Full-automatic mechanical arm whole vehicle off-line HUD detection and calibration device and method

Abstract

The invention discloses a full-automatic mechanical arm whole vehicle off-line HUD detection and calibration device and method. Comprising an industrial control system, PLC hardware equipment, a camera and handheld electric detection equipment, the PLC hardware equipment comprises a mechanical arm structure, a camera holder structure, a vehicle centering system and a curtain system; the industrial control system is arranged on one side of the vehicle centering system, the mechanical arm structure is arranged beside the industrial control system, the top end of the mechanical arm structure is fixedly connected with the camera holder structure through a nut, and the camera is installed on the camera holder structure. One end of the vehicle centering system is fixedly connected with the curtain system through a nut; and the handheld electric detection equipment is connected with the industrial control system through a cable. According to the invention, the automation degree of current HUD detection equipment is improved, and the problems of inflexible vehicle type conversion, poor safety and the like are solved; in the whole vehicle off-line detection process, the detection device does not need to be installed in the vehicle, and installation and disassembly of the detection device are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile production, and in particular to a fully automatic mechanical arm vehicle off-line HUD detection and calibration device and method. Background Art

[0002] HUD (Head-up Display) technology has made significant progress in the automotive field in recent years. The in-vehicle HUD system can project key information into the driver's field of vision, such as vehicle speed, navigation data, warning information, etc., thereby improving the safety and convenience of car driving.

[0003] At present, in the automotive field, more and more high-end models are equipped with HUD, and even some mid-range models have begun to introduce this technology. The HUD display content information of each manufacturer is very different. In order to ensure the functional integrity and safety and reliability of the car HUD, it is necessary to detect and calibrate the parameters such as the imaging quality of the HUD equipment in the car. However, the current manufacturers' HUD detection and calibration equipment also has certain disadvantages. There is a situation where one detection station can only detect one type of vehicle. At present, there is no unified standard for HUD detection equipment, and there is also a lack of security in terms of safety. Some vehicles have a single HUD function and still use manual detection to detect HUD. In some cases, the vehicle manufacturer's HUD detection equipment also needs to be installed in the car, which is time-consuming and labor-intensive, and there is no better implementation plan. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a fully automatic mechanical arm vehicle offline HUD detection and calibration equipment, including an industrial control system, a PLC hardware device, a camera, and a handheld electrical inspection device; the PLC hardware device includes a mechanical arm structure, a camera pan / tilt structure, a vehicle centering system, and a curtain system; The industrial control system is arranged on one side of the vehicle centering system, the mechanical arm structure is arranged next to the industrial control system, a camera gimbal structure is fixedly connected to the top of the mechanical arm structure by a nut, and the camera is installed on the camera gimbal structure; the vehicle centering system is rectangular as a whole, one end of which is fixedly connected to the curtain system by a nut; the handheld electrical inspection equipment and the industrial control system are connected by a cable.

[0005] Furthermore, the industrial control system specifically includes: an operating table, an industrial control cabinet, and a host computer; the industrial control cabinet is a rectangular parallelepiped as a whole, and is connected to the mechanical arm structure on the right side; the operating table is used to place handheld electrical inspection equipment, and the operating table is provided with the same operating buttons as those on the industrial control cabinet panel; the host computer is used to collect information collected by the operating table and the industrial control cabinet and process and analyze the collected information.

[0006] Furthermore, the industrial control cabinet is provided with a three-color alarm indicator light for indicating whether there is a fault in the current detection area; and the operating table is installed with a traffic indicator light for indicating whether the current detection area can be entered.

[0007] Furthermore, a safety range scanning sensor and a safety distance sensor are installed on the mechanical arm structure; the safety range scanning sensor and the safety distance sensor are both used to detect vehicle entry.

[0008] Furthermore, a sensor is arranged below the curtain system, and when there is an obstacle below the curtain, the curtain will stop descending and rise; an emergency stop button is arranged on the side of the curtain system to prevent emergencies.

[0009] Furthermore, the handheld electrical inspection device is connected to the vehicle via an OBD connection line.

[0010] Furthermore, the vehicle centering system is provided with a transmission device for centering the vehicle after the vehicle to be inspected enters the inspection area, so that all the inspected vehicles are located at the same inspection reference position.

[0011] The detection and calibration method of the fully automatic robotic arm vehicle off-line HUD detection and calibration equipment includes the following steps: S1. Check the communication connection between the industrial control system and the handheld electrical inspection equipment, and initialize the equipment position; S2. After the vehicle to be inspected enters the predetermined inspection position, the operator connects the handheld electrical inspection equipment to the vehicle to obtain the vehicle information; S3. After the industrial control system receives the information of the vehicle to be inspected, it controls the vehicle centering system to straighten and center the vehicle and lower the curtain; S4. Use a camera to capture the detection image and calculate the detection result; S5. The industrial control system controls the vehicle centering system and the PLC equipment to move out of the vehicle, and controls the initialization of the equipment position.

[0012] Furthermore, the step S4 includes vehicle HUD calibration, specifically: for unqualified items, the handheld electrical inspection device writes the correct parameters into the vehicle through vehicle communication.

[0013] Furthermore, it also includes a safety detection step: when the sensor at the lower end of the curtain system senses the existence of an obstacle below, the curtain will stop descending and rise, ending the detection process; when the safety range scanning sensor senses the existence of an obstacle within the safety range, the robotic arm stops moving; when the safety distance sensor senses the existence of an obstacle within the safety range, the vehicle will immediately stop entering and aligning its position to prevent the equipment from hitting the window or body structure.

[0014] The present invention provides a fully automatic mechanical arm vehicle off-line HUD detection and calibration device and method, which has the following beneficial effects: The present invention provides a fully automatic mechanical arm vehicle off-line HUD detection and calibration device to improve the automation level of current HUD detection equipment and solve the existing problems of insufficient flexibility in vehicle model conversion and poor safety. During the vehicle off-line detection process, it does not need to be installed in the vehicle, thus avoiding the installation and disassembly of the detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1 A schematic diagram of the system structure provided by the present invention; Figure 2 A schematic diagram of an operating table provided by the present invention; Figure 3 A schematic diagram of the structure of the mechanical arm and camera gimbal provided by the present invention; Figure 4 A schematic diagram of the structure of a vehicle centering system provided by the present invention; Figure 5 This is a schematic diagram of the structure of the curtain system provided by the present invention.

[0017] In the figure, 1. Industrial control cabinet; 2. Handheld electrical inspection equipment; 3. Operation table; 4. Three-color alarm indicator light; 5. Emergency stop button; 6. Sensor; 7. Safety range scanning sensor; 8. Safety distance sensor. DETAILED DESCRIPTION

[0018] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0019] The following is a detailed description of the implementation method of the present invention in conjunction with the accompanying drawings. Only some embodiments are described, not all embodiments. For the purpose of clarity, representations and descriptions that are not related to the present invention are omitted in the drawings and descriptions.

[0020] In order to have a clearer understanding of the technical features, purposes and beneficial effects of the present invention, the technical solution of the present invention is now described in detail below. Obviously, the implementation cases described are part of the embodiments of the present invention, not all of the embodiments, and cannot be understood as limiting the scope of the implementation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0021] like Figure 1, Figure 2 , Figure 5 As shown, the present invention provides a fully automatic mechanical arm vehicle off-line HUD detection and calibration equipment, including an industrial control system, a PLC hardware device, a camera, and a handheld electrical inspection device 2; the PLC hardware device includes a mechanical arm structure, a camera pan structure, a vehicle centering system, and a curtain system The industrial control system is arranged on one side of the vehicle centering system, the mechanical arm structure is arranged next to the industrial control system, and a camera pan-tilt structure is fixedly connected to the top of the mechanical arm structure by a nut, and the camera is installed on the camera pan-tilt structure; the vehicle centering system is rectangular as a whole, and one end of it is fixedly connected to the curtain system by a nut; the handheld electrical inspection equipment 2 is connected to the industrial control system by a cable.

[0022] The industrial control system specifically includes: an operating table 3, an industrial control cabinet 1, and a host computer; the industrial control cabinet 1 is a rectangular parallelepiped as a whole, and is connected to the mechanical arm structure on the right side; the operating table 3 is used to place the handheld electrical inspection equipment 2, and the operating table 3 is provided with the same operating buttons as those on the panel of the industrial control cabinet 1; the host computer is used to collect information collected by the operating table 3 and the industrial control cabinet 1 and process and analyze the collected information.

[0023] The industrial control cabinet 1 is provided with a three-color alarm indicator light 4 for indicating whether there is a fault in the current detection area; the operating console 3 is provided with a traffic indicator light for indicating whether the current detection area can be entered.

[0024] like Figure 3 As shown, a safety range scanning sensor 7 and a safety distance sensor 8 are installed on the mechanical arm structure; the safety range scanning sensor 7 and the safety distance sensor 8 are both used to detect the vehicle entering the vehicle.

[0025] A sensor 6 is provided under the curtain system. When there is an obstacle under the curtain, the curtain will stop descending and rise. An emergency stop button 5 is provided on the side of the curtain system to prevent emergencies. The curtain system is used to provide a dark background for the detection image to reduce the impact of ambient light on the quality of the detection image.

[0026] The handheld electrical inspection device 2 is connected to the vehicle via an OBD connection line.

[0027] like Figure 4 As shown, a transmission device is provided on the vehicle centering system, which is used to center the vehicle after the vehicle to be inspected enters the inspection area, so that all the inspected vehicles are located at the same inspection reference position. When targeting different vehicle models, the handheld inspection device 2 sends the vehicle parameters to the host computer, and the host computer controls the camera to move to different working positions according to different vehicle models.

[0028] The detection and calibration method of the fully automatic robotic arm vehicle off-line HUD detection and calibration equipment includes the following steps: S1. Check the communication connection between the industrial control system and the handheld electrical inspection device 2, and initialize the device position.

[0029] S2. After the vehicle to be inspected enters the predetermined inspection position, the operator connects the handheld electrical inspection device 2 to the vehicle to obtain vehicle information.

[0030] S3. After receiving the information of the vehicle to be inspected, the industrial control system controls the vehicle centering system to align the vehicle and lower the curtain.

[0031] S4. Capture the detection image through the camera and calculate the detection result; among them, there is vehicle HUD calibration, specifically: for unqualified items, the handheld electrical inspection device 2 writes the correct parameters into the vehicle through vehicle communication.

[0032] S5. The industrial control system controls the vehicle centering system and the PLC device to move out of the vehicle, and controls the initialization of the device position.

[0033] It also includes a safety detection step: when the sensor 6 at the lower end of the curtain system senses the presence of an obstacle below, the curtain will stop descending and rise, ending the detection process; when the safety range scanning sensor 7 senses the presence of an obstacle within the safety range, the robotic arm stops moving; when the safety distance sensor 8 senses the presence of an obstacle within the safety range, the vehicle will immediately stop entering and aligning its position to prevent the equipment from hitting the window or body structure.

[0034] Embodiment: The HUD detection and calibration equipment consists of three parts, including an industrial control system, PLC hardware equipment and a camera, and a handheld electrical inspection device. Among them, the industrial control system includes an industrial control cabinet and an operating table. The PLC hardware equipment includes a mechanical arm mechanism composed of a motor, a camera pan-tilt structure composed of a motor, a vehicle centering system and a curtain system. The handheld device communicates with the vehicle to obtain the vehicle status and control the vehicle action. The host computer communicates with the handheld device to control the PLC hardware equipment and the camera and other equipment.

[0035] Before the vehicle to be inspected enters the inspection area, ensure that stable communication is established between the industrial control system and the handheld electrical inspection equipment, and ensure that all equipment is in the initial position to prepare for the upcoming inspection process.

[0036] The operator checks the three-color alarm indicator light above the industrial control cabinet to see if the detection area is normal. The operator checks the traffic light above the operating table to see if the vehicle can enter the detection area.

[0037] After the vehicle to be inspected enters the predetermined inspection location, the operator connects the handheld electrical inspection equipment to the vehicle and quickly obtains the vehicle information by scanning the vehicle VIN code, providing data support for subsequent operations.

[0038] The handheld electrical inspection equipment controls the vehicle to be inspected to complete actions such as moving the seat back, turning off the lights, and opening the windows to ensure that the inspection environment meets the standards.

[0039] The handheld electrical inspection equipment sends vehicle information to the industrial control system.

[0040] After receiving the information of the vehicle to be inspected, the industrial control system controls the centering device of the centering system to center the vehicle so that the position of the inspected vehicle is in the correct reference position.

[0041] The industrial control system controls the curtain system in front of the detection station to descend, providing a dark background for the detection image and reducing the impact of ambient light on the detection image quality.

[0042] The industrial control system controls the robotic arm structure and the camera gimbal structure, and moves the camera to the eye box position, i.e. the camera working position, according to the vehicle model information.

[0043] The handheld device controls the vehicle to project the detection image.

[0044] The industrial control system controls the camera to capture the test image, and the image processing algorithm compares and analyzes the test image with the standard test image to calculate the test result. For any unqualified items, the handheld electrical inspection device communicates with the vehicle and writes the correct parameters into the vehicle to calibrate the vehicle HUD.

[0045] After the vehicle inspection is completed, the industrial control system will control the PLC device to move out of the vehicle, return to the initial position, and end the inspection.

[0046] When targeting different vehicle models, the handheld detection device sends the vehicle parameters to the host computer, which controls the camera to move to different working positions according to the different vehicle models. A three-color indicator light is installed above the industrial control cabinet to indicate whether a fault occurs in the current detection area, and a traffic indicator light is installed above the operating table to indicate whether the current detection area is wide enough to enter.

[0047] When an emergency occurs, the operator can press the emergency stop button on the panel of the industrial control cabinet, the operating table, or the side of the curtain system to ensure production safety. When there is an obstacle under the sensor at the lower edge of the curtain system, the curtain will stop descending and rise, ending the detection process. When there is an obstacle within the safety range of the safety range scanning sensor, the robot arm will stop moving to ensure production safety. When there is an obstacle within the safety range of the safety distance sensor, the equipment is prevented from hitting the window or body structure to ensure production safety.

[0048] This HUD detection and calibration equipment has a high degree of automation in the detection process. It is installed on one side of the detection station. During the inspection process of the vehicle off the production line, it does not need to be installed in the vehicle, avoiding the installation and disassembly of the detection device. This HUD detection and calibration equipment can detect different models through the cooperation of the host computer and the handheld electrical inspection equipment. This HUD detection and calibration equipment is equipped with emergency stop buttons in multiple locations to deal with emergencies. Under the curtain system, within the range of movement of the robotic arm, the sensor set at the front end of the camera moving in the direction of the vehicle can effectively detect the presence of obstacles and stop the movement of the equipment in time. This equipment is equipped with a three-color alarm indicator light and a traffic indicator light to ensure all-round safety.

[0049] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A fully automatic robotic arm vehicle off-line HUD detection and calibration equipment, characterized in that: It includes an industrial control system, a PLC hardware device, a camera, and a handheld electrical inspection device (2); the PLC hardware device includes a mechanical arm structure, a camera pan / tilt structure, a vehicle centering system, and a curtain system; The industrial control system is arranged on one side of the vehicle centering system, the mechanical arm structure is arranged next to the industrial control system, a camera pan-tilt structure is fixedly connected to the top of the mechanical arm structure via a nut, and the camera is mounted on the camera pan-tilt structure; the vehicle centering system is rectangular in shape as a whole, one end of which is fixedly connected to the curtain system via a nut; the handheld electrical inspection device (2) is connected to the industrial control system via a cable.

2. The fully automatic robotic arm vehicle off-line HUD detection and calibration equipment according to claim 1 is characterized in that: The industrial control system specifically comprises: an operating table (3), an industrial control cabinet (1), and a host computer; the industrial control cabinet (1) is in the shape of a rectangular parallelepiped as a whole, and is connected to a mechanical arm structure on the right side; the operating table (3) is used to place a handheld electrical inspection device (2), and the operating table (3) is provided with operating buttons that are the same as those on the panel of the industrial control cabinet (1); the host computer is used to collect information collected by the operating table (3) and the industrial control cabinet (1) and to process and analyze the collected information.

3. The fully automatic robotic arm vehicle off-line HUD detection and calibration equipment according to claim 2 is characterized in that: The industrial control cabinet (1) is provided with a three-color alarm indicator light (4) for indicating whether there is a fault in the current detection area; and the operating console (3) is provided with a traffic indicator light for indicating whether the current detection area can be entered.

4. The fully automatic robotic arm vehicle off-line HUD detection and calibration equipment according to claim 1 is characterized in that: A safety range scanning sensor (7) and a safety distance sensor (8) are mounted on the mechanical arm structure; the safety range scanning sensor (7) and the safety distance sensor (8) are both used to detect vehicle entry conditions.

5. The fully automatic robotic arm vehicle off-line HUD detection and calibration equipment according to claim 1 is characterized in that: A sensor (6) is arranged below the curtain system, and when there is an obstacle below the curtain, the curtain will stop descending and rise; an emergency stop button (5) is arranged on the side of the curtain system to prevent emergencies.

6. The fully automatic robotic arm vehicle off-line HUD detection and calibration equipment according to claim 1 is characterized in that: The handheld electrical inspection device (2) is connected to the vehicle via an OBD connection line.

7. The fully automatic robotic arm vehicle off-line HUD detection and calibration equipment according to claim 1 is characterized in that: The vehicle centering system is provided with a transmission device for centering the vehicle after the vehicle to be inspected enters the inspection area, so that all the inspected vehicles are located at the same inspection reference position.

8. A detection and calibration method for the fully automatic robotic arm vehicle off-line HUD detection and calibration equipment according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1. Check the communication connection between the industrial control system and the handheld electrical inspection device (2), and initialize the device position; S2. After the vehicle to be tested enters the predetermined testing position, the operator connects the handheld electrical testing device (2) to the vehicle to obtain vehicle information; S3. After receiving the information of the vehicle to be inspected, the industrial control system controls the vehicle centering system to align the vehicle and lower the curtain; S4. Capture the detection image through the camera and calculate the detection result; S5. The industrial control system controls the vehicle centering system and the PLC device to move out of the vehicle, and controls the initialization of the device position.

9. The detection and calibration method of the fully automatic mechanical arm vehicle off-line HUD detection and calibration equipment according to claim 8 is characterized in that: The step S4 includes vehicle HUD calibration, specifically: for unqualified items, the handheld electrical inspection device (2) writes the correct parameters into the vehicle through vehicle communication.

10. The detection and calibration method of the fully automatic mechanical arm vehicle off-line HUD detection and calibration equipment according to claim 8 is characterized in that: The system also includes a safety detection step: when the sensor (6) at the lower end of the curtain system senses that there is an obstacle below, the curtain stops descending and rises, ending the detection process; when the safety range scanning sensor (7) senses that there is an obstacle within the safety range, the robotic arm stops moving; when the safety distance sensor (8) senses that there is an obstacle within the safety range, the vehicle is immediately stopped from entering and the position is centered to prevent the equipment from hitting the vehicle window or vehicle body structure.

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