Automobile part production monitoring method and system

Abstract

The invention relates to the technical field of automobile part machining control, and discloses an automobile part production monitoring method and system, and the system comprises an automobile part machining welding spot feature recognition module, an automobile part machining welding spot state analysis module, and an automobile part spot welding process parameter adjustment module. According to actual coordinate parameters and theoretical coordinate parameters of the body-in-white part machining welding spots, coordinate error parameters of the body-in-white part machining welding spots and theoretical position adjusting coordinate parameters of the body-in-white part machining welding spots are accurately measured by combining numerical analysis; digital metering of spot welding machining position errors and spot welding machining theory adjusting coordinates of automobile body-in-white parts is achieved; and the automobile part generation monitoring end performs automobile part machining welding spot position parameter adjustment operation in a self-adaptive manner based on the body-in-white part machining welding spot theoretical position adjustment coordinate parameters in combination with the industrial robot control end and the spot welding machining equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile parts processing control, and in particular to an automobile parts production monitoring method and system. Background Art

[0002] The processing of automobile parts mainly includes stamping, welding, cutting, assembly and other processes. 1. Stamping: Stamping is the process of passing a metal sheet through the die hole of a die to separate or deform it. In automobile manufacturing, stamping is mainly used to produce key parts such as body shells, doors, roof covers, fenders, etc. 2. Welding: Welding is the process of connecting two or more metal materials together. In automobile manufacturing, welding is mainly used to produce key parts such as body structures, chassis components, engine brackets, etc. Common welding methods include spot welding, gas metal arc welding, laser welding, etc. 3. Cutting: Cutting is the process of using a tool to remove excess metal materials to achieve the designed size and shape. In automobile manufacturing, cutting is mainly used to produce various parts such as gears, shafts, camshafts, crankshafts, etc. Common cutting methods include turning, milling, drilling, planing, etc. 4. Assembly: Assembly is the process of combining various parts in a certain order and position to form a complete automobile product. In automobile manufacturing, assembly mainly includes engine assembly, chassis assembly, body assembly, etc. 5. Surface treatment: Surface treatment is the process of treating parts for corrosion protection, rust prevention, decoration, etc. Common surface treatment methods include electroplating, heat treatment, spraying, polishing, etc. 6. Inspection and testing: Inspection and testing is the process of inspecting and verifying the performance and quality of automotive parts. Common inspection and testing methods include performance testing, strength testing, durability testing, etc. Among them, the spot welding process of body-in-white parts in the production process of automotive parts cannot guarantee the product quality of automotive body-in-white parts due to the complex location and large number of spot welding involved. The existing spot welding processing of automotive body-in-white parts cannot intelligently monitor the spot welding processing error, nor can it dynamically and adaptively adjust the spot welding position of the spot welding processing equipment, which reduces the output and quality of automotive parts processing.

[0003] A Chinese invention patent with announcement number CN104765322B discloses a production line monitoring system, which sets up a data acquisition module, a data analysis module and a quality warning module; based on the collection of production process information of the production line and production product data information, it accurately detects whether the production line is in a normal working state and whether the products are qualified, and issues online warnings for abnormal production and unqualified production status of products; however, the above technical solution cannot achieve intelligent adjustment and maintenance of abnormal production and unqualified production status, which reduces the quality and safety of product production. Summary of the invention

[0004] 1. Technical issues to be resolved In order to solve the problem that the existing spot welding processing of automobile body-in-white parts cannot intelligently monitor spot welding processing errors, and cannot dynamically and adaptively adjust the spot welding positions of spot welding processing equipment, thereby reducing the output and quality of automobile parts processing, the above purposes are achieved by online collecting three-dimensional model data of parts in the body-in-white spot welding process, accurately collecting appearance image information of parts in the body-in-white spot welding process, accurately identifying actual welding point object information of the body-in-white parts spot welding process, scientifically measuring actual position coordinate parameters of body-in-white parts processing welding points, intelligently analyzing body-in-white parts spot welding processing status information, accurately measuring theoretical position adjustment coordinate parameters of body-in-white parts processing welding points, and adaptively adjusting the positions of body-in-white parts processing welding points.

[0005] (II) Technical solution The present invention is implemented by the following technical solution: a method for monitoring the production of automobile parts, the method comprising the following steps: S1. Collect 3D model data of parts in the body-in-white spot welding process; S2, performing product appearance image acquisition processing of the body-in-white parts after the spot welding process based on the three-dimensional model data of the body-in-white parts, and generating appearance image data of the body-in-white parts in the spot welding process; S3, performing recognition processing of object feature information of processed welding points of products processed in the spot welding process of the body-in-white parts according to the appearance image data of the body-in-white parts in the spot welding process and the theoretical welding point object image data of the body-in-white parts in the spot welding process, and constructing actual welding point object recognition data of the body-in-white parts in the spot welding process; S4, performing actual spatial position coordinate parameter measurement processing of the body-in-white parts processing welding points based on the three-dimensional model data of the body-in-white parts spot welding process and the actual welding point object recognition data of the body-in-white parts spot welding process to generate actual coordinate data of the body-in-white parts processing welding points; S5, performing spot welding processing status analysis and processing of the body-in-white parts based on the actual coordinate data of the body-in-white parts processing welding points and the theoretical coordinate data of the body-in-white parts processing welding points, and generating body-in-white parts spot welding processing status analysis data; when there is no processing error, directly ending the current body-in-white parts production monitoring operation; S6. When there is a processing error, numerical measurement processing of the position coordinate error of the welding point in the spot welding process of the body-in-white parts is performed according to the actual coordinate data of the welding point in the body-in-white parts and the theoretical coordinate data of the welding point in the body-in-white parts, the coordinate error data of the welding point in the body-in-white parts is generated, and the theoretical coordinate value adjustment processing of the welding point in the spot welding process of the body-in-white parts is performed according to the theoretical coordinate data of the welding point in the body-in-white parts, so as to construct the theoretical position adjustment coordinate data of the welding point in the spot welding process of the body-in-white parts; S7, performing an operation of adjusting the position parameters of the welding points for processing automobile parts based on the theoretical position adjustment coordinate data of the welding points for processing the body-in-white parts.

[0006] Preferably, the steps of collecting the three-dimensional model data of the parts in the body-in-white spot welding process are as follows: S11. Use an industrial robot equipped with a 3D laser scanner to perform online spatial 3D modeling scanning and modeling of automotive body-in-white parts that have completed the spot welding process, and generate 3D model data of body-in-white spot welding process parts .

[0007] Preferably, the steps of acquiring and processing the product appearance image of the body-in-white parts after the spot welding process based on the three-dimensional model data of the body-in-white parts in the spot welding process, and generating the appearance image data of the body-in-white parts in the spot welding process are as follows: S21, the automobile parts generation monitoring terminal generates the three-dimensional model data of the parts of the body-in-white spot welding process Importing into the 3D modeling software and running it, and cooperating with the display screen to display and output along with the rotation of the rectangular coordinate system of the modeling space, the 3D modeling software includes any one of CATIA, Solidworks and UG; S22, collecting the three-dimensional model data of the parts of the body-in-white spot welding process online through the screen capture software Display the output image information of the body-in-white parts on the display screen, and generate a data set of the appearance images of the body-in-white spot welding process parts , ;in Indicates the collected 100 pieces of body-in-white spot welding process parts appearance image data, Indicates the maximum number of appearance images of parts in the body-in-white spot welding process, and the screenshot software includes any one of WinSnap, X-Snip and HyperSnap.

[0008] Preferably, the steps of performing recognition processing on object feature information of processed welding points of products processed by the spot welding process of the body-in-white parts according to the appearance image data of the body-in-white parts spot welding process and the theoretical welding point object image data of the body-in-white parts spot welding process to construct the actual welding point object recognition data of the body-in-white parts spot welding process are as follows: S31. Establishing theoretical welding spot object image data set for body-in-white parts spot welding process , ;in Indicates The theoretical welding point object image data of the body-in-white parts spot welding process corresponding to the theoretical welding points, Indicates the maximum value of the theoretical number of welding spots, wherein the theoretical welding spot object image data of the body-in-white component spot welding process indicates the appearance position image information of the processing welding spot object of the automobile body-in-white component specified in the theoretical design end standard of the spot welding process in the standard three-dimensional modeling of the body component; S32, collecting the theoretical welding point object image data of the body-in-white parts spot welding process Theoretical welding spot object image data of the spot welding process of the body-in-white parts described in The body-in-white spot welding process parts appearance image data set Appearance image data of parts in the body-in-white spot welding process Perform image feature matching to search for the theoretical welding point object image data of the white body parts spot welding process Matching the body-in-white spot welding process parts appearance image data The corresponding weld point object image information is obtained, and the actual weld point object recognition data set of the body-in-white parts spot welding process is constructed ; Execute the construction of the actual welding point object recognition data set of the body-in-white parts spot welding process The specific steps are as follows: S321, initializing the maximum number of iterations of the algorithm; S322, propagation: the theoretical welding point object image data set of the body-in-white parts spot welding process Theoretical welding spot object image data of body-in-white parts spot welding process in search space Synchronous setting is water wave, each of the body-in-white parts spot welding process theoretical welding point object image data The water wave is an independent individual, so the theoretical welding point object image data of each white body component spot welding process Water waves will have 3 properties: position, wavelength and wave height ; In each iteration, the theoretical welding point object image data of each body-in-white component spot welding process is The water waves will propagate through the theoretical welding spot object image data set of the white body parts spot welding process Theoretical welding spot object image data of the body-in-white parts spot welding process in the search space Searching for theoretical welding spot object image data of the body-in-white parts spot welding process water wave height It will decrease by 1, and its position update formula is as follows: ,in Indicates the water wave propagation stage After iterations, water waves Theoretical welding spot object image data set in the spot welding process of the body-in-white parts The location of the search space; Indicates the water wave propagation stage Water wave before iteration Theoretical welding spot object image data set in the spot welding process of the body-in-white parts Position in the search space; , They are respectively the theoretical welding spot object image data sets of the spot welding process of the body-in-white parts The upper and lower bounds in the search space, Indicates value Random function of S323, refraction: theoretical welding point object image data in a spot welding process of a body-in-white component After the water wave propagates, the theoretical welding point object image data of the white body parts spot welding process Water waves are refracted and the theoretical welding spot object image data set of the white body parts spot welding process is used Theoretical welding spot object image data of the body-in-white parts spot welding process in the search space Identify and search for the appearance image data of the parts related to the spot welding process of the body in white Theoretical welding spot object image data matching the spot welding process of the body-in-white parts ; Each time the body-in-white parts spot welding process theoretical welding point object image data is transmitted water wave height will decrease by 1 when When the image data of the theoretical welding spot object of the body-in-white component spot welding process is reduced to 0, The water waves will be refracted, and their wave height and wavelength will change; the refracted position is normally distributed in the theoretical welding point object image data of the spot welding process of the body-in-white parts. Water wave and optimal spot welding process of body-in-white parts theoretical weld spot object image data The midpoint of the water wave is the position of the mean value, and the theoretical welding point object image data of the spot welding process of the current body-in-white parts Water wave and the optimal spot welding process of the body-in-white parts theoretical welding spot object image data The water wave distance is the position of the variance, and the theoretical welding point object image data of the spot welding process of the body-in-white parts after refraction The wave height of the water wave will be reinitialized to the maximum wave height After refraction, recalculate the theoretical welding point object image data of the body-in-white parts spot welding process Wavelength of water waves ; S324, breaking waves: theoretical welding point object image data of the spot welding process of the body-in-white parts Water wave in the body-in-white parts spot welding process theory weld point object image data set After propagation in the search space, the theoretical welding spot object image data of the spot welding process of the body-in-white parts is reached, which is better than the current optimal The position of the water wave, that is, the appearance image data of the parts in the body-in-white spot welding process is searched out The theoretical welding spot object image data of the body-in-white parts spot welding process that best matches , the water wave will break the waves and propagate the current optimal water wave to the location where the breaking waves are generated, that is, output the appearance image data of the parts in the body-in-white spot welding process The theoretical welding spot object image data of the body-in-white parts spot welding process that best matches , the formula for generating the breaking wave position is as follows: ,in Indicates the breaking wave stage After iterations, water waves Theoretical welding spot object image data set in the spot welding process of the body-in-white parts The location of the search space, Indicates value The random function of to Indicates that each wave randomly selects a spatial dimension number, represents the specific spatial dimension that is actually randomly selected for each breaking wave, to The specific spatial dimension parameters randomly selected for each breaking wave, is a constant; S325: when the maximum number of iterations is met, output the theoretical welding point object image data of the spot welding process of the body-in-white component Matching the body-in-white spot welding process parts appearance image data The corresponding weld point object image information is obtained, and the actual weld point object recognition data set of the body-in-white parts spot welding process is constructed ,in Indicates The actual welding point object recognition data of the spot welding process of the white body parts corresponding to the theoretical welding points, and the actual welding point object recognition data of the white body parts spot welding process represents the appearance position image information of the welding point object of the automobile white body parts in the actual three-dimensional modeling of the body parts.

[0009] Preferably, the actual spatial position coordinate parameter measurement processing of the body-in-white component processing welding points is performed based on the three-dimensional model data of the body-in-white spot welding process parts and the actual welding point object recognition data of the body-in-white component spot welding process to generate the actual coordinate data of the body-in-white component processing welding points as follows: S41, using XGBoost algorithm based on the actual welding point object recognition data set of the white body parts spot welding process The actual welding point object recognition data of the body-in-white parts spot welding process The three-dimensional model data of the body-in-white spot welding process parts imported into the three-dimensional modeling software in step S21 are searched in order according to the theoretical welding point quantity number. The spatial coordinate parameters corresponding to the processed welding points are obtained, and the actual coordinate data set of the processed welding points of the body-in-white parts is generated. ,in Indicates The actual coordinate data of the processing welding points of the body-in-white parts corresponding to the theoretical welding points, the actual coordinate data of the processing welding points of the body-in-white parts represent the actual spatial coordinate parameters of the processing welding points of the body-in-white parts after the spot welding process, and the actual coordinate data of the processing welding points of the body-in-white parts include the actual horizontal coordinate, actual vertical coordinate and actual vertical coordinate of the processing welding points of the body-in-white parts.

[0010] Preferably, the spot welding processing status of the body-in-white parts is analyzed and processed based on the actual coordinate data of the processing welding points of the body-in-white parts and the theoretical coordinate data of the processing welding points of the body-in-white parts, and the spot welding processing status analysis data of the body-in-white parts are generated; when there is no processing error, the operation steps of directly ending the production monitoring operation of the body-in-white parts are as follows: S51. Establish theoretical coordinate data set of welding points for body-in-white parts processing , Indicates Theoretical coordinate data of body-in-white parts processing welding points corresponding to the theoretical welding points, the actual coordinate data of the body-in-white parts processing welding points represent the spatial coordinate parameters of the body-in-white parts processing welding points specified in the theoretical design end standard of the spot welding process, and the actual coordinate data of the body-in-white parts processing welding points include the theoretical horizontal coordinate, theoretical vertical coordinate and theoretical vertical coordinate of the body-in-white parts processing welding points; S52, using a unified cost search algorithm to collect the actual coordinate data set of the welding points of the body-in-white parts Actual coordinate data of welding points of body-in-white parts processing Theoretical coordinate data set of welding points for body-in-white parts processing Theoretical coordinate data of welding points for body-in-white parts processing The coordinate values ​​are matched in order according to the theoretical number of weld points, and a data set for spot welding processing status analysis of body-in-white parts is generated based on the coordinate value matching results. ,in Indicates Spot welding processing status analysis data of body-in-white parts corresponding to theoretical welding points; when and The coordinate values ​​are matched successfully according to the theoretical welding point number, indicating that the processing positions of the welding points of the body-in-white parts meet the theoretical requirements, and the spot welding processing status analysis data of the body-in-white parts are output. If there is no processing error, the body-in-white parts production monitoring operation is terminated directly; when and If the coordinate values ​​are not completely matched according to the theoretical number of welds, it means that the processing position of the welds of the body-in-white parts does not meet the theoretical requirements, then the spot welding processing status analysis data of the body-in-white parts will be output. When there is a processing error.

[0011] Preferably, when there is a processing error, numerical measurement processing of the position coordinate error of the welding point in the spot welding processing of the body-in-white parts is performed according to the actual coordinate data of the welding point in the body-in-white parts and the theoretical coordinate data of the welding point in the body-in-white parts, the coordinate error data of the welding point in the body-in-white parts is generated, and numerical adjustment processing of the theoretical coordinates of the welding point in the spot welding processing of the body-in-white parts is performed with the theoretical coordinate data of the welding point in the body-in-white parts, and the operation steps of constructing the theoretical position adjustment coordinate data of the welding point in the spot welding processing of the body-in-white parts are as follows: S61, when the spot welding processing status analysis data of the body-in-white parts When there is a processing error, the theoretical coordinate data set of the processing welding points of the body-in-white parts is Theoretical coordinate data of welding points for body-in-white parts processing The actual coordinate data set of the welding points of the body-in-white parts Actual coordinate data of welding points of body-in-white parts processing The coordinate values ​​are measured in order according to the theoretical number of welds, and a data set of weld coordinate errors is generated. ,in Indicates The coordinate error data of the welding points of the body-in-white parts corresponding to the theoretical welding points, , the coordinate error data of the body-in-white parts processing welding points include theoretical and actual horizontal coordinate error data, theoretical and actual vertical coordinate error data, and theoretical and actual vertical coordinate error data of the body-in-white parts processing welding points; wherein the values ​​of the theoretical and actual horizontal coordinate error data, the theoretical and actual vertical coordinate error data, and the theoretical and actual vertical coordinate error data include zero, positive numbers, and negative numbers. The coordinate error data value of zero indicates that the processing position of the body-in-white parts processing welding points meets the design requirements; the coordinate error data value of a positive number indicates that the subsequent processing of the body-in-white parts processing welding points needs to be adjusted according to the size of the coordinate error data along the positive direction of the specific coordinate axis to meet the design requirements; the coordinate error data value of a negative number indicates that the subsequent processing of the body-in-white parts processing welding points needs to be adjusted according to the size of the coordinate error data along the negative direction of the specific coordinate axis to meet the design requirements; S62, collecting the coordinate error data of the welding points of the body-in-white parts Coordinate error data of welding points in body-in-white parts processing Theoretical coordinate data set of welding points for body-in-white parts processing Theoretical coordinate data of welding points for body-in-white parts processing The coordinate values ​​are processed and measured in order according to the number of theoretical welding points, and a coordinate data set of theoretical position adjustment of welding points for body-in-white parts processing is constructed. ,in Indicates The theoretical position adjustment coordinate data of the welding points of the body-in-white parts corresponding to the theoretical welding points, The body-in-white component processing welding point theoretical position adjustment coordinate data represents welding point theoretical position coordinate adjustment parameters used to eliminate the processing position error of the body-in-white component processing welding point.

[0012] Preferably, the operation steps of performing the position parameter adjustment operation of the welding point processing of automobile parts based on the theoretical position adjustment coordinate data of the welding point processing of the body-in-white parts are as follows: S71, the automobile parts generation monitoring terminal adjusts the coordinate data set of the theoretical position of the welding point of the body-in-white parts processing Theoretical position adjustment coordinate data of welding points for body-in-white parts processing The data is transmitted to the industrial robot control terminal through the Internet of Things communication network, and the industrial robot control terminal adjusts the coordinate data according to the theoretical position of the welding point of the body-in-white parts processing. The corresponding coordinate parameters control the spot welding processing equipment to perform the welding spot position parameter adjustment operation for processing automobile parts, and the spot welding processing equipment includes any one of a general electric welding machine and a contour spot welding machine.

[0013] An automobile parts production monitoring system, used to implement the automobile parts production monitoring method, the system includes an automobile parts processing welding spot feature recognition module, an automobile parts processing welding spot state analysis module, and an automobile parts spot welding process parameter adjustment module; The automobile parts processing welding spot feature recognition module includes a body-in-white spot welding process parts three-dimensional model acquisition unit, a body-in-white spot welding process parts appearance image acquisition unit, a body-in-white parts spot welding process theoretical welding spot object image storage unit, and a body-in-white parts spot welding process actual welding spot object recognition unit; The 3D model acquisition unit of the BIW spot welding process parts collects the 3D model data of the BIW spot welding process parts through a 3D laser scanner equipped with an industrial robot; the BIW spot welding process parts appearance image acquisition unit performs appearance image acquisition processing of the product after the BIW spot welding process parts are processed based on the 3D model data of the BIW spot welding process parts in combination with 3D modeling software and screenshot software, and generates appearance image data of the BIW spot welding process parts; the BIW spot welding process parts theoretical welding point object image storage unit is used to store the theoretical welding point object image data of the BIW spot welding process parts; the BIW spot welding process parts actual welding point object recognition unit performs object feature information recognition processing of the processed welding point of the product after the BIW spot welding process parts are processed based on the BIW spot welding process parts appearance image data and the theoretical welding point object image data of the BIW spot welding process parts, and constructs the actual welding point object recognition data of the BIW spot welding process parts; The automobile parts processing welding spot state analysis module includes a body-in-white parts processing welding spot actual coordinate measurement unit, a body-in-white parts processing welding spot theoretical coordinate storage unit, and a body-in-white parts spot welding processing state analysis unit; The actual coordinate measurement unit of the body-in-white parts processing welding points performs actual spatial position coordinate parameter measurement processing of the body-in-white parts processing welding points according to the three-dimensional model data of the body-in-white parts spot welding process, the object recognition data of the actual welding points of the body-in-white parts spot welding process, and the three-dimensional modeling software, and generates the actual coordinate data of the body-in-white parts processing welding points; the body-in-white parts processing welding points theoretical coordinate storage unit is used to store the theoretical coordinate data of the body-in-white parts processing welding points; the body-in-white parts spot welding processing state analysis unit performs spot welding processing state analysis processing of the body-in-white parts based on the actual coordinate data of the body-in-white parts processing welding points and the theoretical coordinate data of the body-in-white parts processing welding points, and generates the body-in-white parts spot welding processing state analysis data; The automotive parts spot welding process parameter adjustment module includes a body-in-white parts processing welding point coordinate error value measurement unit, a body-in-white parts processing welding point theoretical position adjustment coordinate measurement unit, and an automotive parts processing welding point position parameter adjustment unit; The body-in-white component processing weld spot coordinate error value measurement unit performs weld spot position coordinate error value measurement processing in the spot welding process of the body-in-white component according to the actual coordinate data of the body-in-white component processing weld spot and the theoretical coordinate data of the body-in-white component processing weld spot, and generates the body-in-white component processing weld spot coordinate error data; the body-in-white component processing weld spot theoretical position adjustment coordinate measurement unit performs weld spot theoretical coordinate value adjustment processing in the spot welding process of the body-in-white component according to the body-in-white component processing weld spot coordinate error data and the body-in-white component processing weld spot theoretical coordinate data, and constructs the body-in-white component processing weld spot theoretical position adjustment coordinate data; the automobile component processing weld spot position parameter adjustment unit, the automobile component generation monitoring end performs automobile component processing weld spot position parameter adjustment operation based on the body-in-white component processing weld spot theoretical position adjustment coordinate data in combination with the industrial robot control end and the spot welding processing equipment.

[0014] (III) Beneficial effects The present invention provides a method and system for monitoring the production of automobile parts, which have the following beneficial effects: 1. Accurately collect the 3D model parameters of the parts in the spot welding process of the body in white through the 3D laser scanner equipped with an industrial robot, and provide reliable support for the scientific monitoring of the position error of the spot welding processing of the parts in the body in white of automobiles; accurately obtain the appearance images of the parts in the spot welding process of the body in white of automobiles based on the 3D model parameters of the parts in the spot welding process of the body in white of automobiles in combination with 3D modeling software and screenshot software, so as to realize the efficient and accurate collection of the spot welding image information of the parts in the body in white of automobiles, and improve the efficiency of the spot welding processing monitoring of the parts in the body in white of automobiles; scientifically set the theoretical welding point object image parameters of the spot welding process of the body in white of automobiles, and combine the intelligent recognition algorithm with the appearance image parameters of the parts in the spot welding process of the body in white of automobiles to accurately identify and capture the feature image information of the actual welding point objects in the spot welding process of the body in white of automobiles, so as to realize the intelligent recognition of the welding point objects in the spot welding process of the parts in the body in white of automobiles, and improve the intelligence of the spot welding processing of the parts in the body in white of automobiles.

[0015] 2. Accurately measure the actual coordinate parameters of the processing welds of the body-in-white parts based on the three-dimensional model parameters of the parts in the spot welding process of the body-in-white parts, the object recognition information of the actual welds in the spot welding process of the body-in-white parts, combined with the intelligent search algorithm and the three-dimensional modeling software, so as to achieve the precise measurement of the actual position of the spot welding processing welds of the automobile body-in-white parts; based on the storage of the theoretical coordinate parameters of the processing welds of the body-in-white parts in big data storage, combined with the intelligent search algorithm and the actual coordinate parameters of the processing welds of the body-in-white parts, the intelligent and scientific analysis of the spot welding processing status of the body-in-white parts is carried out, so as to achieve the intelligent judgment of the spot welding processing position of the automobile body-in-white parts and improve the quality of the spot welding processing of the automobile body-in-white parts.

[0016] 3. By combining the actual coordinate parameters of the welding points of the body-in-white parts and the theoretical coordinate parameters of the welding points of the body-in-white parts with numerical analysis, the coordinate error parameters of the welding points of the body-in-white parts and the theoretical position adjustment coordinate parameters of the welding points of the body-in-white parts are accurately measured, so as to realize the digital measurement of the position error of the spot welding processing and the theoretical adjustment coordinates of the spot welding processing of the automobile body-in-white parts, and improve the applicability and accuracy of the spot welding processing of the automobile body-in-white parts; the automobile parts generation monitoring end adaptively performs the position parameter adjustment operation of the welding points of the automobile parts based on the theoretical position adjustment coordinate parameters of the welding points of the body-in-white parts in combination with the industrial robot control end and the spot welding processing equipment, so as to improve the reliability and safety of the spot welding processing of the automobile body-in-white parts, and enhance the functional diversity and applicability of the automobile parts production monitoring system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a module of an automobile parts production monitoring system provided by the present invention; Figure 2 The present invention provides a flow chart of a method for monitoring the production of automobile parts. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The embodiments of the automobile parts production monitoring method and system are as follows: Embodiment 1: See also Figure 1 - Figure 2 , a method for monitoring the production of automobile parts, the method comprising the following steps: S1. Collect 3D model data of parts in the body-in-white spot welding process; S2, performing product appearance image acquisition and processing of the body-in-white parts after the spot welding process based on the three-dimensional model data of the body-in-white parts, and generating appearance image data of the body-in-white parts in the spot welding process; S3, performing recognition processing of object feature information of processed welding points of products processed in the spot welding process of the body-in-white parts according to the appearance image data of the body-in-white parts in the spot welding process and the theoretical welding point object image data of the body-in-white parts in the spot welding process, and constructing the actual welding point object recognition data of the body-in-white parts in the spot welding process; S4, measuring and processing the actual spatial position coordinate parameters of the processing welding points of the body-in-white parts according to the three-dimensional model data of the body-in-white spot welding process parts and the object recognition data of the actual welding points of the body-in-white parts spot welding process, and generating the actual coordinate data of the processing welding points of the body-in-white parts; S5. Perform spot welding processing status analysis and processing of the body-in-white parts based on the actual coordinate data of the body-in-white parts processing welding points and the theoretical coordinate data of the body-in-white parts processing welding points, and generate body-in-white parts spot welding processing status analysis data; when there is no processing error, directly end the current body-in-white parts production monitoring operation; S6. When there is a processing error, numerical measurement processing of the coordinate error of the welding point position in the spot welding process of the body-in-white parts is performed according to the actual coordinate data of the welding point in the body-in-white parts and the theoretical coordinate data of the welding point in the body-in-white parts, the coordinate error data of the welding point in the body-in-white parts is generated, and the theoretical coordinate value adjustment processing of the welding point in the spot welding process of the body-in-white parts is performed according to the theoretical coordinate data of the welding point in the body-in-white parts, so as to construct the theoretical position adjustment coordinate data of the welding point in the spot welding process of the body-in-white parts; S7, performing a welding point position parameter adjustment operation for automobile parts processing based on the welding point theoretical position adjustment coordinate data for the body-in-white parts processing.

[0020] For further information, see Figure 1 - Figure 2 The steps for collecting 3D model data of parts in the body-in-white spot welding process are as follows: S11. Use an industrial robot equipped with a 3D laser scanner to perform online spatial 3D modeling scanning and modeling of automotive body-in-white parts that have completed the spot welding process, and generate 3D model data of body-in-white spot welding process parts .

[0021] The steps for acquiring and processing the product appearance image after the spot welding process of the body-in-white parts based on the three-dimensional model data of the body-in-white spot welding process parts and generating the appearance image data of the body-in-white spot welding process parts are as follows: S21, the automobile parts generation monitoring terminal generates the 3D model data of the body-in-white spot welding process parts Import into 3D modeling software and run it, and cooperate with the display screen to display and output along with the rotation of the rectangular coordinate system of the modeling space. The 3D modeling software includes any one of CATIA, Solidworks and UG; S22. Collect 3D model data of body-in-white spot welding process parts online through screen capture software Display the output image information of the body-in-white parts on the display screen, and generate a data set of the appearance images of the body-in-white spot welding process parts , ;in Indicates the collected 100 pieces of body-in-white spot welding process parts appearance image data, Indicates the maximum number of appearance images of parts in the body-in-white spot welding process. The screenshot software includes any one of WinSnap, X-Snip and HyperSnap.

[0022] According to the appearance image data of the body-in-white spot welding process parts and the theoretical welding point object image data of the body-in-white spot welding process parts, the processing welding point object feature information recognition processing of the product after the body-in-white parts spot welding process is performed, and the operation steps of constructing the actual welding point object recognition data of the body-in-white parts spot welding process are as follows: S31. Establishing theoretical welding spot object image data set for body-in-white parts spot welding process , ;in Indicates The theoretical welding point object image data of the body-in-white parts spot welding process corresponding to the theoretical welding points, Indicates the maximum value of the theoretical number of welding spots. The theoretical welding spot object image data of the spot welding process of the body-in-white parts indicates the appearance position image information of the processing welding spot objects of the automobile body-in-white parts specified in the theoretical design end standard of the spot welding process in the standard three-dimensional modeling of the body parts. S32, collecting theoretical welding spot object image data of body-in-white parts spot welding process Theoretical welding spot object image data of body-in-white parts spot welding process Body-in-white spot welding process parts appearance image data set Body-in-white spot welding process parts appearance image data Perform image feature matching to search for theoretical welding spot object image data of body-in-white parts spot welding process Matching body-in-white spot welding process parts appearance image data The corresponding weld point object image information is obtained, and the actual weld point object recognition data set of the body-in-white parts spot welding process is constructed ; Execute the construction of the actual welding point object recognition data set of the body-in-white parts spot welding process The specific steps are as follows: S321, initializing the maximum number of iterations of the algorithm; S322, dissemination: the theoretical welding spot object image data set of the body-in-white parts spot welding process Theoretical welding spot object image data of body-in-white parts spot welding process in search space Synchronization is set to water wave, each body-in-white component spot welding process theoretical welding point object image data The water wave is an independent individual, so the theoretical welding point object image data of each body-in-white component spot welding process Water waves will have three properties: position, wavelength and wave height ; In each iteration, the theoretical weld point object image data of each body-in-white component spot welding process is Water waves will propagate through the body-in-white parts spot welding process theoretical welding point object image data set Theoretical spot welding process of body-in-white parts in search space for spot welding object image data Search and theoretical spot welding process of body-in-white parts for welding spot object image data water wave height It will decrease by 1, and its position update formula is as follows: ,in Indicates the water wave propagation stage After iterations, water waves Theoretical welding spot object image data set in spot welding process of body-in-white parts The location of the search space; Indicates the water wave propagation stage Water wave before iteration Theoretical welding spot object image data set in spot welding process of body-in-white parts Position in the search space; , The theoretical welding spot object image data set of the spot welding process of the body-in-white parts is The upper and lower bounds in the search space, Indicates value Random function of S323, Refraction: Theoretical spot welding object image data in a body-in-white component spot welding process After the water wave propagates, the theoretical welding point object image data of the spot welding process of the body-in-white parts Water wave refraction and spot welding process theory of body-in-white parts welding spot object image data set Theoretical spot welding process of body-in-white parts in search space for spot welding object image data Identify and search for appearance image data of parts related to the body-in-white spot welding process Matching the theoretical welding spot object image data of the body-in-white parts spot welding process ; Each transmission, body-in-white parts spot welding process theoretical welding spot object image data water wave height will decrease by 1 when When it decreases to 0, the theoretical welding point object image data of the spot welding process of the body-in-white parts Water waves will be refracted, and their wave height and wavelength will change; the position after refraction is normally distributed in the theoretical welding point object image data of the current body-in-white component spot welding process Water wave and optimal body-in-white parts spot welding process theory welding spot object image data The midpoint of the water wave is the position of the mean value, and the theoretical welding point object image data of the current body-in-white parts spot welding process Water wave and optimal body-in-white parts spot welding process theory welding spot object image data The position where the water wave distance is the variance, the theoretical welding point object image data of the spot welding process of the body-in-white parts after refraction The wave height of the water wave will be reinitialized to the maximum wave height ; After refraction, recalculate the theoretical welding point object image data of the spot welding process of the body-in-white parts Wavelength of water waves ; S324, Breaking Waves: Theoretical welding spot object image data of body-in-white parts spot welding process Water wave spot welding process theory of body-in-white parts welding spot object image data set After propagating in the search space, the theoretical welding spot object image data of the spot welding process of the body-in-white parts is better than the current optimal The position of the water wave, that is, the appearance image data of the parts in the body-in-white spot welding process is searched out The most matching theoretical weld spot object image data of the spot welding process of the body-in-white parts , the water wave will break and propagate the current optimal water wave to the location where the breaking waves are generated, that is, the output is the appearance image data of the parts in the body-in-white spot welding process The most matching theoretical weld spot object image data of the spot welding process of the body-in-white parts , the formula for generating the breaking wave position is as follows: ,in Indicates the breaking wave stage After iterations, water waves Theoretical welding spot object image data set in spot welding process of body-in-white parts The location of the search space, Indicates value The random function of to Indicates that each wave randomly selects a spatial dimension number, represents the specific spatial dimension that is actually randomly selected for each breaking wave, to The specific spatial dimension parameters randomly selected for each breaking wave, is a constant; S325: When the maximum number of iterations is met, output the theoretical welding point object image data of the body-in-white parts spot welding process Matching body-in-white spot welding process parts appearance image data The corresponding weld point object image information is obtained, and the actual weld point object recognition data set of the body-in-white parts spot welding process is constructed ,in Indicates The actual welding point object recognition data of the spot welding process of the body-in-white parts corresponding to the theoretical welding points, the actual welding point object recognition data of the spot welding process of the body-in-white parts represents the appearance position image information of the welding point objects of the automobile body-in-white parts in the actual three-dimensional modeling of the body parts.

[0023] Through the 3D model acquisition unit of the body-in-white spot welding process parts, an industrial robot equipped with a 3D laser scanner is used to accurately collect the 3D model parameters of the body-in-white spot welding process parts, providing reliable support for scientific monitoring of the position error of the spot welding processing of automobile body-in-white parts; the body-in-white spot welding process parts appearance image acquisition unit accurately acquires the appearance images of the body-in-white spot welding process parts based on the 3D model parameters of the body-in-white spot welding process parts combined with 3D modeling software and screenshot software, realizes efficient and accurate acquisition of the spot welding image information of the body-in-white parts, and improves the efficiency of the spot welding processing monitoring of the body-in-white parts; the body-in-white parts spot welding process theoretical welding point object image storage unit and the body-in-white parts spot welding process actual welding point object recognition unit cooperate with each other, scientifically set the body-in-white parts spot welding process theoretical welding point object image parameters combined with intelligent recognition algorithm and body-in-white parts appearance image parameters to accurately recognize and capture the feature image information of the actual welding point object of the body-in-white parts spot welding process, realize intelligent recognition of welding point objects in the spot welding process of automobile body-in-white parts, and improve the intelligence of the spot welding processing of automobile body-in-white parts.

[0024] For further information, see Figure 1 - Figure 2 The actual spatial position coordinate parameter measurement and processing of the body-in-white parts processing welding points is performed based on the three-dimensional model data of the body-in-white parts spot welding process and the actual welding point object recognition data of the body-in-white parts spot welding process. The operation steps for generating the actual coordinate data of the body-in-white parts processing welding points are as follows: S41, using XGBoost algorithm based on the actual welding point object recognition data set of the body-in-white parts spot welding process Actual welding spot object recognition data of body-in-white parts spot welding process Search in order according to the theoretical welding spot number numbers to find the 3D model data of the body-in-white spot welding process parts imported into the 3D modeling software in step S21 The spatial coordinate parameters corresponding to the processed welding points are obtained, and the actual coordinate data set of the processed welding points of the body-in-white parts is generated. ,in Indicates The actual coordinate data of the processing welding points of the body-in-white parts corresponding to the theoretical welding points, the actual coordinate data of the processing welding points of the body-in-white parts represent the actual spatial coordinate parameters of the processing welding points of the body-in-white parts after the spot welding process, and the actual coordinate data of the processing welding points of the body-in-white parts include the actual horizontal coordinate, actual vertical coordinate and actual vertical coordinate of the processing welding points of the body-in-white parts.

[0025] Based on the actual coordinate data of the processing welding points of the body-in-white parts and the theoretical coordinate data of the processing welding points of the body-in-white parts, the spot welding processing status of the body-in-white parts is analyzed and processed, and the spot welding processing status analysis data of the body-in-white parts is generated; when there is no processing error, the operation steps of directly ending the production monitoring operation of the body-in-white parts are as follows: S51. Establish theoretical coordinate data set of welding points for body-in-white parts processing , Indicates Theoretical coordinate data of the processing welding points of the body-in-white parts corresponding to the theoretical welding points, the actual coordinate data of the processing welding points of the body-in-white parts represent the spatial coordinate parameters of the processing welding points of the body-in-white parts specified in the theoretical design end standard of the spot welding process, and the actual coordinate data of the processing welding points of the body-in-white parts include the theoretical horizontal coordinate, theoretical vertical coordinate and theoretical vertical coordinate of the processing welding points of the body-in-white parts; S52, using a unified cost search algorithm to collect the actual coordinate data of the welding points of the body-in-white parts Actual coordinate data of welding points for body-in-white parts processing Theoretical coordinate data set of welding points for body-in-white parts processing Theoretical coordinate data of welding points for body-in-white parts processing The coordinate values ​​are matched in order according to the theoretical number of weld points, and a data set for spot welding processing status analysis of body-in-white parts is generated based on the coordinate value matching results. ,in Indicates Spot welding processing status analysis data of body-in-white parts corresponding to theoretical welding points; when and The coordinate values ​​are matched successfully according to the theoretical welding point number, indicating that the processing positions of the welding points of the body-in-white parts meet the theoretical requirements, and the spot welding processing status analysis data of the body-in-white parts are output. If there is no processing error, the body-in-white parts production monitoring operation is terminated directly; when and If the coordinate values ​​are not completely matched according to the theoretical number of welds, it means that the processing position of the welds of the body-in-white parts does not meet the theoretical requirements, then the spot welding processing status analysis data of the body-in-white parts will be output. When there is a processing error.

[0026] Through the body-in-white parts processing weld actual coordinates measurement unit, according to the body-in-white spot welding process parts three-dimensional model parameters, body-in-white parts spot welding process actual weld object recognition information combined with intelligent search algorithm and three-dimensional modeling software to accurately measure the actual coordinate parameters of body-in-white parts processing welds, so as to achieve the precise measurement of the actual position of automobile body-in-white parts spot welding welding points; the body-in-white parts processing weld theoretical coordinates storage unit and the body-in-white parts spot welding processing status analysis unit cooperate with each other, based on the storage of body-in-white parts processing weld theoretical coordinates parameters combined with intelligent search algorithm and body-in-white parts processing weld actual coordinates parameters of body-in-white parts processing welds, to achieve intelligent judgment of automobile body-in-white parts spot welding processing position, and improve the quality of automobile body-in-white parts spot welding processing.

[0027] For further information, see Figure 1 - Figure 2 When there is a processing error, the actual coordinate data of the welding points in the body-in-white parts processing and the theoretical coordinate data of the welding points in the body-in-white parts processing are used to perform numerical measurement processing of the welding point position coordinate errors in the body-in-white parts spot welding processing, and the body-in-white parts processing welding point coordinate error data are generated and the theoretical coordinate data of the welding points in the body-in-white parts processing are used to perform numerical adjustment processing of the theoretical coordinates of the welding points in the body-in-white parts spot welding processing, and the operation steps for constructing the theoretical position adjustment coordinate data of the welding points in the body-in-white parts processing are as follows: S61, when the body-in-white parts spot welding processing status analysis data When there is a processing error, the theoretical coordinate data of the welding points of the body-in-white parts are collected Theoretical coordinate data of welding points for body-in-white parts processing The actual coordinate data set of the welding points of the body-in-white parts processing Actual coordinate data of welding points for body-in-white parts processing The coordinate values ​​are measured in order according to the theoretical number of welds, and a data set of weld coordinate errors is generated. ,in Indicates The coordinate error data of the welding points of the body-in-white parts corresponding to the theoretical welding points, , the coordinate error data of the welding points of the body-in-white parts include the theoretical and actual horizontal coordinate error data, the theoretical and actual vertical coordinate error data and the theoretical and actual vertical coordinate error data of the welding points of the body-in-white parts; wherein the values ​​of the theoretical and actual horizontal coordinate error data, the theoretical and actual vertical coordinate error data and the theoretical and actual vertical coordinate error data include zero, positive numbers and negative numbers, and the value of the coordinate error data is zero, indicating that the processing position of the welding points of the body-in-white parts meets the design requirements; the value of the coordinate error data is a positive number, indicating that the subsequent processing of the processing position of the welding points of the body-in-white parts needs to be adjusted according to the size of the coordinate error data along the positive direction of the specific coordinate axis to meet the design requirements; the value of the coordinate error data is a negative number, indicating that the subsequent processing of the processing position of the welding points of the body-in-white parts needs to be adjusted according to the size of the coordinate error data along the negative direction of the specific coordinate axis to meet the design requirements; S62, collect the coordinate error data of the welding points of the body-in-white parts Coordinate error data of welding points in body-in-white parts processing Theoretical coordinate data set of welding points for body-in-white parts processing Theoretical coordinate data of welding points for body-in-white parts processing The coordinate values ​​are processed and measured in order according to the theoretical number of welds, and a coordinate data set for the theoretical position adjustment of welds for body-in-white parts processing is constructed. ,in Indicates The theoretical position adjustment coordinate data of the welding points of the body-in-white parts corresponding to the theoretical welding points, The theoretical position adjustment coordinate data of the welding spot of the body-in-white parts processing represents the theoretical position coordinate adjustment parameters of the welding spot used to eliminate the processing position error of the welding spot of the body-in-white parts processing.

[0028] The steps for adjusting the position parameters of welding points in the processing of automobile parts based on the theoretical position adjustment coordinate data of welding points in the processing of body-in-white parts are as follows: S71, the automobile parts generation monitoring terminal adjusts the coordinate data set of the theoretical position of the welding point of the body-in-white parts processing Coordinate data for adjusting the theoretical position of welding points in body-in-white parts processing The data is transmitted to the industrial robot control terminal through the IoT communication network, and the industrial robot control terminal adjusts the coordinate data according to the theoretical position of the welding point of the body-in-white parts processing. The corresponding coordinate parameters control the spot welding processing equipment to perform the welding spot position parameter adjustment operation for automobile parts processing. The spot welding processing equipment includes any one of a general electric welding machine and a contour spot welding machine.

[0029] Through the cooperation between the body-in-white parts processing weld spot coordinate error value measurement unit and the body-in-white parts processing weld spot theoretical position adjustment coordinate measurement unit, the body-in-white parts processing weld spot coordinate error parameters and the body-in-white parts processing weld spot theoretical position adjustment coordinate parameters are accurately measured according to the body-in-white parts processing weld spot actual coordinate parameters, the body-in-white parts processing weld spot theoretical coordinate parameters combined with numerical analysis, so as to realize the digital measurement of the spot welding processing position error and the spot welding processing theoretical adjustment coordinates of the automobile body-in-white parts, and improve the applicability and accuracy of the spot welding processing of automobile body-in-white parts; the automobile parts processing weld spot position parameter adjustment unit, the automobile parts generation monitoring end performs the automobile parts processing weld spot position parameter adjustment operation based on the body-in-white parts processing weld spot theoretical position adjustment coordinate parameters combined with the industrial robot control end and the spot welding processing equipment, so as to improve the reliability and safety of the automobile body-in-white parts spot welding processing, and enhance the functional diversity and applicability of the automobile parts production monitoring system.

[0030] Embodiment 2: See also Figure 1 - Figure 2 , an automobile parts production monitoring system, used to implement an automobile parts production monitoring method, the system includes an automobile parts processing welding spot feature recognition module, an automobile parts processing welding spot state analysis module, and an automobile parts spot welding process parameter adjustment module; The welding spot feature recognition module for automobile parts processing includes a three-dimensional model acquisition unit for body-in-white spot welding process parts, a body-in-white spot welding process parts appearance image acquisition unit, a body-in-white parts spot welding process theoretical welding spot object image storage unit, and a body-in-white parts spot welding process actual welding spot object recognition unit; A three-dimensional model acquisition unit for parts in the spot welding process of the body in white, which uses an industrial robot equipped with a three-dimensional laser scanner to collect three-dimensional model data of parts in the spot welding process of the body in white; a body in white spot welding process parts appearance image acquisition unit, which performs product appearance image acquisition processing of the body in white parts after the spot welding process is processed based on the three-dimensional model data of the body in white spot welding process parts in combination with three-dimensional modeling software and screenshot software, and generates appearance image data of parts in the spot welding process of the body in white; a body in white parts spot welding process theoretical welding point object image storage unit is used to store the theoretical welding point object image data of the spot welding process of the body in white parts; a body in white parts spot welding process actual welding point object recognition unit, which performs processing welding point object feature information recognition processing of the product after the spot welding process of the body in white parts according to the appearance image data of the body in white spot welding process parts and the theoretical welding point object image data of the spot welding process of the body in white parts, and constructs the actual welding point object recognition data of the spot welding process of the body in white parts; The automobile parts processing welding spot state analysis module includes a body-in-white parts processing welding spot actual coordinate measurement unit, a body-in-white parts processing welding spot theoretical coordinate storage unit, and a body-in-white parts spot welding processing state analysis unit; The actual coordinate measurement unit of the body-in-white parts processing welding points is used to measure and process the actual spatial position coordinate parameters of the body-in-white parts processing welding points based on the three-dimensional model data of the body-in-white parts spot welding process, the object recognition data of the actual welding points of the body-in-white parts spot welding process, and the three-dimensional modeling software, and generate the actual coordinate data of the body-in-white parts processing welding points; the body-in-white parts processing welding points theoretical coordinate storage unit is used to store the theoretical coordinate data of the body-in-white parts processing welding points; the body-in-white parts spot welding processing state analysis unit is used to analyze and process the spot welding processing state of the body-in-white parts based on the actual coordinate data of the body-in-white parts processing welding points and the theoretical coordinate data of the body-in-white parts processing welding points, and generate the body-in-white parts spot welding processing state analysis data; The parameter adjustment module for the spot welding process of automobile parts includes a body-in-white parts processing welding spot coordinate error value measurement unit, a body-in-white parts processing welding spot theoretical position adjustment coordinate measurement unit, and an automobile parts processing welding spot position parameter adjustment unit; The body-in-white parts processing weld spot coordinate error value measurement unit performs numerical measurement processing of weld spot position coordinate error in the spot welding process of body-in-white parts according to the actual coordinate data of weld spots in the body-in-white parts processing and the theoretical coordinate data of weld spots in the body-in-white parts processing, and generates the coordinate error data of weld spots in the body-in-white parts processing; the body-in-white parts processing weld spot theoretical position adjustment coordinate measurement unit performs numerical adjustment processing of the theoretical coordinates of weld spots in the spot welding process of body-in-white parts according to the coordinate error data of weld spots in the body-in-white parts processing and the theoretical coordinate data of weld spots in the body-in-white parts processing, and constructs the theoretical position adjustment coordinate data of weld spots in the body-in-white parts processing; the automobile parts processing weld spot position parameter adjustment unit, the automobile parts generation monitoring end performs the automobile parts processing weld spot position parameter adjustment operation based on the theoretical position adjustment coordinate data of weld spots in the body-in-white parts processing, in combination with the industrial robot control end and the spot welding processing equipment.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for monitoring the production of automobile parts, characterized in that: The method comprises the following steps: S1. Collect 3D model data of parts in the body-in-white spot welding process; S2, performing product appearance image acquisition processing of the body-in-white parts after the spot welding process based on the three-dimensional model data of the body-in-white parts, and generating appearance image data of the body-in-white parts in the spot welding process; S3, performing recognition processing of object feature information of processed welding points of products processed in the spot welding process of the body-in-white parts according to the appearance image data of the body-in-white parts in the spot welding process and the theoretical welding point object image data of the body-in-white parts in the spot welding process, and constructing actual welding point object recognition data of the body-in-white parts in the spot welding process; S4, performing actual spatial position coordinate parameter measurement processing of the body-in-white parts processing welding points based on the three-dimensional model data of the body-in-white parts spot welding process and the actual welding point object recognition data of the body-in-white parts spot welding process to generate actual coordinate data of the body-in-white parts processing welding points; S5, performing spot welding processing status analysis and processing of the body-in-white parts based on the actual coordinate data of the body-in-white parts processing welding points and the theoretical coordinate data of the body-in-white parts processing welding points, and generating body-in-white parts spot welding processing status analysis data; when there is no processing error, directly ending the current body-in-white parts production monitoring operation; S6. When there is a processing error, numerical measurement processing of the position coordinate error of the welding point in the spot welding process of the body-in-white parts is performed according to the actual coordinate data of the welding point in the body-in-white parts and the theoretical coordinate data of the welding point in the body-in-white parts, the coordinate error data of the welding point in the body-in-white parts is generated, and the theoretical coordinate value adjustment processing of the welding point in the spot welding process of the body-in-white parts is performed according to the theoretical coordinate data of the welding point in the body-in-white parts, so as to construct the theoretical position adjustment coordinate data of the welding point in the spot welding process of the body-in-white parts; S7, performing an operation of adjusting the position parameters of the welding points for processing automobile parts based on the theoretical position adjustment coordinate data of the welding points for processing the body-in-white parts.

2. The method for monitoring the production of automobile parts according to claim 1, characterized in that: The S1 comprises the following steps: S11. Use an industrial robot equipped with a 3D laser scanner to perform online spatial 3D modeling scanning and modeling of automotive body-in-white parts that have completed the spot welding process, and generate 3D model data of body-in-white spot welding process parts .

3. The method for monitoring the production of automobile parts according to claim 2, characterized in that: The S2 comprises the following steps: S21, the automobile parts generation monitoring terminal generates the three-dimensional model data of the parts of the body-in-white spot welding process Import into 3D modeling software and run, and cooperate with the display screen to display and output along with the rotation of the rectangular coordinate system of the modeling space; S22, collecting the three-dimensional model data of the parts of the body-in-white spot welding process online through the screen capture software Display the output image information of the body-in-white parts on the display screen, and generate a data set of the appearance images of the body-in-white spot welding process parts , ;in Indicates the collected 100 pieces of body-in-white spot welding process parts appearance image data, Indicates the maximum number of appearance images of parts in the body-in-white spot welding process.

4. The method for monitoring the production of automobile parts according to claim 3, characterized in that: The S3 comprises the following steps: S31. Establishing theoretical welding spot object image data set for body-in-white parts spot welding process , ;in Indicates The theoretical welding point object image data of the body-in-white parts spot welding process corresponding to the theoretical welding points, Indicates the maximum value of the theoretical number of solder joints; S32, the As stated in With the As stated in Perform image feature matching and search for Matching the The corresponding weld point object image information is obtained, and the actual weld point object recognition data set of the body-in-white parts spot welding process is constructed ; Execute the build The specific steps are as follows: S321, initializing the maximum number of iterations of the algorithm; S322, dissemination: Search space described Synchronize to water waves, each of the The water wave is an independent individual, so each of the Water waves will have three properties: position, wavelength and wave height ; In each iteration, each Water waves will affect the The search space Searching, while water wave height will decrease by 1; S323, refraction: in a After the water wave propagates, the Water waves refract and The search space Identify and search for Matching the ; Each transmission, water wave height will decrease by 1 when When it decreases to 0, the The water waves will be refracted, and their wave height and wavelength will change; the refracted positions are normally distributed in the current Water waves and optimal The midpoint of the water wave is the location of the mean value. Water waves and optimal The distance of the water wave is the position of the variance, after refraction The wave height of the water wave will be reinitialized to the maximum wave height ; After refraction, recalculate the Wavelength of water waves ; S324, Breaking Waves: Water waves in the After propagating in the search space, the optimal The position of the water wave, that is, searching for the The best match for , then the water wave will break the waves and propagate the current optimal water wave to the location where the breaking waves are generated, that is, the output is the same as the The best match for ; S325. When the maximum number of iterations is met, output Matching the The corresponding weld point object image information is obtained, and the actual weld point object recognition data set of the body-in-white parts spot welding process is constructed ,in Indicates The actual welding point object recognition data of the body-in-white parts spot welding process corresponding to the theoretical welding points.

5. The method for monitoring the production of automobile parts according to claim 4, characterized in that: The S4 comprises the following steps: S41, using XGBoost algorithm based on As stated in The three-dimensional modeling software imported into step S21 is searched in order according to the theoretical number of solder joints. The spatial coordinate parameters corresponding to the processed welding points are obtained, and the actual coordinate data set of the processed welding points of the body-in-white parts is generated. ,in Indicates The actual coordinate data of the welding points of the body-in-white parts corresponding to the theoretical welding points.

6. The method for monitoring the production of automobile parts according to claim 5, characterized in that: The S5 comprises the following steps: S51. Establish theoretical coordinate data set of welding points for body-in-white parts processing , Indicates Theoretical coordinate data of welding points of body-in-white parts corresponding to the theoretical welding points; S52, using a unified cost search algorithm to As stated in With the As stated in The coordinate values ​​are matched in order according to the theoretical number of weld points, and a data set for spot welding processing status analysis of body-in-white parts is generated based on the coordinate value matching results. ,in Indicates Spot welding processing status analysis data of body-in-white parts corresponding to theoretical welding points; when and If the coordinate values ​​are matched successfully according to the theoretical number of weld points, the spot welding processing status analysis data of the body-in-white parts will be output. If there is no processing error, the body-in-white parts production monitoring operation is terminated directly; when and If the coordinate values ​​are not completely matched according to the theoretical number of weld points, the spot welding processing status analysis data of the body-in-white parts will be output. When there is a processing error.

7. The method for monitoring the production of automobile parts according to claim 6, characterized in that: The S6 comprises the following steps: S61, when the When there is a processing error, the As stated in With the As stated in The coordinate values ​​are measured in order according to the theoretical number of welds, and a data set of weld coordinate errors is generated. ,in Indicates Coordinate error data of welding points of body-in-white parts corresponding to the theoretical welding points; S62, the As stated in With the As stated in The coordinate values ​​are processed and measured in order according to the number of theoretical welding points, and a coordinate data set of theoretical position adjustment of welding points for body-in-white parts processing is constructed. ,in Indicates The theoretical position adjustment coordinate data of the welding points of the body-in-white parts corresponding to the theoretical welding points.

8. The method for monitoring the production of automobile parts according to claim 7, characterized in that: The S7 comprises the following steps: S71, the automobile parts generation monitoring terminal generates the As stated in The data is transmitted to the industrial robot control terminal through the Internet of Things communication network, and the industrial robot control terminal follows the The corresponding coordinate parameters control the spot welding processing equipment to perform the welding spot position parameter adjustment operation for processing automobile parts, and the spot welding processing equipment includes any one of a general electric welding machine and a contour spot welding machine.

9. An automobile parts production monitoring system, used to implement an automobile parts production monitoring method according to any one of claims 1 to 8, characterized in that: The system comprises a welding spot feature recognition module for automobile parts processing, a welding spot state analysis module for automobile parts processing, and a spot welding process parameter adjustment module for automobile parts.

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