3D gluing quality online detection method and device and computer equipment

Abstract

The invention discloses a 3D gluing quality online detection method and device and computer equipment. The method comprises the following steps: generating a three-dimensional contour of an automobile gluing process according to an initial image, an intermediate image and an end image of automobile gluing, establishing X-axis, Y-axis and Z-axis coordinates under a world Cartesian coordinate system, and obtaining three-dimensional space coordinate information of the three-dimensional contour under the X-axis, Y-axis and Z-axis coordinates, and performing online comparison detection on the three-dimensional space coordinate information and preset coordinate data of each point on each gluing surface of the automobile gluing to obtain an abnormal detection result of the quality of the automobile gluing. Through the mode, the detection difficulty of the automobile gluing contour can be reduced, and the detection accuracy of the automobile gluing contour is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile gluing, and in particular to a 3D gluing quality online detection method, device and computer equipment. Background Art

[0002] Gluing is a process widely used on automobile bodies. It is a process that mainly uses the mechanical bonding force, physical adsorption force and chemical bonding force generated by the adhesive on the connection surface to connect two adhesive parts. After the glue pattern is formed, the glue coating quality test is required to determine whether the glue coating quality meets the requirements.

[0003] The existing 3D glue coating quality online detection solution generally uses a line laser profiler to use laser triangulation measurement method to perform 3D glue coating quality online detection on the car. It can obtain the three-dimensional contour data of the car's glue coating in real time, continuously, high speed and high precision, and then rely on this three-dimensional contour data to meet subsequent detection needs. However, since the glued car body, hood, windshield in the assembly workshop, etc. have different shapes and are uneven, the contour obtained by the line laser profiler has a certain inclination angle in space, and the same three-dimensional contour has multiple curve features at the same time, such as ellipse, straight line, right angle, etc., which increases the difficulty of detecting the car's glue coating contour and leads to an increase in abnormal detection. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose a 3D gluing quality online detection method, device and computer equipment, which can reduce the difficulty of detecting the automobile gluing contour and improve the accuracy of automobile gluing contour detection.

[0005] According to one aspect of the present invention, there is provided a 3D gluing quality online detection method, comprising: generating a three-dimensional profile of the gluing process of an automobile based on a starting image, an intermediate image and an ending image of the gluing of the automobile; establishing XYZ three-axis coordinates in a world Cartesian coordinate system, and obtaining three-dimensional space coordinate information of the three-dimensional profile under the three-axis coordinates; performing online comparison detection on the three-dimensional space coordinate information and the preset coordinate data of each point on each gluing surface of the automobile to obtain an abnormal detection result of the automobile gluing quality.

[0006] Wherein, generating a three-dimensional contour of the automobile gluing process based on the starting image, intermediate image and ending image of the automobile gluing comprises: drawing a first direction contour image, a second direction contour image and a third direction contour image of the automobile gluing in a first direction, a second direction and a third direction which are mutually three-dimensional directions, respectively, applying a three-dimensional reconstruction method, combining the first direction contour image, the second direction contour image and the third direction contour image, to generate a three-dimensional contour of the automobile gluing process.

[0007] Among them, establishing XYZ three-axis coordinates in the world Cartesian coordinate system and obtaining the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinates includes: establishing XYZ three-axis coordinates in the world Cartesian coordinate system, projecting the contour data of the three-dimensional contour on the three-axis coordinates by emitting a light beam, and obtaining the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinates.

[0008] Among them, the three-dimensional space coordinate information is compared and detected online with the preset coordinate data of each point on each glue-coated surface of the automobile to obtain the abnormal detection result of the automobile glue quality, including: the three-dimensional space coordinate information is compared and detected online with the preset coordinate data of each point on each glue-coated surface of the automobile glue on the reference straight line in the fitting direction of the maximum inner point set to obtain the abnormal detection result of the automobile glue quality.

[0009] Wherein, after the three-dimensional space coordinate information is compared and detected online with the preset coordinate data of each point on each coating surface of the automobile glue coating to obtain the abnormal detection result of the automobile glue coating quality, it also includes: according to the preset coordinate data of each point on each coating surface of the automobile glue coating, the glue corresponding to the abnormal detection result of the automobile glue coating quality is corrected.

[0010] According to another aspect of the present invention, there is provided a 3D gluing quality online detection device, comprising: a generation module, an acquisition module and a detection module; the generation module is used to generate a three-dimensional profile of the gluing process of an automobile according to the starting image, the intermediate image and the ending image of the gluing of the automobile; the acquisition module is used to establish XYZ three-axis coordinates in the world Cartesian coordinate system, and obtain the three-dimensional space coordinate information of the three-dimensional profile under the three-axis coordinates; the detection module is used to perform online comparison and detection on the three-dimensional space coordinate information with the preset coordinate data of each point on each gluing surface of the automobile gluing, so as to obtain an abnormal detection result of the automobile gluing quality.

[0011] Among them, the generation module is specifically used to: draw a first direction contour image, a second direction contour image, and a third direction contour image of the car gluing in the first direction, the second direction, and the third direction that are three-dimensional directions respectively according to the starting image, the intermediate image, and the ending image of the car gluing, and apply a three-dimensional reconstruction method to combine the first direction contour image, the second direction contour image, and the third direction contour image to generate a three-dimensional contour of the car gluing process.

[0012] Among them, the acquisition module is specifically used to: establish XYZ three-axis coordinates in the world Cartesian coordinate system, project the contour data of the three-dimensional contour on the three-axis coordinates by emitting a light beam, and obtain the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinates.

[0013] Among them, the detection module is specifically used to: perform online comparative detection on the three-dimensional spatial coordinate information and the preset coordinate data of each point on each coating surface of the automobile on the reference straight line in the fitting direction of the maximum inner point set, so as to obtain the abnormal detection result of the automobile coating quality.

[0014] Among them, the 3D glue coating quality online detection device also includes a correction module, which is used to correct the glue coating corresponding to the abnormal detection result of the automobile glue coating quality according to the preset coordinate data of each point on each glue coating surface of the automobile glue coating.

[0015] According to another aspect of the present invention, a computer device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the 3D glue coating quality online detection method as described in any one of the above.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, storing a computer program, wherein when the computer program is executed by a processor, the method for online detection of 3D gluing quality as described in any one of the above is implemented.

[0017] It can be found that the above scheme can generate a three-dimensional contour of the automobile gluing process based on the starting image, intermediate image and ending image of the automobile gluing, and can establish XYZ three-axis coordinates in the world Cartesian coordinate system, and obtain the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinates, and can perform online comparison and detection of the three-dimensional space coordinate information with the preset coordinate data of each point on each glue coating surface of the automobile gluing, so as to obtain the abnormal detection result of the automobile gluing quality, which can reduce the difficulty of detecting the automobile gluing contour and improve the accuracy of the automobile gluing contour detection.

[0018] Furthermore, the above scheme can draw a first direction contour image, a second direction contour image, and a third direction contour image of the car gluing in the first direction, the second direction, and the third direction, which are three-dimensional directions, respectively, based on the starting image, the intermediate image, and the ending image of the car gluing, and apply a three-dimensional reconstruction method to combine the first direction contour image, the second direction contour image, and the third direction contour image to generate a three-dimensional contour of the car gluing process. The advantage of this is that it helps to accurately analyze the uniformity and completeness of the car gluing.

[0019] Furthermore, the above scheme can establish XYZ three-axis coordinates in the world Cartesian coordinate system, and project the contour data of the three-dimensional contour onto the three-axis coordinates by emitting a light beam to obtain the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinates. The advantage of this is that by projecting the contour data of the three-dimensional contour onto the three-axis coordinates by emitting a light beam, the three-dimensional space coordinate information of each point on the three-dimensional contour surface under the three-axis coordinates can be accurately obtained, thereby ensuring the high accuracy of the three-dimensional space coordinate information of each point on the three-dimensional contour surface under the three-axis coordinates.

[0020] Furthermore, the above scheme can perform online comparative detection on the three-dimensional spatial coordinate information and the preset coordinate data of each point on the coating surface of the automobile on the reference straight line in the fitting direction of the maximum inner point set, so as to obtain the abnormal detection result of the quality of the automobile coating. The advantage of this is that by performing comparative detection on the reference straight line in the fitting direction of the maximum inner point set, it is possible to more accurately capture the slight changes in the coating contour of the automobile coating, thereby achieving a detailed assessment of the quality of the automobile coating, reducing misjudgment caused by coordinate deviation or data noise, and reducing the difficulty of detecting the automobile coating contour, thereby improving the accuracy of automobile coating contour detection.

[0021] Furthermore, the above scheme can correct the glue coating corresponding to the abnormal detection result of the automobile glue coating quality according to the preset coordinate data of each point on the glue coating surface of the automobile glue coating. The advantage of this is that by correcting the deviation or defects in the glue coating process, the uniformity, completeness and accuracy of the automobile glue coating can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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 these drawings without paying creative work.

[0023] Figure 1It is a flow chart of an embodiment of a method for online detection of 3D gluing quality of the present invention;

[0024] Figure 2 It is a flow chart of another embodiment of the 3D gluing quality online detection method of the present invention;

[0025] Figure 3 It is a structural schematic diagram of an embodiment of a 3D glue coating quality online detection device of the present invention;

[0026] Figure 4 It is a structural schematic diagram of another embodiment of the 3D glue coating quality online detection device of the present invention;

[0027] Figure 5 It is a structural schematic diagram of an embodiment of a computer device of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0029] The present invention provides a 3D gluing quality online detection method, which can reduce the detection difficulty of the automobile gluing contour and improve the accuracy of the automobile gluing contour detection.

[0030] See also Figure 1 , Figure 1 3D coating quality online detection method of an embodiment of the present invention is a flow chart. It should be noted that if there are substantially the same results, the method of the present invention is not based on Figure 1 The process sequence shown is limited. Figure 1 As shown, the method comprises the following steps:

[0031] S101: Generate a three-dimensional profile of the process of gluing the car according to the starting image, the middle image and the ending image of gluing the car.

[0032] The method of generating a three-dimensional profile of the process of gluing the car according to the starting image, the intermediate image and the ending image of the gluing of the car may include:

[0033] According to the starting image, the middle image and the ending image of the automobile gluing, a first direction contour image, a second direction contour image and a third direction contour image of the automobile gluing are respectively drawn in the first direction, the second direction and the third direction which are mutually three-dimensional directions. A three-dimensional reconstruction method is applied to combine the first direction contour image, the second direction contour image and the third direction contour image to generate a three-dimensional contour of the automobile gluing process. This has the advantage of facilitating accurate analysis of the uniformity and integrity of the automobile gluing.

[0034] S102: Establish XYZ three-axis coordinates in the world Cartesian coordinate system, and obtain three-dimensional space coordinate information of the three-dimensional contour in the three-axis coordinates.

[0035] The step of establishing XYZ three-axis coordinates in the world Cartesian coordinate system and obtaining three-dimensional space coordinate information of the three-dimensional contour in the three-axis coordinates may include:

[0036] Establish XYZ three-axis coordinates in the world Cartesian coordinate system, and project the contour data of the three-dimensional contour onto the three-axis coordinates by emitting a light beam to obtain the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinates. The advantage of this is that the contour data of the three-dimensional contour is projected onto the three-axis coordinates by emitting a light beam, so that the three-dimensional space coordinate information of each point on the three-dimensional contour surface under the three-axis coordinates can be accurately obtained, thereby ensuring the high accuracy of the three-dimensional space coordinate information of each point on the three-dimensional contour surface under the three-axis coordinates.

[0037] S103: Perform online comparison detection on the three-dimensional space coordinate information and the preset coordinate data of each point on each coating surface of the automobile to obtain an abnormality detection result of the automobile coating quality.

[0038] The three-dimensional space coordinate information is compared with the preset coordinate data of each point on each coating surface of the automobile coating to obtain the abnormal detection result of the automobile coating quality, which may include:

[0039] The three-dimensional spatial coordinate information is compared with the preset coordinate data of each point on the coating surface of the automobile on the reference straight line in the fitting direction of the maximum inner point set, and the abnormal detection result of the automobile coating quality is obtained. The advantage of this is that by performing comparative detection on the reference straight line in the fitting direction of the maximum inner point set, slight changes in the coating contour of the automobile coating can be captured more accurately, thereby achieving a detailed assessment of the automobile coating quality, reducing misjudgment caused by coordinate deviation or data noise, and reducing the difficulty of detecting the automobile coating contour, thereby improving the accuracy of automobile coating contour detection.

[0040] Wherein, after the three-dimensional space coordinate information is compared and detected online with the preset coordinate data of each point on each coating surface of the automobile coating to obtain the abnormal detection result of the automobile coating quality, the following may also be included:

[0041] According to the preset coordinate data of each point on the coating surface of the automobile, the coating corresponding to the abnormal detection result of the automobile coating quality is corrected. The advantage of this is that by correcting the deviation or defects in the coating process, the uniformity, completeness and accuracy of the automobile coating can be ensured.

[0042] It can be found that in this embodiment, a three-dimensional contour of the automobile gluing process can be generated based on the starting image, intermediate image and ending image of the automobile gluing, and an XYZ three-axis coordinate can be established in the world Cartesian coordinate system, and the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinate can be obtained, and the three-dimensional space coordinate information can be compared and detected online with the preset coordinate data of each point on each glue coating surface of the automobile gluing to obtain an abnormal detection result of the automobile gluing quality, which can reduce the difficulty of detecting the automobile gluing contour and improve the accuracy of the automobile gluing contour detection.

[0043] Furthermore, in the present embodiment, a first direction contour image, a second direction contour image, and a third direction contour image of the car gluing can be drawn respectively in the first direction, the second direction, and the third direction which are three-dimensional directions, based on the starting image, the intermediate image, and the ending image of the car gluing. A three-dimensional reconstruction method is applied to combine the first direction contour image, the second direction contour image, and the third direction contour image to generate a three-dimensional contour of the car gluing process. This has the advantage of facilitating accurate analysis of the uniformity and completeness of the car gluing.

[0044] Furthermore, in the present embodiment, an XYZ three-axis coordinate system can be established in the world Cartesian coordinate system, and the contour data of the three-dimensional contour can be projected onto the three-axis coordinate system by emitting a light beam to obtain the three-dimensional spatial coordinate information of the three-dimensional contour under the three-axis coordinate system. The advantage of this is that by projecting the contour data of the three-dimensional contour onto the three-axis coordinate system by emitting a light beam, the three-dimensional spatial coordinate information of each point on the surface of the three-dimensional contour under the three-axis coordinate system can be accurately obtained, thereby ensuring the high accuracy of the three-dimensional spatial coordinate information of each point on the surface of the three-dimensional contour under the three-axis coordinate system.

[0045] Furthermore, in the present embodiment, the three-dimensional spatial coordinate information and the preset coordinate data of each point on each coating surface of the automobile coating can be compared and detected online on the reference straight line in the fitting direction of the maximum inner point set to obtain an abnormal detection result of the automobile coating quality. The advantage of this is that by performing comparative detection on the reference straight line in the fitting direction of the maximum inner point set, slight changes in the coating contour of the automobile coating can be captured more accurately, thereby achieving a detailed assessment of the automobile coating quality, reducing misjudgment caused by coordinate deviation or data noise, and reducing the difficulty of detecting the automobile coating contour, thereby improving the accuracy of automobile coating contour detection.

[0046] See also Figure 2 , Figure 2 3D coating quality online detection method is another embodiment of the present invention. In this embodiment, the method comprises the following steps:

[0047] S201: Generate a three-dimensional profile of the process of gluing the car according to the starting image, the middle image and the ending image of gluing the car.

[0048] This can be as described in S101 above and will not be elaborated here.

[0049] S202: Establish XYZ three-axis coordinates in the world Cartesian coordinate system, and obtain three-dimensional space coordinate information of the three-dimensional contour in the three-axis coordinates.

[0050] This can be as described in S102 above, and will not be elaborated here.

[0051] S203: Perform online comparison detection on the three-dimensional space coordinate information and the preset coordinate data of each point on each coating surface of the automobile to obtain an abnormality detection result of the automobile coating quality.

[0052] This can be as described in S103 above, and will not be elaborated here.

[0053] S204: According to the preset coordinate data of each point on each coating surface of the automobile coating, the coating corresponding to the abnormal detection result of the automobile coating quality is corrected.

[0054] It can be found that in this embodiment, the glue coating corresponding to the abnormal detection result of the automobile glue coating quality can be corrected according to the preset coordinate data of each point on the glue coating surface of the automobile glue coating. The advantage of this is that by correcting the deviation or defects in the glue coating process, the uniformity, completeness and accuracy of the automobile glue coating can be ensured.

[0055] The present invention also provides a 3D gluing quality online detection device, which can reduce the difficulty of detecting the gluing contour of an automobile and improve the accuracy of detecting the gluing contour of an automobile.

[0056] See also Figure 3 , Figure 3 3D glue coating quality online detection device 30 includes a generation module 31 , an acquisition module 32 and a detection module 33 .

[0057] The generating module 31 is used to generate a three-dimensional profile of the process of gluing the car according to the starting image, the intermediate image and the ending image of the gluing of the car.

[0058] The acquisition module 32 is used to establish XYZ three-axis coordinates in the world Cartesian coordinate system and acquire the three-dimensional space coordinate information of the three-dimensional contour in the three-axis coordinates.

[0059] The detection module 33 is used to compare and detect the three-dimensional space coordinate information with the preset coordinate data of each point on each coating surface of the automobile coating on an online basis, so as to obtain an abnormal detection result of the automobile coating quality.

[0060] Optionally, the generating module 31 may be specifically used for:

[0061] According to the starting image, the middle image and the ending image of the car gluing, a first direction contour image, a second direction contour image and a third direction contour image of the car gluing are drawn respectively in the first direction, the second direction and the third direction which are three-dimensional directions to each other, and a three-dimensional reconstruction method is applied to combine the first direction contour image, the second direction contour image and the third direction contour image to generate a three-dimensional contour of the car gluing process.

[0062] Optionally, the acquisition module 32 may be specifically used for:

[0063] An XYZ three-axis coordinate is established in the world Cartesian coordinate system, and the contour data of the three-dimensional contour is projected on the three-axis coordinate by emitting a light beam to obtain the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinate.

[0064] Optionally, the detection module 31 may be specifically used for:

[0065] The three-dimensional space coordinate information is compared with the preset coordinate data of each point on each coating surface of the automobile on the reference straight line in the maximum inner point set fitting direction to obtain an abnormal detection result of the automobile coating quality.

[0066] See also Figure 4 , Figure 4 3D gluing quality online detection device 40 of the present invention is a schematic structural diagram of another embodiment of the present invention. Different from the previous embodiment, the 3D gluing quality online detection device 40 of the present embodiment further includes a correction module 41.

[0067] The correction module 41 is used to correct the glue coating corresponding to the abnormal detection result of the glue coating quality of the automobile according to the preset coordinate data of each point on the glue coating surface of the automobile.

[0068] Each unit module of the 3D glue coating quality online detection device 30 / 40 can respectively execute the corresponding steps in the above method embodiment, so each unit module will not be described in detail here. Please refer to the description of the above corresponding steps for details.

[0069] The present invention further provides a computer device, such as Figure 5 As shown, it includes: at least one processor 51; and a memory 52 that is communicatively connected to the at least one processor 51; wherein the memory 52 stores instructions that can be executed by the at least one processor 51, and the instructions are executed by the at least one processor 51 so that the at least one processor 51 can execute the above-mentioned 3D glue coating quality online detection method.

[0070] The memory 52 and the processor 51 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 51 and the memory 52 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 51 is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor 51.

[0071] The processor 51 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 52 can be used to store data used by the processor 51 when performing operations.

[0072] The present invention further provides a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0073] It can be found that the above scheme can generate a three-dimensional contour of the automobile gluing process based on the starting image, intermediate image and ending image of the automobile gluing, and can establish XYZ three-axis coordinates in the world Cartesian coordinate system, and obtain the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinates, and can perform online comparison and detection of the three-dimensional space coordinate information with the preset coordinate data of each point on each glue coating surface of the automobile gluing, so as to obtain the abnormal detection result of the automobile gluing quality, which can reduce the difficulty of detecting the automobile gluing contour and improve the accuracy of the automobile gluing contour detection.

[0074] Furthermore, the above scheme can draw a first direction contour image, a second direction contour image, and a third direction contour image of the car gluing in the first direction, the second direction, and the third direction, which are three-dimensional directions, respectively, based on the starting image, the intermediate image, and the ending image of the car gluing, and apply a three-dimensional reconstruction method to combine the first direction contour image, the second direction contour image, and the third direction contour image to generate a three-dimensional contour of the car gluing process. The advantage of this is that it helps to accurately analyze the uniformity and completeness of the car gluing.

[0075] Furthermore, the above scheme can establish XYZ three-axis coordinates in the world Cartesian coordinate system, and project the contour data of the three-dimensional contour onto the three-axis coordinates by emitting a light beam to obtain the three-dimensional space coordinate information of the three-dimensional contour under the three-axis coordinates. The advantage of this is that by projecting the contour data of the three-dimensional contour onto the three-axis coordinates by emitting a light beam, the three-dimensional space coordinate information of each point on the three-dimensional contour surface under the three-axis coordinates can be accurately obtained, thereby ensuring the high accuracy of the three-dimensional space coordinate information of each point on the three-dimensional contour surface under the three-axis coordinates.

[0076] Furthermore, the above scheme can perform online comparative detection on the three-dimensional spatial coordinate information and the preset coordinate data of each point on the coating surface of the automobile on the reference straight line in the fitting direction of the maximum inner point set, so as to obtain the abnormal detection result of the quality of the automobile coating. The advantage of this is that by performing comparative detection on the reference straight line in the fitting direction of the maximum inner point set, it is possible to more accurately capture the slight changes in the coating contour of the automobile coating, thereby achieving a detailed assessment of the quality of the automobile coating, reducing misjudgment caused by coordinate deviation or data noise, and reducing the difficulty of detecting the automobile coating contour, thereby improving the accuracy of automobile coating contour detection.

[0077] Furthermore, the above scheme can correct the glue coating corresponding to the abnormal detection result of the automobile glue coating quality according to the preset coordinate data of each point on the glue coating surface of the automobile glue coating. The advantage of this is that by correcting the deviation or defects in the glue coating process, the uniformity, completeness and accuracy of the automobile glue coating can be ensured.

[0078] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device implementation described above is only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0079] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0080] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0081] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0082] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A 3D gluing quality online detection method, characterized in that: include: Generate a three-dimensional profile of the process of gluing the car according to the starting image, the middle image and the ending image of gluing the car; Establishing XYZ three-axis coordinates in the world Cartesian coordinate system, and obtaining three-dimensional space coordinate information of the three-dimensional contour in the three-axis coordinates; The three-dimensional space coordinate information is compared and detected online with the preset coordinate data of each point on each coating surface of the automobile coating to obtain an abnormality detection result of the automobile coating quality.

2. The 3D gluing quality online detection method according to claim 1, characterized in that: The method of generating a three-dimensional profile of the automobile gluing process according to the starting image, the intermediate image and the ending image of the automobile gluing process comprises: According to the starting image, the middle image and the ending image of the car gluing, a first direction contour image, a second direction contour image and a third direction contour image of the car gluing are drawn respectively in the first direction, the second direction and the third direction which are three-dimensional directions, and a three-dimensional reconstruction method is applied to combine the first direction contour image, the second direction contour image and the third direction contour image to generate a three-dimensional contour of the car gluing process.

3. The 3D gluing quality online detection method according to claim 1, characterized in that: The step of establishing XYZ three-axis coordinates in the world Cartesian coordinate system and obtaining three-dimensional space coordinate information of the three-dimensional contour in the three-axis coordinates includes: An XYZ three-axis coordinate system is established in the world Cartesian coordinate system, and the contour data of the three-dimensional contour is projected on the three-axis coordinate system by emitting a light beam to obtain the three-dimensional space coordinate information of the three-dimensional contour on the three-axis coordinate system.

4. The 3D gluing quality online detection method according to claim 1, characterized in that: The three-dimensional space coordinate information is compared with the preset coordinate data of each point on each coating surface of the automobile coating to obtain an abnormal detection result of the automobile coating quality, including: The three-dimensional space coordinate information is compared with the preset coordinate data of each point on each coating surface of the automobile coating on the reference straight line in the maximum interior point set fitting direction to obtain an abnormal detection result of the automobile coating quality.

5. The 3D gluing quality online detection method according to claim 1, characterized in that: After the three-dimensional space coordinate information is compared and detected online with the preset coordinate data of each point on each coating surface of the automobile coating to obtain the abnormality detection result of the automobile coating quality, the method further includes: According to the preset coordinate data of each point on each glue coating surface of the automobile glue coating, the glue coating corresponding to the abnormal detection result of the automobile glue coating quality is corrected.

6. A 3D glue coating quality online detection device, characterized in that: include: Generation module, acquisition module and detection module; The generating module is used to generate a three-dimensional profile of the process of gluing the car according to the starting image, the intermediate image and the ending image of gluing the car; The acquisition module is used to establish XYZ three-axis coordinates in the world Cartesian coordinate system, and obtain the three-dimensional space coordinate information of the three-dimensional contour in the three-axis coordinates; The detection module is used to compare and detect the three-dimensional space coordinate information with the preset coordinate data of each point on each coating surface of the automobile coating on an online basis, so as to obtain an abnormal detection result of the automobile coating quality.

7. The 3D glue coating quality online detection device according to claim 6, characterized in that: The generation module is specifically used to draw a first direction contour image, a second direction contour image, and a third direction contour image of the car gluing in a first direction, a second direction, and a third direction that are three-dimensional directions, respectively, based on a starting image, an intermediate image, and an ending image of the car gluing, and apply a three-dimensional reconstruction method to combine the first direction contour image, the second direction contour image, and the third direction contour image to generate a three-dimensional contour of the car gluing process.

8. The 3D glue coating quality online detection device according to claim 6, characterized in that: The acquisition module is specifically used for: An XYZ three-axis coordinate system is established in the world Cartesian coordinate system, and the contour data of the three-dimensional contour is projected on the three-axis coordinate system by emitting a light beam to obtain the three-dimensional space coordinate information of the three-dimensional contour on the three-axis coordinate system.

9. A computer device, characterized in that: include: at least one processor; And, a memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, and the instructions are executed by at least one processor so that at least one processor can execute the 3D glue coating quality online detection method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the 3D gluing quality online detection method as described in any one of claims 1 to 5 is implemented.

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