result. If it is unqualified, the staff is reminded to perform maintenance on it. If it is qualified, step S16 is executed.

[0094] Example 2 This embodiment provides a frame parts assembly hole detection system, which is used to detect a to-be-detected part 8, on which an assembly hole is provided; the system comprises: An acquisition module, wherein the acquisition module is configured to acquire model information of the to-be-detected component 8; A processing module, wherein the processing module is configured to obtain detection requirement information according to the model information of the to-be-detected part 8; the detection requirement information includes at least one detection workpiece number and detection path information corresponding to each detection workpiece number; A control module, wherein the control module is configured to obtain a test workpiece 9 corresponding to the test workpiece number, control the test workpiece 9 to perform insertion detection on the assembly hole on the to-be-tested part 8 according to the test path information, and obtain a test result; the test result is a qualified test or a test failure; the test failure situations include being unable to insert, being able to insert but unable to reach a set depth, and being able to insert to a set depth but unable to be pulled out.

[0095] The system is used to implement the frame parts assembly hole detection method as described in Example 1. For details, see Example 1 and will not be repeated here.

[0096] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A method for detecting assembly holes of vehicle frame parts, characterized in that: Used to detect a part to be detected, wherein the part to be detected is provided with an assembly hole; the method comprises the following steps: Obtain model information of the part to be tested; According to the model information of the to-be-tested workpiece, the testing requirement information is obtained; the testing requirement information includes at least one testing workpiece number and testing path information corresponding to each testing workpiece number; Obtain an inspection workpiece corresponding to the inspection workpiece number, control the inspection workpiece to perform insertion inspection on the assembly hole on the to-be-inspected part according to the inspection path information, and obtain an inspection result; the inspection result is a qualified inspection or a inspection failure; the inspection failure situations include being unable to insert, being able to insert but unable to reach a set depth, and being able to insert to a set depth but unable to be pulled out.

2. The frame parts assembly hole detection method according to claim 1, characterized in that: The method further comprises: If the obtained detection result is a detection failure and the corresponding situation is that the insertion cannot be performed, then obtaining an actual image of the part to be detected; Acquire a standard image corresponding to the model information of the part to be inspected; Comparing the actual image of the object to be inspected with the standard image to obtain a matching value between the two; If the matching value is less than a first threshold, a first prompt message is issued, wherein the first prompt message is used to prompt that the model information of the component to be detected is incorrect.

3. The frame parts assembly hole detection method according to claim 2, characterized in that: The method further comprises: If the matching value is greater than or equal to the first threshold, obtaining the actual serial number of the detected workpiece; If the inspection workpiece number and the actual number are inconsistent, obtaining the correct inspection workpiece to continue inspection; If the inspection workpiece number is consistent with the actual number, a second prompt message is issued, and the second prompt message is used to prompt that the inspection workpiece is unqualified.

4. The frame parts assembly hole detection method according to claim 1, characterized in that: After controlling the inspection workpiece to perform insertion inspection on the assembly hole on the to-be-inspected part according to the inspection path information and obtaining the inspection result, the method further includes: Obtaining the usage time of the detection workpiece in this detection; According to the usage time, updating the detection workpiece life database; the detection workpiece life database includes the detection workpiece number, and the accumulated usage time and predicted remaining time corresponding to each detection workpiece number; When it is determined that the predicted remaining time of the detection workpiece is lower than the second threshold, a third prompt message is issued, and the third prompt message is used to prompt that there is a risk in continuing to use the detection workpiece.

5. The method for detecting assembly holes of vehicle frame parts according to claim 1, characterized in that: After controlling the inspection workpiece to perform insertion inspection on the assembly hole on the to-be-inspected part according to the inspection path information and obtaining the inspection result, the method further includes: Obtaining the usage time of the inspection workpiece in this inspection and the inspection result of this inspection; According to the usage time and the detection result, updating the detection workpiece life database; the detection workpiece life database includes the detection workpiece number, and the accumulated usage time and predicted remaining time corresponding to each detection workpiece number; When it is determined that the predicted remaining time of the detection workpiece is lower than the second threshold, a third prompt message is issued, and the third prompt message is used to prompt that there is a risk in continuing to use the detection workpiece.

6. The method for detecting assembly holes of vehicle frame parts according to claim 4 or 5, characterized in that: The method further comprises: The detection workpiece life database is queried regularly to obtain a target detection workpiece number set; the target detection workpiece number set stores at least one target detection workpiece number; the target detection workpiece number is a detection workpiece number whose predicted remaining time is lower than a third threshold; the third threshold is greater than the second threshold; According to the target inspection workpiece number set, the corresponding inspection workpiece is inspected to obtain the inspection result; The detection workpiece life database is updated according to the inspection result.

7. The method for detecting assembly holes of vehicle frame parts according to claim 6, characterized in that: The corresponding test workpiece is inspected, and the inspection results include: Acquire the actual image of the inspected workpiece; Preprocessing the actual image of the detected workpiece to obtain a preprocessed image of the detected workpiece; Extracting a first contour according to the preprocessed image; the first contour is a contour of a detected workpiece in the preprocessed image; A similarity value between the first contour and the standard contour is obtained; the similarity value is the test result.

8. The method for detecting assembly holes of vehicle frame parts according to claim 7, characterized in that: Updating the detected workpiece life database according to the inspection result includes: Obtain the standard size data corresponding to the target detection workpiece number; The accurate predicted remaining time of the current detected workpiece is calculated based on the standard size data and the similarity value, and the accurate predicted remaining time is updated in the detected workpiece life database.

9. The method for detecting assembly holes of vehicle frame parts according to claim 1, characterized in that: The method further comprises: If the test result obtained is a test failure and the corresponding situation is that it can be inserted but cannot reach the set depth or can be inserted to the set depth but cannot be pulled out, a fourth prompt message is issued, and the fourth prompt message is used to prompt that the part to be tested is unqualified.

10. A vehicle frame parts assembly hole detection system, characterized in that: Used to detect a part to be detected, wherein the part to be detected is provided with an assembly hole; the system comprises: An acquisition module, wherein the acquisition module is configured to acquire model information of the part to be detected; A processing module, wherein the processing module is configured to obtain detection requirement information according to the model information of the to-be-detected workpiece; the detection requirement information includes at least one detection workpiece number and detection path information corresponding to each detection workpiece number; A control module, wherein the control module is configured to obtain a test workpiece corresponding to the test workpiece number, control the test workpiece to perform insertion detection on the assembly hole on the to-be-tested part according to the test path information, and obtain a test result; the test result is a qualified test or a test failure; the test failure includes being unable to insert, being able to insert but unable to reach a set depth, and being able to insert to a set depth but unable to be pulled out.

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