A method and system for monitoring the production of automotive parts

Abstract

The present invention relates to the technical field of automotive component processing control, and discloses a method and system for monitoring the production of automotive components. The system includes an automotive component processing solder joint feature recognition module, an automotive component processing solder joint state analysis module, and an automotive component spot welding process parameter adjustment module. By accurately measuring the coordinate error parameters of the solder joints in the white body automotive component processing and the theoretical position adjustment coordinate parameters of the solder joints in the white body automotive component processing based on the actual coordinate parameters of the solder joints in the white body automotive component processing, the theoretical coordinate parameters of the solder joints in the white body automotive component processing, and numerical analysis, the digital measurement of the position error of the spot welding of the white body automotive components and the theoretical adjustment coordinates of the spot welding processing is realized. The automotive component production monitoring terminal adaptively executes the adjustment operation of the position parameters of the automotive component processing solder joints based on the theoretical position adjustment coordinate parameters of the solder joints in the white body automotive component processing, in combination with the industrial robot control terminal and the spot welding processing equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive parts processing control, and specifically to a method and system for monitoring the production of automotive parts. Background Art

[0002] Automotive parts processing mainly includes processes such as stamping, welding, cutting, and assembly. 1. Stamping: Stamping is a process of separating or deforming a metal sheet through the die holes of a mold. In automotive manufacturing, stamping is mainly used to produce key parts such as body shells, doors, roof covers, and fenders. 2. Welding: Welding is a process of joining two or more metal materials together. In automotive manufacturing, welding is mainly used to produce key parts such as body structure parts, chassis parts, and engine brackets. Common welding methods include spot welding, gas metal arc welding, laser welding, etc. 3. Cutting: Cutting is a process of removing the excess part of a metal material using a tool to make it reach the designed size and shape. In automotive manufacturing, cutting is mainly used to produce various parts such as gears, shafts, camshafts, and crankshafts. Common cutting methods include turning, milling, drilling, and planing. 4. Assembly: Assembly is a process of combining various parts together in a certain order and position to form a complete automotive product. In automotive manufacturing, assembly mainly includes engine assembly, chassis assembly, and body assembly. 5. Surface treatment: Surface treatment is a process of treating parts for anti-corrosion, rust prevention, decoration, etc. Common surface treatment methods include electroplating, heat treatment, spraying, polishing, etc. 6. Inspection and testing: Inspection and testing is a process of inspecting and verifying the performance, quality, etc. of automotive parts. Common inspection and testing methods include performance testing, strength testing, durability testing, etc. Among them, in the production process of automotive parts, the spot welding process of body-in-white parts has complex and numerous spot welding positions, resulting in the inability to guarantee the product quality of automotive body-in-white parts. 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, reducing the output and quality of automotive parts processing.

[0003] The Chinese invention patent with the publication number CN104765322B discloses a production line monitoring system, which sets up a data acquisition module, a data analysis module, and a quality early warning module; based on collecting the production process information of the production line and the data information of the produced products, it accurately detects whether the production line is in a normal working state and whether the produced products are qualified, and gives an online early warning for abnormal production and unqualified production status of the produced products; however, the above technical solutions cannot achieve intelligent adjustment and maintenance of abnormal production and unqualified production status, reducing the quality and safety of product production. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] To solve the problems that the existing spot welding processing of automotive body-in-white parts cannot intelligently monitor the spot welding processing error, nor dynamically and adaptively adjust the spot welding position of the spot welding equipment, which reduces the output and quality of automotive parts processing, and to achieve the above purposes of online collecting three-dimensional model data of parts in the spot welding process of the body-in-white, accurately collecting appearance image information of parts in the spot welding process of the body-in-white, accurately identifying actual solder joint object information in the spot welding process of body-in-white parts, scientifically measuring actual position coordinate parameters of the processed solder joints of body-in-white parts, intelligently analyzing the spot welding processing state information of body-in-white parts, accurately measuring the theoretical position adjustment coordinate parameters of the processed solder joints of body-in-white parts, and adaptively adjusting the position of the processed solder joints of body-in-white parts.

[0006] (2) Technical solution

[0007] The present invention is realized through the following technical solutions: A method for monitoring the production of automotive parts, the method comprising the following steps:

[0008] S1. Collect three-dimensional model data of parts in the spot welding process of the body-in-white;

[0009] S2. Based on the three-dimensional model data of parts in the spot welding process of the body-in-white, perform processing for obtaining the appearance image of the product after the spot welding process of body-in-white parts, and generate appearance image data of parts in the spot welding process of the body-in-white;

[0010] S3. According to the appearance image data of parts in the spot welding process of the body-in-white and the theoretical solder joint object image data of the spot welding process of body-in-white parts, perform identification processing on the feature information of the processed solder joint objects of the product after the spot welding process of body-in-white parts, and construct actual solder joint object identification data for the spot welding process of body-in-white parts;

[0011] S4. Based on the three-dimensional model data of parts in the spot welding process of the body-in-white and the actual solder joint object identification data of the spot welding process of body-in-white parts, perform measurement processing on the actual spatial position coordinate parameters of the processed solder joints of body-in-white parts, and generate actual coordinate data of the processed solder joints of body-in-white parts;

[0012] S5. Based on the actual coordinate data of the processed solder joints of body-in-white parts and the theoretical coordinate data of the processed solder joints of body-in-white parts, perform analysis processing on the spot welding processing state of body-in-white parts, and generate analysis data on the spot welding processing state of body-in-white parts; when there is no processing error, directly end the current production monitoring operation of body-in-white parts;

[0013] S6. When there are machining errors, based on the actual coordinate data of the welding points of the body-in-white parts during machining and the theoretical coordinate data of the welding points of the body-in-white parts during machining, perform numerical measurement processing on the coordinate error values of the welding point positions during the spot welding process of the body-in-white parts, generate the coordinate error data of the welding points of the body-in-white parts during machining, and perform numerical adjustment processing on the theoretical coordinate values of the welding points during the spot welding process of the body-in-white parts with the theoretical coordinate data of the welding points of the body-in-white parts during machining, and construct the theoretical position adjustment coordinate data of the welding points of the body-in-white parts during machining;

[0014] S7. Based on the theoretical position adjustment coordinate data of the welding points of the body-in-white parts during machining, perform the operation of adjusting the position parameters of the welding points of the automotive parts during machining.

[0015] Preferably, the operation steps for collecting the three-dimensional model data of the body-in-white parts in the spot welding process are as follows:

[0016] S11. Use an industrial robot equipped with a three-dimensional laser scanner to perform on-line scanning and modeling of the spatial three-dimensional shape of the automotive body-in-white parts that have completed the spot welding process, and generate the three-dimensional model data of the body-in-white parts in the spot welding process .

[0017] Preferably, the operation steps for obtaining the appearance image of the product after processing the body-in-white parts in 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:

[0018] S21. The monitoring end of the automotive parts imports the three-dimensional model data of the body-in-white parts in the spot welding process into a three-dimensional modeling software for operation, and cooperates with a display screen to perform a display output with a rotational motion along the right-angle coordinate system of the modeling space. The three-dimensional modeling software includes any one of CATIA, Solidworks, and UG;

[0019] S22. Use a screenshot software to on-line collect the appearance image information of the body-in-white parts displayed and output on the display screen from the three-dimensional model data of the body-in-white parts in the spot welding process and generate a set of appearance image data of the body-in-white parts in the spot welding process , ; where represents the th appearance image data of the body-in-white parts in the spot welding process collected, represents the maximum value of the number of appearance images of the body-in-white parts in the spot welding process, and the screenshot software includes any one of WinSnap, X-Snip, and HyperSnap.

[0020] Preferably, the operation steps for identifying the feature information of the processed solder joints of the white body parts after the white body spot welding process are as follows: based on the appearance image data of the white body parts in the spot welding process and the theoretical solder joint object image data of the white body parts in the spot welding process, constructing the actual solder joint object recognition data of the white body parts in the spot welding process:

[0021] S31. Establish a set of theoretical solder joint object image data for the white body parts in the spot welding process , ; where represents the theoretical solder joint object image data of the white body parts corresponding to the th theoretical solder joint, represents the maximum value of the number of theoretical solder joints, and the theoretical solder joint object image data of the white body parts in the spot welding process represents the appearance position image information of the processed solder joint objects in the standard three-dimensional model of the body parts according to the standards at the theoretical design end of the spot welding process of the white body parts of the vehicle;

[0022] S32. Perform image feature matching on the theoretical solder joint object image data of the white body parts in the spot welding process set and the appearance image data of the white body parts in the spot welding process in the set to search for the appearance image data of the white body parts in the spot welding process that matches the theoretical solder joint object image data of the white body parts in the spot welding process and construct a set of actual solder joint object recognition data for the white body parts in the spot welding process ; The specific operation steps for constructing the set of actual solder joint object recognition data for the white body parts in the spot welding process are as follows:

[0023] S321. Initialize the maximum number of algorithm iterations;

[0023] S322. Propagation: Set the theoretical solder joint object image data of the white body parts in the spot welding process set

[0024] in the search space as water waves. Each theoretical solder joint object image data of the white body parts in the spot welding process is set as an independent individual. Then each theoretical solder joint object image data of the white body parts in the spot welding process will have three attributes: position, wavelength and wave height ; ​ ;

[0025] In each iteration, the theoretical solder joint object image data of each of the BIW components' spot welding processes water waves will search the set of the theoretical solder joint object image data of the BIW components' spot welding processes in the search space of the theoretical solder joint object image data of the BIW components' spot welding processes while the theoretical solder joint object image data of the BIW components' spot welding processes the wave height of the water waves will decrease by 1, and its position update formula is as follows: , where represents the position of the water wave after the th iteration in the water wave propagation stage in the search space of the set of the theoretical solder joint object image data of the BIW components' spot welding processes ; represents the position of the water wave before the th iteration in the water wave propagation stage in the search space of the set of the theoretical solder joint object image data of the BIW components' spot welding processes ; , are respectively the upper bound and the lower bound in the search space of the set of the theoretical solder joint object image data of the BIW components' spot welding processes , represents a random function taking values ;

[0026] S323, refraction: After a water wave of a theoretical solder joint object image data of a BIW component's spot welding process propagates, the water wave of the theoretical solder joint object image data of the BIW component's spot welding process refracts and identifies the theoretical solder joint object image data of the BIW component's spot welding process in the search space of the set of the theoretical solder joint object image data of the BIW component's spot welding process to search for the theoretical solder joint object image data of the BIW component's spot welding process that matches the appearance image data of the BIW spot welding process component ; ; ;

[0027] In each propagation, the wave height of the water wave of the theoretical solder joint object image data of the BIW component's spot welding process will decrease by 1, and when decreases to 0, the theoretical solder joint object image data of the BIW component's spot welding process ​ The water wave will be refracted, and its wave height and wavelength will change; the refracted position is normally distributed in the current theoretical solder joint object image data of the white body parts spot welding process The water wave and the optimal theoretical solder joint object image data of the white body parts spot welding process The position with the midpoint of the water wave as the mean value, the current theoretical solder joint object image data of the white body parts spot welding process The water wave and the optimal theoretical solder joint object image data of the white body parts spot welding process The position with the distance of the water wave as the variance, in the refracted theoretical solder joint object image data of the white body parts spot welding process The wave height of the water wave will be re-initialized to the maximum wave height ; after refraction, recalculate the theoretical solder joint object image data of the white body parts spot welding process The wavelength of the water wave ;

[0028] S324. Breaking wave: The theoretical solder joint object image data of the white body parts spot welding process After the water wave propagates in the search space of the theoretical solder joint object image data set of the white body parts spot welding process and reaches a position better than the current optimal theoretical solder joint object image data of the white body parts spot welding process i.e., the position of the water wave, that is, search out the theoretical solder joint object image data that best matches the appearance image data of the white body spot welding process parts The most matching theoretical solder joint object image data of the white body parts spot welding process , then this water wave will break, and the current optimal water wave will be propagated to the position where the breaking wave occurs, that is, output the theoretical solder joint object image data that best matches the appearance image data of the white body spot welding process parts The most matching theoretical solder joint object image data of the white body parts spot welding process , the generation formula of the breaking wave position is as follows: , where represents the water wave at the th iteration in the breaking wave stage of the water wave in the search space of the theoretical solder joint object image data set of the white body parts spot welding process , represents a random function with a value of , to represents the spatial dimension number randomly selected each time the wave breaks represents the specific spatial dimension actually randomly selected each time the wave breaks to the specific spatial dimension parameters randomly selected each time the wave breaks is a constant;

[0029] 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.

[0030] 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:

[0031] 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 described in 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.

[0032] 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:

[0033] S51. Establish theoretical coordinate data set of welding points for body-in-white parts processing , represents the theoretical coordinate data of the spot welds on the body-in-white parts corresponding to the th theoretical spot weld. The actual coordinate data of the spot welds on the body-in-white parts represents the spatial coordinate parameters of the spot welds on the body-in-white parts as specified in the standard at the theoretical design end of the spot welding process. The actual coordinate data of the spot welds on the body-in-white parts includes the theoretical abscissa, the theoretical ordinate, and the theoretical vertical coordinate of the spot welds on the body-in-white parts;

[0034] S52. Use the uniform cost search algorithm to match the actual coordinate data of the spot welds on the body-in-white parts in the set of the actual coordinate data of the spot welds on the body-in-white parts with the theoretical coordinate data of the spot welds on the body-in-white parts in the set in an orderly manner according to the numbering of the theoretical spot welds, and generate a set of analysis data on the spot welding processing status of the body-in-white parts based on the coordinate value matching results , where represents the analysis data on the spot welding processing status of the body-in-white parts corresponding to the th theoretical spot weld;

[0035] When and are successfully matched in coordinate values in an orderly manner according to the numbering of the theoretical spot welds, indicating that the spot weld processing positions of the body-in-white parts all meet the theoretical requirements, then output the analysis data on the spot welding processing status of the body-in-white parts as there is no processing error. At this time, directly end the current production monitoring operation of the body-in-white parts;

[0036] When and are not completely matched in coordinate values in an orderly manner according to the numbering of the theoretical spot welds, indicating that the spot weld processing positions of the body-in-white parts do not meet the theoretical requirements, then output the analysis data on the spot welding processing status of the body-in-white parts as there is a processing error.

[0037] Preferably, when there is a processing error, the following operation steps are taken to measure the coordinate error value of the spot weld position during the spot welding process of the body-in-white parts based on the actual coordinate data of the spot welds on the body-in-white parts and the theoretical coordinate data of the spot welds on the body-in-white parts, generate the coordinate error data of the spot welds on the body-in-white parts, and perform the adjustment processing of the theoretical coordinate values of the spot welds during the spot welding process of the body-in-white parts to construct the theoretical position adjustment coordinate data of the spot welds on the body-in-white parts:

[0038] S61. When the spot welding processing state analysis data of the BIW parts indicates the existence of processing errors, the theoretical coordinate data set of the processing solder joints of the BIW parts in which the theoretical coordinate data of the processing solder joints of the BIW parts is subjected to coordinate value difference measurement processing in an orderly manner according to the numbering of the theoretical solder joint quantity, and a coordinate error data set of the processing solder joints of the BIW parts is generated wherein represents the coordinate error data of the processing solder joints of the BIW parts corresponding to the th theoretical solder joint. The coordinate error data of the processing solder joints of the BIW parts includes the theoretical and actual abscissa error data, the theoretical and actual ordinate error data, and the theoretical and actual vertical coordinate error data of the processing solder joints of the BIW parts; among them, the values of the theoretical and actual abscissa error data, the theoretical and actual ordinate error data, and the theoretical and actual vertical coordinate error data include zero, positive numbers, and negative numbers. When the coordinate error data takes the value of zero, it means that the processing position of the processing solder joints of the BIW parts meets the design requirements; when the coordinate error data takes a positive number, it means that the processing position of the processing solder joints of the BIW parts needs to be adjusted along the positive direction of the specific coordinate axis according to the magnitude of the coordinate error data in subsequent processing to meet the design requirements; when the coordinate error data takes a negative number, it means that the processing position of the processing solder joints of the BIW parts needs to be adjusted along the negative direction of the specific coordinate axis according to the magnitude of the coordinate error data in subsequent processing to meet the design requirements; represents the th theoretical solder joint.

[0039] S62. The coordinate error data of the processing solder joints of the BIW parts in the coordinate error data set of the processing solder joints of the BIW parts is subjected to coordinate value summation measurement processing in an orderly manner according to the numbering of the theoretical solder joint quantity with the theoretical coordinate data of the processing solder joints of the BIW parts in the theoretical coordinate data set of the processing solder joints of the BIW parts to construct a theoretical position adjustment coordinate data set of the processing solder joints of the BIW parts wherein represents the theoretical position adjustment coordinate data of the processing solder joints of the BIW parts corresponding to the th theoretical solder joint. represents the th theoretical solder joint. The theoretical position adjustment coordinate data of the processing solder joints of the BIW parts represents the solder joint theoretical position coordinate adjustment parameters for eliminating the processing position errors of the processing solder joints of the BIW parts.

[0040] Preferably, the operation steps for adjusting the position parameters of the welding spots in the processing of automotive parts based on the coordinate data for adjusting the theoretical positions of the welding spots on the body-in-white parts are as follows:

[0041] S71. The monitoring end of the automotive parts generation transmits the set of coordinate data for adjusting the theoretical positions of the welding spots on the body-in-white parts among which the coordinate data for adjusting the theoretical positions of the welding spots on the body-in-white parts to the control end of the industrial robot through the Internet of Things communication network. The control end of the industrial robot adjusts the position parameters of the welding spots in the processing of automotive parts according to the coordinate data for adjusting the theoretical positions of the welding spots on the body-in-white parts to control the spot welding processing equipment at the corresponding coordinate parameter control points to perform the operation of adjusting the position parameters of the welding spots in the processing of automotive parts. The spot welding processing equipment includes any one of a general electric welder and a contour spot welder.

[0042] An automotive parts production monitoring system for implementing the above-mentioned automotive parts production monitoring method, the system includes an automotive parts processing welding spot feature recognition module, an automotive parts processing welding spot state analysis module, and an automotive parts spot welding process parameter adjustment module;

[0043] The automotive parts processing welding spot feature recognition module includes a three-dimensional model acquisition unit for the parts in the body-in-white spot welding process, an appearance image acquisition unit for the parts in the body-in-white spot welding process, a theoretical welding spot object image storage unit for the parts in the body-in-white spot welding process, and an actual welding spot object recognition unit for the parts in the body-in-white spot welding process;

[0044] The three-dimensional model acquisition unit for the parts in the body-in-white spot welding process collects the three-dimensional model data of the parts in the body-in-white spot welding process through an industrial robot equipped with a three-dimensional laser scanner; the appearance image acquisition unit for the parts in the body-in-white spot welding process performs processing on the acquired appearance image of the product after the processing of the parts in the body-in-white spot welding process based on the three-dimensional model data of the parts in the body-in-white spot welding process in combination with three-dimensional modeling software and screenshot software, and generates the appearance image data of the parts in the body-in-white spot welding process; the theoretical welding spot object image storage unit for the parts in the body-in-white spot welding process is used to store the theoretical welding spot object image data of the parts in the body-in-white spot welding process; the actual welding spot object recognition unit for the parts in the body-in-white spot welding process performs recognition processing on the feature information of the processed welding spot objects of the product after the processing of the parts in the body-in-white spot welding process according to the appearance image data of the parts in the body-in-white spot welding process and the theoretical welding spot object image data of the parts in the body-in-white spot welding process, and constructs the actual welding spot object recognition data of the parts in the body-in-white spot welding process;

[0045] The automotive parts processing welding spot state analysis module includes an actual coordinate measurement unit for the welding spots on the body-in-white parts, a theoretical coordinate storage unit for the welding spots on the body-in-white parts, and a spot welding processing state analysis unit for the body-in-white parts;

[0046] The actual coordinate measurement unit for the welding points of body-in-white parts processes the measurement of the actual spatial position coordinate parameters of the welding points for body-in-white parts processing by combining the three-dimensional model data of the body-in-white parts in the spot welding process and the actual welding point object recognition data of the body-in-white parts in the spot welding process with 3D modeling software, and generates the actual coordinate data of the welding points for body-in-white parts processing; the theoretical coordinate storage unit for the welding points of body-in-white parts is used to store the theoretical coordinate data of the welding points for body-in-white parts processing; the spot welding processing state analysis unit for body-in-white parts analyzes and processes the spot welding processing state of body-in-white parts based on the actual coordinate data of the welding points for body-in-white parts processing and the theoretical coordinate data of the welding points for body-in-white parts processing, and generates the spot welding processing state analysis data for body-in-white parts;

[0047] The parameter adjustment module for the spot welding process of automotive parts includes a coordinate error value measurement unit for the welding points of body-in-white parts, a theoretical position adjustment coordinate measurement unit for the welding points of body-in-white parts, and a position parameter adjustment unit for the welding points of automotive parts processing;

[0048] The coordinate error value measurement unit for the welding points of body-in-white parts measures and processes the coordinate error values of the welding point positions in the spot welding process of body-in-white parts according to the actual coordinate data of the welding points for body-in-white parts processing and the theoretical coordinate data of the welding points for body-in-white parts processing, and generates the coordinate error data of the welding points for body-in-white parts processing; the theoretical position adjustment coordinate measurement unit for the welding points of body-in-white parts adjusts and processes the theoretical coordinate values of the welding points in the spot welding process of body-in-white parts based on the coordinate error data of the welding points for body-in-white parts processing and the theoretical coordinate data of the welding points for body-in-white parts processing, and constructs the theoretical position adjustment coordinate data of the welding points for body-in-white parts processing; the position parameter adjustment unit for the welding points of automotive parts processing performs the position parameter adjustment operation of the welding points for automotive parts processing by combining the theoretical position adjustment coordinate data of the welding points for body-in-white parts with the industrial robot control terminal and the spot welding processing equipment.

[0049] (III) Beneficial effects

[0050] The present invention provides a method and system for monitoring the production of automotive parts. It has the following beneficial effects:

[0051] 1. By accurately collecting the 3D model parameters of the components in the spot welding process of the body-in-white through an industrial robot equipped with a 3D laser scanner, it provides reliable support for scientifically monitoring the position error of the spot welding of the body-in-white components; based on the 3D model parameters of the components in the spot welding process of the body-in-white, combined with 3D modeling software and screenshot software, accurately obtain the appearance images of the components in the spot welding process of the body-in-white, realize the efficient and accurate collection of the spot welding image information of the body-in-white components, and improve the monitoring efficiency of the spot welding process of the body-in-white components; scientifically set the theoretical solder joint object image parameters in the spot welding process of the body-in-white components, and combine the intelligent recognition algorithm with the appearance image parameters of the components in the spot welding process of the body-in-white to accurately identify and capture the characteristic image information of the actual solder joint object in the spot welding process of the body-in-white components, realize the intelligent recognition of the solder joint object in the spot welding process of the body-in-white components, and improve the intelligence of the spot welding process of the body-in-white components.

[0052] 2. By accurately measuring the actual coordinate parameters of the processed solder joints of the body-in-white components according to the 3D model parameters of the components in the spot welding process of the body-in-white and the recognition information of the actual solder joint objects in the spot welding process of the body-in-white components, combined with the intelligent search algorithm and 3D modeling software, realize the accurate measurement of the actual position of the processed solder joints of the body-in-white components; based on the theoretical coordinate parameters of the processed solder joints of the body-in-white components stored in the big data storage, combined with the intelligent search algorithm and the actual coordinate parameters of the processed solder joints of the body-in-white components, conduct an intelligent and scientific analysis of the spot welding process state of the body-in-white components, realize the intelligent judgment of the spot welding process position of the body-in-white components, and improve the quality of the spot welding process of the body-in-white components.

[0053] 3. By accurately measuring the coordinate error parameters of the processed solder joints of the body-in-white components and the theoretical position adjustment coordinate parameters of the processed solder joints of the body-in-white components according to the actual coordinate parameters of the processed solder joints of the body-in-white components and the theoretical coordinate parameters of the processed solder joints of the body-in-white components, combined with numerical analysis, realize the digital measurement of the position error and the theoretical adjustment coordinates of the spot welding process of the body-in-white components, and improve the applicability and accuracy of the spot welding process of the body-in-white components; based on the theoretical position adjustment coordinate parameters of the processed solder joints of the body-in-white components, the monitoring end of the automotive components adaptively executes the operation of adjusting the position parameters of the processed solder joints of the automotive components in combination with the control end of the industrial robot and the spot welding equipment, improve the reliability and safety of the spot welding process of the body-in-white components, and enhance the functional diversity and applicability of the automotive component production monitoring system. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the modules of a production monitoring system for automotive components provided by the present invention;

[0055] Figure 2 It is a flowchart of a production monitoring method for automotive components provided by the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0057] The embodiments of a method and system for monitoring the production of automotive parts are as follows:

[0058] Embodiment 1:

[0059] Please refer to Figure 1 - Figure 2 , a method for monitoring the production of automotive parts, the method includes the following steps:

[0060] S1. Collect three-dimensional model data of parts in the white body spot welding process;

[0061] S2. Based on the three-dimensional model data of parts in the white body spot welding process, perform processing to obtain the appearance image of the product after processing in the white body part spot welding process, and generate the appearance image data of parts in the white body spot welding process;

[0062] S3. According to the appearance image data of parts in the white body spot welding process and the theoretical solder joint object image data of the white body part spot welding process, perform recognition processing on the feature information of the processed solder joint object of the product after processing in the white body part spot welding process, and construct the actual solder joint object recognition data of the white body part spot welding process;

[0063] S4. Based on the three-dimensional model data of parts in the white body spot welding process and the actual solder joint object recognition data of the white body part spot welding process, perform measurement processing on the actual spatial position coordinate parameters of the processed solder joints of the white body parts, and generate the actual coordinate data of the processed solder joints of the white body parts;

[0064] S5. Based on the actual coordinate data of the processed solder joints of the white body parts and the theoretical coordinate data of the processed solder joints of the white body parts, perform analysis processing on the spot welding processing state of the white body parts, and generate the analysis data of the spot welding processing state of the white body parts; when there is no processing error, directly end the current monitoring operation of the production of white body parts;

[0065] 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;

[0066] 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.

[0067] 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:

[0068] 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 .

[0069] 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:

[0070] 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;

[0071] 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.

[0072] Based on the appearance image data of components in the white body spot welding process and the theoretical solder joint object image data of the white body component spot welding process, the operation steps for identifying the feature information of the processed solder joint object of the product after the white body component spot welding process are as follows:

[0073] S31. Establish a set of theoretical solder joint object image data for the white body component spot welding process , ; where represents the theoretical solder joint object image data of the white body component spot welding process corresponding to the th theoretical solder joint, represents the maximum value of the number of theoretical solder joints, and the theoretical solder joint object image data of the white body component spot welding process represents the appearance position image information of the processed solder joint object in the standard three-dimensional model of the body component as specified at the theoretical design end of the white body component spot welding process;

[0074] S32. Perform image feature matching on the theoretical solder joint object image data of the white body component spot welding process in the set with the appearance image data of the white body component in the white body spot welding process in the set to search for the appearance image data of the white body component in the white body spot welding process that matches the theoretical solder joint object image data of the white body component spot welding process in the set , and construct a set of actual solder joint object recognition data for the white body component spot welding process ; The specific operation steps for constructing the set of actual solder joint object recognition data for the white body component spot welding process are as follows: ; Execute the following specific operation steps for constructing the set of actual solder joint object recognition data for the white body component spot welding process :

[0075] S321. Initialize the maximum number of algorithm iterations;

[0076] S322. Propagation: Synchronously set the theoretical solder joint object image data of the white body component spot welding process in the search space of the set as water waves. Each theoretical solder joint object image data of the white body component spot welding process is an independent individual, so each theoretical solder joint object image data of the white body component spot welding process water wave will have three attributes: position, wavelength and wave height ; ;

[0077] In each iteration, the image data of the theoretical solder joint objects of each BIW part in the spot welding process The water wave will search for the image data of the theoretical solder joint objects of each BIW part in the spot welding process in the form of propagation in the set of the image data of the theoretical solder joint objects of each BIW part in the search space of the spot welding process Meanwhile, for the image data of the theoretical solder joint objects of each BIW part in the spot welding process the wave height of the water wave will decrease by 1, and its position update formula is as follows: , where represents the position of the water wave after the th iteration in the propagation stage of the water wave in the set of the image data of the theoretical solder joint objects of each BIW part in the spot welding process search space; represents the position of the water wave before the th iteration in the propagation stage of the water wave in the set of the image data of the theoretical solder joint objects of each BIW part in the spot welding process search space; , are respectively the upper bound and the lower bound in the search space of the set of the image data of the theoretical solder joint objects of each BIW part in the spot welding process , and represents the random function taking the value of ;

[0078] S323, Refraction: After the water wave of the image data of the theoretical solder joint objects of a BIW part in the spot welding process propagates , the image data of the theoretical solder joint objects of this BIW part in the spot welding process will refract the water wave and identify the image data of the theoretical solder joint objects of each BIW part in the search space of the set of the image data of the theoretical solder joint objects of each BIW part in the spot welding process to search for the image data of the theoretical solder joint objects of each BIW part in the spot welding process that matches the appearance image data of the BIW parts in the spot welding process ; ;

[0079] In each propagation, for the image data of the theoretical solder joint objects of each BIW part in the spot welding process the wave height of the water wave will decrease by 1. When decreases to 0, the water wave of the image data of the theoretical solder joint objects of this BIW part in the spot welding process will refract, and at the same time its wave height and wavelength will change; the refracted position is normally distributed around the current image data of the theoretical solder joint objects of each BIW part in the spot welding process Image data of theoretical solder joints of the optimal BIW components for water waves The position of the midpoint of the water wave is the mean value, and the image data of the theoretical solder joints of the current BIW components Water waves and image data of theoretical solder joints of the optimal BIW components The position where the distance of the water wave is the variance, and the image data of the theoretical solder joints of the BIW components after refraction The wave height of the water wave will be re-initialized to the maximum wave height ; After refraction, recalculate the image data of the theoretical solder joints of the BIW components The wavelength of the water wave ;

[0080] S324. Surging: Image data of theoretical solder joints of the BIW components After the water wave propagates in the search space of the image data set of the theoretical solder joints of the BIW components and reaches a position better than the current optimal image data of the theoretical solder joints of the BIW components of the water wave, that is, search for the image data of the BIW components that best matches the image data of the theoretical solder joints of the BIW components , then the water wave will surge, and the current optimal water wave will be propagated to the position where the surge occurs, that is, output the image data of the BIW components that best matches the image data of the theoretical solder joints of the BIW components , and the generation formula of the surge position is as follows: , where represents the water wave at the th iteration in the surging stage of the water wave in the search space of the image data set of the theoretical solder joints of the BIW components , represents the random function with a value of , to represents the randomly selected spatial dimension number each time of surging, represents the specific spatial dimension actually randomly selected each time of surging, to the specific spatial dimension parameters randomly selected each time of surging, is a constant;

[0081] S325. When the maximum number of iterations is reached, output the image data of the theoretical solder joints of the BIW components Matched appearance image data of white body spot welding process components Corresponding solder joint object image information, and construct the actual solder joint object recognition data set of the white body component spot welding process , where Represents the actual solder joint object recognition data of the white body component spot welding process corresponding to the th theoretical solder joint. The actual solder joint object recognition data of the white body component spot welding process represents the appearance position image information of the processed solder joint object of the automotive white body component in the actual three-dimensional model of the body component

[0082] Through the three-dimensional model acquisition unit of the white body spot welding process components, the industrial robot is used to carry a three-dimensional laser scanner to accurately collect the three-dimensional model parameters of the white body spot welding process components, providing reliable support for scientifically monitoring the position error of the spot welding process of automotive white body components; the appearance image acquisition unit of the white body spot welding process components, based on the three-dimensional model parameters of the white body spot welding process components, combines three-dimensional modeling software and screenshot software to accurately obtain the appearance images of the automotive white body spot welding process components, realizing the efficient and accurate acquisition of the spot welding image information of automotive white body components and improving the monitoring efficiency of the spot welding process of automotive white body components; the theoretical solder joint object image storage unit and the actual solder joint object recognition unit of the white body component spot welding process cooperate with each other, scientifically set the parameters of the theoretical solder joint object image of the white body component spot welding process, and combine the intelligent recognition algorithm with the appearance image parameters of the white body spot welding process components to accurately identify and capture the characteristic image information of the actual solder joint object of the white body component spot welding process, realizing the intelligent recognition of the solder joint object in the spot welding process of automotive white body components and improving the intelligence of the spot welding process of automotive white body components

[0083] Furthermore, please refer to Figure 1 - Figure 2 . The operation steps for measuring and processing the actual spatial position coordinate parameters of the processed solder joints of the white body components and generating the actual coordinate data of the processed solder joints of the white body components are as follows

[0084] S41. Using the XGBoost algorithm, based on the actual solder joint object recognition data set of the white body component spot welding process Search for the spatial coordinate parameters corresponding to the processed solder joints in the three-dimensional model data of the white body spot welding process components imported into the three-dimensional modeling software in step S21 in an orderly manner according to the numbering of the theoretical solder joint quantity, and generate the actual coordinate data set of the processed solder joints of the white body components , where Represents the The actual coordinate data of the spot welds on the body-in-white parts corresponding to a theoretical spot weld. The actual coordinate data of the spot welds on the body-in-white parts represents the actual spatial coordinate parameters of the spot welds on the body-in-white parts after the spot welding process. The actual coordinate data of the spot welds on the body-in-white parts includes the actual abscissa, actual ordinate, and actual vertical coordinate of the spot welds on the body-in-white parts.

[0085] Based on the actual coordinate data and theoretical coordinate data of the spot welds on the body-in-white parts, analyze and process the spot welding state of the body-in-white parts, and generate the analysis data of the spot welding state of the body-in-white parts. When there is no processing error, the operation steps to directly end the current production monitoring operation of the body-in-white parts are as follows:

[0086] S51. Establish a set of theoretical coordinate data of the spot welds on the body-in-white parts , indicating the theoretical coordinate data of the spot welds on the body-in-white parts corresponding to the th theoretical spot weld. The theoretical coordinate data of the spot welds on the body-in-white parts represents the spatial coordinate parameters specified by the standard at the theoretical design end of the spot welding process for the spot welds on the body-in-white parts. The theoretical coordinate data of the spot welds on the body-in-white parts includes the theoretical abscissa, theoretical ordinate, and theoretical vertical coordinate of the spot welds on the body-in-white parts;

[0087] S52. Use the uniform cost search algorithm to match the actual coordinate data of the spot welds on the body-in-white parts in the set with the theoretical coordinate data of the spot welds on the body-in-white parts in the set in an orderly manner according to the numbering of the theoretical spot welds, and generate a set of analysis data of the spot welding state of the body-in-white parts based on the coordinate value matching results, where indicates the analysis data of the spot welding state of the body-in-white parts corresponding to the th theoretical spot weld;

[0088] When and are successfully matched in coordinate values according to the numbering of the theoretical spot welds, indicating that the spot welding positions of the body-in-white parts all meet the theoretical requirements, then output the analysis data of the spot welding state of the body-in-white parts as there is no processing error at this time, and directly end the current production monitoring operation of the body-in-white parts;

[0089] When and The coordinate values do not match exactly according to the theoretical solder joint quantity numbering, indicating that the solder joint processing positions of the body-in-white parts do not meet the theoretical requirements. Then, the analysis data of the spot welding processing state of the body-in-white parts is output It is when there is a processing error

[0090] Through the actual coordinate measurement unit of the solder joints processed by the body-in-white parts, based on the three-dimensional model parameters of the body-in-white spot welding process parts and the actual solder joint object recognition information of the body-in-white parts spot welding process, combined with the intelligent search algorithm and three-dimensional modeling software, the actual coordinate parameters of the solder joints processed by the body-in-white parts are accurately measured, realizing the accurate measurement of the actual positions of the solder joints in the spot welding processing of the body-in-white parts of the automobile; the theoretical coordinate storage unit of the solder joints processed by the body-in-white parts and the analysis unit of the spot welding processing state of the body-in-white parts cooperate with each other. Based on the storage of the theoretical coordinate parameters of the solder joints processed by the body-in-white parts stored in the big data storage, combined with the intelligent search algorithm and the actual coordinate parameters of the solder joints processed by the body-in-white parts, the intelligent and scientific analysis of the spot welding processing state of the body-in-white parts is carried out, realizing the intelligent judgment of the spot welding processing positions of the body-in-white parts of the automobile and improving the quality of the spot welding processing of the body-in-white parts of the automobile

[0091] Further, please refer to Figure 1 - Figure 2 When there is a processing error, according to the actual coordinate data of the solder joints processed by the body-in-white parts and the theoretical coordinate data of the solder joints processed by the body-in-white parts, the numerical measurement and processing of the coordinate error of the solder joint positions in the spot welding processing of the body-in-white parts are carried out. The coordinate error data of the solder joints processed by the body-in-white parts is generated and the numerical adjustment processing of the theoretical coordinate values of the solder joints in the spot welding processing of the body-in-white parts is carried out with the theoretical coordinate data of the solder joints processed by the body-in-white parts. The operation steps for constructing the adjusted coordinate data of the theoretical positions of the solder joints processed by the body-in-white parts are as follows

[0092] S61. When the analysis data of the spot welding processing state of the body-in-white parts is that there is a processing error, the set of theoretical coordinate data of the solder joints processed by the body-in-white parts in the set of theoretical coordinate data of the solder joints processed by the body-in-white parts and the set of actual coordinate data of the solder joints processed by the body-in-white parts in the set of actual coordinate data of the solder joints processed by the body-in-white parts are orderly subjected to the difference measurement processing of the coordinate values according to the theoretical solder joint quantity numbering, and a set of coordinate error data of the solder joints processed by the body-in-white parts is generated, where represents the coordinate error data of the solder joints processed by the body-in-white parts corresponding to the th theoretical solder joint, , the coordinate error data of the welding points in the white body part processing includes the theoretical and actual abscissa error data, the theoretical and actual ordinate error data, and the theoretical and actual vertical coordinate error data of the welding points in the white body part processing; among them, the values of the theoretical and actual abscissa error data, the theoretical and actual ordinate error data, and the theoretical and actual vertical coordinate error data include zero, positive numbers, and negative numbers. When the coordinate error data takes the value of zero, it means that the processing position of the welding points in the white body part processing meets the design requirements; when the coordinate error data takes a positive number, it means that the subsequent processing of the processing position of the welding points in the white body part processing needs to be adjusted along the positive direction of the specific coordinate axis according to the size of the coordinate error data to meet the design requirements; when the coordinate error data takes a negative number, it means that the subsequent processing of the processing position of the welding points in the white body part processing needs to be adjusted along the negative direction of the specific coordinate axis according to the size of the coordinate error data to meet the design requirements;

[0093] S62. Sum the coordinate values of the coordinate error data of the welding points in the white body part processing in the set of the coordinate error data of the welding points in the white body part processing and the theoretical coordinate data of the welding points in the white body part processing in the set of the theoretical coordinate data of the welding points in the white body part processing in an orderly manner according to the numbering of the theoretical welding points, and construct a set of theoretical position adjustment coordinate data of the welding points in the white body part processing , where represents the theoretical position adjustment coordinate data of the welding points in the white body part processing corresponding to the th theoretical welding point, , and the theoretical position adjustment coordinate data of the welding points in the white body part processing represents the coordinate adjustment parameters of the theoretical position of the welding points used to eliminate the processing position error of the welding points in the white body part processing.

[0094] The operation steps for adjusting the position parameters of the welding points in the automotive part processing based on the theoretical position adjustment coordinate data of the welding points in the white body part processing are as follows:

[0095] S71. The monitoring end of the automotive parts generation transmits the theoretical position adjustment coordinate data of the welding points in the white body part processing in the set to the industrial robot control end through the Internet of Things communication network. The industrial robot control end controls the spot welding processing equipment to perform the operation of adjusting the position parameters of the welding points in the automotive part processing according to the coordinate parameter corresponding to the theoretical position adjustment coordinate data of the welding points in the white body part processing . The spot welding processing equipment includes any one of a general electric welder and a contour spot welder.

[0096] ​Through the mutual cooperation of the spot welding coordinate error value measurement unit for white body parts processing and the theoretical position adjustment coordinate measurement unit for white body parts processing, based on the actual coordinate parameters of the spot welds for white body parts processing and the theoretical coordinate parameters of the spot welds for white body parts processing, combined with numerical analysis, accurately measure the coordinate error parameters of the spot welds for white body parts processing and the theoretical position adjustment coordinate parameters of the spot welds for white body parts processing, realizing the digital measurement of the position error of spot welding for automotive white body parts and the theoretical adjustment coordinates of spot welding processing, improving the applicability and accuracy of spot welding for automotive white body parts; the spot welding position parameter adjustment unit for automotive parts processing, and the automotive parts generation monitoring end adaptively executes the spot welding position parameter adjustment operation for automotive parts processing based on the theoretical position adjustment coordinate parameters of the spot welds for white body parts processing, combined with the industrial robot control end and the spot welding processing equipment, improving the reliability and safety of spot welding for automotive white body parts, and enhancing the functional diversity and applicability of the automotive parts production monitoring system.

[0097] Embodiment 2:

[0098] Please refer to Figure 1 - Figure 2 , an automotive parts production monitoring system for implementing an automotive parts production monitoring method. The system includes an automotive parts processing spot weld feature recognition module, an automotive parts processing spot weld status analysis module, and an automotive parts spot welding process parameter adjustment module;

[0099] The automotive parts processing spot weld feature recognition module includes a three-dimensional model acquisition unit for white body spot welding process parts, an appearance image acquisition unit for white body spot welding process parts, a theoretical weld object image storage unit for white body parts spot welding process, and an actual weld object recognition unit for white body parts spot welding process;

[0100] The three-dimensional model acquisition unit for white body spot welding process parts collects the three-dimensional model data of white body spot welding process parts through an industrial robot equipped with a three-dimensional laser scanner; the appearance image acquisition unit for white body spot welding process parts performs the acquisition and processing of the appearance image of the product after the white body parts spot welding process based on the three-dimensional model data of the white body spot welding process parts, combined with three-dimensional modeling software and screenshot software, and generates the appearance image data of the white body spot welding process parts; the theoretical weld object image storage unit for white body parts spot welding process is used to store the theoretical weld object image data of the white body parts spot welding process; the actual weld object recognition unit for white body parts spot welding process performs the recognition and processing of the feature information of the processed weld object of the product after the white body parts spot welding process according to the appearance image data of the white body spot welding process parts and the theoretical weld object image data of the white body parts spot welding process, and constructs the actual weld object recognition data of the white body parts spot welding process;

[0101] The solder joint state analysis module for automotive component processing includes an actual coordinate measurement unit for the solder joints in the processing of body-in-white components, a theoretical coordinate storage unit for the solder joints in the processing of body-in-white components, and a spot welding processing state analysis unit for body-in-white components;

[0102] The actual coordinate measurement unit for the solder joints in the processing of body-in-white components measures and processes the actual spatial position coordinate parameters of the solder joints in the processing of body-in-white components based on the three-dimensional model data of the components in the spot welding process of the body-in-white and the actual solder joint object recognition data of the body-in-white components in the spot welding process, in combination with three-dimensional modeling software, and generates the actual coordinate data of the solder joints in the processing of body-in-white components; the theoretical coordinate storage unit for the solder joints in the processing of body-in-white components is used to store the theoretical coordinate data of the solder joints in the processing of body-in-white components; the spot welding processing state analysis unit for body-in-white components analyzes and processes the spot welding processing state of body-in-white components based on the actual coordinate data and the theoretical coordinate data of the solder joints in the processing of body-in-white components, and generates the spot welding processing state analysis data of body-in-white components;

[0103] The solder joint parameter adjustment module for automotive components includes a coordinate error value measurement unit for the solder joints in the processing of body-in-white components, a theoretical position adjustment coordinate measurement unit for the solder joints in the processing of body-in-white components, and a position parameter adjustment unit for the solder joints in the processing of automotive components;

[0104] The coordinate error value measurement unit for the solder joints in the processing of body-in-white components measures and processes the coordinate error values of the solder joint positions in the spot welding process of body-in-white components based on the actual coordinate data and the theoretical coordinate data of the solder joints in the processing of body-in-white components, and generates the coordinate error data of the solder joints in the processing of body-in-white components; the theoretical position adjustment coordinate measurement unit for the solder joints in the processing of body-in-white components adjusts and processes the theoretical coordinate values of the solder joints in the spot welding process of body-in-white components based on the coordinate error data and the theoretical coordinate data of the solder joints in the processing of body-in-white components, and constructs the theoretical position adjustment coordinate data of the solder joints in the processing of body-in-white components; the position parameter adjustment unit for the solder joints in the processing of automotive components, based on the theoretical position adjustment coordinate data of the solder joints in the processing of body-in-white components, the industrial robot control end and the spot welding processing equipment are used by the monitoring end of the automotive components to perform the position parameter adjustment operation of the solder joints in the processing of automotive components.

[0105] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made in these embodiments without departing from the principles and spirit of the present invention, and 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; 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 ; 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; 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; 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; 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 Object identification data of actual welding points in the spot welding process of body-in-white parts corresponding to the theoretical welding points; 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; 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; 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; 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; 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; 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 Theoretical position adjustment coordinate data of welding points of body-in-white parts corresponding to the theoretical welding points; S7, performing an adjustment operation of 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; 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.

2. An automobile parts production monitoring system, used to implement the automobile parts production monitoring method described in claim 1, 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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