Visual detection system and method for wrong and neglected loading of angle pieces in aircraft assembly

Abstract

The invention discloses a visual detection system and method for wrong and neglected loading of angle pieces in aircraft assembly, and the visual detection device carries an attitude adjustment module and a visual module through a mobile carrier, and moves in each detection station; the posture adjusting module adjusts the shooting visual angle of the visual module through three-axis movement; the vision module shoots a machine body part image of the machine body part; the general control system is used for controlling the posture adjusting module and the vision module, and the functions of manual frame selection, position correction, contour recognition, contour comparison and detection database recording are achieved on the machine body part images through a display interface of the general control system. The general control system obtains a detection template for the machine body part with the angle piece installed at each detection station in a calibration mode, and a detection template database is formed; and in the detection mode, matching a to-be-detected machine body part image shot by the to-be-detected machine body part at each detection station with the corresponding detection template to obtain an angle sheet detection result at each detection station.

Description

Technical Field

[0001] The present invention relates to the field of visual inspection technology, but is not limited to it, and in particular to a visual inspection system and method for detecting corner piece mis-assembly or missing assembly in aircraft assembly. Background Art

[0002] There are many types of corner pieces in the wings, fuselage and other parts to fix the system's pipes, wiring harnesses or finished parts. The correctness of the installation of these corner pieces directly affects the smooth installation of the pipe system. Missing installation, wrong installation position or wrong installation direction is likely to affect the flight safety of the aircraft.

[0003] Due to the small size, large number and irregularity of corner parts, after the aircraft assembly parts are manufactured, they are currently mainly checked manually for their installation position, direction and quantity. The traditional manual inspection method is inefficient, the inspection results depend on the workers' state and technical level, long working hours can easily lead to worker fatigue and other problems, and manual inspection cannot quantitatively define the mis-installation of parts, making it difficult to effectively detect the mis-installation of these parts. Summary of the invention

[0004] Purpose of the present invention: In order to solve the above-mentioned technical problems, the embodiments of the present invention provide a visual inspection system and method for detecting the mis-installation or missing installation of corner pieces in aircraft assembly, so as to solve the problems of the existing inspection method for corner piece parts in aircraft assembly, such as low assembly efficiency, the inspection results being dependent on the workers' status and technical level, and long working hours easily leading to worker fatigue, and manual inspection being unable to quantitatively define the mis-installation of parts, making it difficult to effectively detect the mis-installation or missing installation of these parts.

[0005] Technical solution of the present invention: In a first aspect, an embodiment of the present invention provides a visual inspection system for missing or incorrect installation of corner pieces in aircraft assembly, comprising: a visual inspection device and a master control system; wherein the visual inspection device comprises: a mobile carrier, and a posture adjustment module fixedly mounted on the mobile carrier, and a visual module mounted at the end of the posture adjustment module;

[0006] The mobile carrier is used to carry the posture adjustment module and the visual module and move in each detection station; the posture adjustment module is used to adjust the shooting angle of the visual module by moving the vertical axis, the pitch axis and the rotation axis; the visual module is used to shoot the image of the body parts and has the functions of focusing and multi-angle lighting;

[0007] The master control system is respectively connected to the posture adjustment module and the vision module in the visual inspection device, and is used to control the posture adjustment module and the vision module, and realizes manual frame selection, position correction, contour recognition, contour comparison and detection database recording functions through the display interface of the master control system for the captured body part image;

[0008] The master control system has a calibration mode or a detection mode, which is used to cooperate with the visual inspection device in the calibration mode to obtain the detection template of the detection station at each detection station for the body parts with correctly installed corner pieces, and form a detection template database in combination with the layout of all detection stations; it is also used to cooperate with the visual inspection device in the detection mode to match the images of the body parts to be inspected taken at each detection station with the detection templates at the corresponding detection station to obtain the corner piece detection results at each detection station.

[0009] Optionally, in a visual inspection system for detecting missing or incorrect installation of corner pieces during aircraft assembly as described above, the master control system has the functions of calling the inspection template database, controlling the attitude adjustment module to adjust the attitude, controlling the visual module to shoot and complete image-based identification and analysis of missing or incorrect installation, and storing and analyzing the inspection results.

[0010] In a second aspect, an embodiment of the present invention further provides a visual inspection method for incorrect or missing installation of corner pieces in aircraft assembly, wherein the visual inspection method is performed using a visual inspection system as described in any one of the above items, and the method comprises:

[0011] Step 1: Start the visual inspection device and enter the calibration mode;

[0012] Step 2: Fix the body parts with the corner pieces correctly installed at the pre-planned placement station through the transfer device, and pull the visual inspection device to the pre-planned inspection station;

[0013] Step three, control the posture of each axis in the posture adjustment module in the visual inspection device through the master control system, and adjust the shooting angle according to the real-time image feedback from the visual module; after determining the shooting angle at the current inspection position, shoot the body parts and generate body part images; display the body part images through the display interface on the master control system, and select a position correction area frame diagram in the body part image to correct the image movement, rotation and scaling interference caused by the positioning deviation of the visual module in subsequent inspections;

[0014] Step 4: select the corner piece area frame diagram in the body component image displayed on the display interface of the master control system, correspond the drawing number of the corner piece area frame diagram with the corner piece number, and automatically identify and record the corner piece outline;

[0015] Step 5, recording the posture information of the posture adjustment module at the current detection station, the image of the body parts taken, the position and size information of the position correction area frame information, the structural contour information in the position correction area frame, the position and size information of the corner piece area frame, the structural contour information in the corner piece area frame, and the numbering information of the corner piece corresponding to the corner piece area frame, to obtain the detection template at the current detection station;

[0016] Step 6, moving the visual inspection device to the next pre-planned inspection station;

[0017] Step 7, repeating steps 3 to 6 until the detection template corresponding to each detection station is obtained at each detection station, forming a detection template database, and completing the calibration of the visual inspection device; the detection template database includes: the detection station layout of the body parts to be inspected, and the detection template under each detection station;

[0018] Step 8: For the machine body parts to be inspected, the visual inspection device is controlled by the master control system to enter the wrong or missing installation inspection mode;

[0019] Step nine, fix the body parts to be inspected at the pre-planned placement station through the transfer device, and pull the visual inspection device to the pre-planned inspection station;

[0020] Step 10: The inspection template of the current inspection station is called by the master control system, so that the visual inspection device automatically adjusts the posture information recorded in the inspection template, automatically controls the visual module to capture the image of the body part to be inspected, automatically corrects the position of the corner piece area frame diagram in the image of the body part to be inspected based on the position correction area frame diagram in the inspection template, automatically identifies the corner piece contour and obtains the identification result (OK / NG) of each corner piece area frame diagram by comparing it with the inspection template, and then obtains the wrong or missed installation detection result of each corner piece in the image of the body part to be inspected, and completes the visual inspection of the current inspection station;

[0021] Step 11, moving the visual inspection device to the next inspection station, and repeating the inspection process in step 10;

[0022] Step 12, repeating step 11 until the detection results of the corresponding detection stations are obtained at each detection station, so as to complete the corner piece mis-installation detection of the entire body component to be inspected and output the detection results.

[0023] Optionally, in the method described above,

[0024] The relative position between the placement station pre-planned in step 2 and each detection station is fixed, and the planning of each detection station is obtained through manual planning. Whether to arrange the detection station is determined based on the imaging effect of the visual module under each detection station.

[0025] Optionally, in the method described above,

[0026] The method of adjusting the shooting angle of view according to the real-time image fed back by the visual module in step three is: the master control system controls each motion axis in the posture adjustment module according to the real-time image of the body parts to achieve the adjustment of the shooting angle of view.

[0027] Optionally, in the method as described above, in step three,

[0028] After the position correction area frame diagram is selected in the body component image, the master control system automatically identifies the contour information of the body structure image in the position correction area frame diagram, and uses the position correction area frame diagram at the current detection station to match the body component image to be detected during subsequent detection of the body component to be detected;

[0029] The principle for selecting the position correction area is: select intersections and slide rails in the body parts that have distinct geometric features and are not prone to assembly errors.

[0030] Optionally, in the method described above,

[0031] The method of selecting the corner piece area frame in the body part image in step 4 is: select the corner piece to be inspected according to the inspection requirements, and the shape, size and position of the corner piece selection frame are adjustable.

[0032] Optionally, the method of moving the visual inspection device in step 6 of the above method is: placing the visual inspection device into the inspection positioning frame of the next inspection station by manual traction or automatic guidance of the mobile device, and the positioning accuracy is at the centimeter level;

[0033] The placement of the body parts to be inspected and the visual inspection device in step nine is as follows: the traction device is manually or automatically positioned into the corresponding positioning frame, and the positioning accuracy is in the centimeter level.

[0034] Optionally, in the method described above, the master control system has the functions of calling the detection template database, controlling the posture adjustment module to adjust the posture, controlling the visual module to shoot and complete the image-based wrong and missing assembly identification analysis, and storing the analysis results; the master control system performs the image-based wrong and missing assembly identification analysis, including:

[0035] S1, call the detection template recorded at the current detection station;

[0036] S2, performing preliminary contour extraction on the image of the body parts taken at the current detection station;

[0037] S3, combining the structural contour in the position correction area frame diagram in the detection template with the contour information of the image of the body component to be inspected, identifying the position correction area in the image of the body component to be inspected in the position correction area frame diagram, and calculating the displacement and rotation angle of the position correction area in the two images;

[0038] S4, correcting the position of the corner patch area frame diagram in the detection template in the newly captured image of the body part to be inspected according to the calculated displacement and rotation angle of the position correction area;

[0039] S5, identifying corner piece contour information in each corner piece region frame;

[0040] S6, using the identified corner piece contour information to match the detection template, if the matching similarity exceeds the set threshold, the corner piece is judged to be installed normally, and an OK is output; if the matching similarity is less than the set threshold due to missing installation, wrong corner piece model, or wrong installation direction of the corner piece, the corner piece is judged to be incorrectly installed, and an NG is output;

[0041] S7, outputting and displaying the analysis results of all corner pieces in the image of the body part to be inspected, and completing the corner piece detection at the current station.

[0042] Optionally, in the method described above,

[0043] The detection result in step twelve includes the detection station information, the image of the body part to be inspected, the detection result of each corner piece in the entire body part to be inspected (correct OK or incorrect NG), and the number of the incorrectly installed corner piece.

[0044] Beneficial effects of the present invention: The embodiments of the present invention provide a visual inspection system and method for detecting the mis-installation and missing of corner pieces in aircraft assembly. In view of the large number of corner pieces with many types and models in aircraft assembly, a visual inspection system including a visual inspection device and a general control system is provided. The inspection device can be towed and moved between the inspection stations, and is equipped with a posture adjustment module and a visual module; the general control system can control the modules in the inspection device and is equipped with a calibration mode and a detection mode, and uses the inspection template database generated by the calibration mode to realize automatic detection of mis-installation and missing of corner pieces for local areas of the body parts to be inspected in the detection mode. By moving the visual inspection system between the inspection stations, the automatic detection of mis-installation and missing of all corner pieces in the entire body parts to be inspected is completed, and information such as the number of the incorrectly installed corner piece is output. The visual inspection system and method proposed in the present invention replace the manual inspection of mis-installation and missing of corner pieces, and can accurately and quickly judge the integrity and accuracy of the assembly of components, thereby improving the digital level of aircraft assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0046] Figure 1 A schematic diagram of detecting the wrong or missing installation of a corner piece of a wing box system provided by an embodiment of the present invention;

[0047] Figure 2 A schematic diagram of a visual inspection device in a visual inspection system for incorrect or missing installation of corner pieces in aircraft assembly provided by an embodiment of the present invention;

[0048] Figure 3A schematic diagram of a position correction region frame diagram and a corner patch region frame diagram selected for a captured body structure image in a calibration mode of a visual inspection system provided by an embodiment of the present invention;

[0049] Figure 4 A schematic diagram of a visual inspection system provided by an embodiment of the present invention in a calibration mode, identifying a corner patch outline and forming a corner patch outline template for an image within a corner patch area frame diagram;

[0050] Figure 5 A schematic diagram of a process of determining whether a corner piece is correctly installed in a detection mode by a visual inspection system provided by an embodiment of the present invention;

[0051] Figure 6 A schematic diagram of a process for determining whether a corner piece is incorrectly installed or missing in a detection mode by a visual inspection system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0053] The above background technology has explained the important role of corner pieces and other parts in aircraft assembly, the characteristics of corner piece parts, and the existing manual inspection methods for the correctness of corner piece installation and the many problems they have, namely, low inspection efficiency, the inspection results are dependent on the workers' state and technical level, long-term work can easily lead to worker fatigue, and manual inspection cannot quantitatively define the mis-installation of parts, making it difficult to effectively detect the mis-installation of these parts. The above problems may cause unqualified components to flow into the next process, affecting the installation of subsequent pipelines, wiring harnesses, and finished products.

[0054] Based on the above problems existing in the manual inspection method, and the booming machine vision inspection technology in recent years as a new type of digital inspection technology, it has the advantages of non-contact, high accuracy, easy data storage and traceability. The present invention considers the application of digital inspection means to improve the accuracy of system structural parts inspection. Based on this, the embodiment of the present invention provides a visual inspection method for missing corner pieces in aircraft assembly. By introducing machine vision inspection technology into the digital inspection of aviation assemblies to replace the manual inspection of complex assemblies, the integrity and accuracy of component assembly can be accurately and quickly judged, and the digital level of aircraft assembly can be further improved.

[0055] In response to the above-mentioned problems and the requirements for bearing closing of long and narrow parts, an embodiment of the present invention provides a constant force pressure closing device and method for closing the bearing of long and narrow parts.

[0056] In response to the above-mentioned problems and the requirements for bearing closing of long and narrow parts, an embodiment of the present invention provides a constant force pressure closing device and method for closing the bearing of long and narrow parts.

[0057] In view of the large number of corner pieces and other parts in aviation components, in order to accurately and quickly judge the integrity and accuracy of corner piece assembly, the embodiments of the present invention propose a visual inspection system and method for incorrect or missing installation of corner pieces in aircraft assembly, thereby realizing automatic detection of incorrect or missing installation of system corner pieces.

[0058] An embodiment of the present invention provides a visual inspection system for detecting missing or incorrect installation of corner pieces during aircraft assembly. The visual inspection system comprises a visual inspection device and a master control system. Figure 2 Schematic diagram of a visual inspection device in a visual inspection system for detecting missing or incorrect corner pieces during aircraft assembly provided by an embodiment of the present invention. Figure 3 As shown, the visual inspection device in the embodiment of the present invention includes: a mobile carrier, a posture adjustment module fixedly installed on the mobile carrier, and a visual module installed at the end of the posture adjustment module.

[0059] like Figure 2 In the structure of the visual inspection device shown, the mobile carrier is used to carry the posture adjustment module and the visual module, and move in each inspection station; the posture adjustment module is used to adjust the shooting angle of the visual module by moving the vertical axis, pitch axis, and rotation axis; the visual module is used to capture images of the body parts, and has focusing and multi-angle lighting functions.

[0060] The master control system in the embodiment of the present invention is respectively connected to the posture adjustment module and the vision module in the visual inspection device, and is used to control the posture adjustment module and the vision module, and realizes manual frame selection, position correction, contour recognition, contour comparison and detection database recording functions through the display interface of the master control system for the captured image of the body parts.

[0061] In addition, the master control system provided in the embodiment of the present invention has a calibration mode or a detection mode:

[0062] On the one hand, in the calibration mode, in conjunction with the visual inspection device, the body parts with correctly installed corner pieces are used to obtain the inspection template of the inspection station at each inspection station, and the inspection template database is combined with the layout of all inspection stations;

[0063] On the other hand, in the detection mode, in cooperation with the visual inspection device, the image of the body part to be inspected taken at each inspection station is matched with the inspection template at the corresponding inspection station to obtain the corner piece detection result at each inspection station.

[0064] In one implementation of an embodiment of the present invention, the master control system of the visual inspection system has the functions of calling the inspection template database, controlling the posture adjustment module to adjust the posture, controlling the visual module to shoot and complete image-based error and missing assembly identification and analysis, and storing and analyzing the inspection results.

[0065] Based on the visual inspection system for incorrect or missing installation of corner pieces in aircraft assembly provided by the above embodiments of the present invention, an embodiment of the present invention further provides a visual inspection method for incorrect or missing installation of corner pieces in aircraft assembly, and the visual inspection system provided by any of the above embodiments is used to perform the visual inspection method. The visual inspection method provided by the embodiment of the present invention includes the following steps:

[0066] Step 1: Start the visual inspection device and enter the calibration mode.

[0067] Step 2, such as Figure 1 As shown, the fuselage parts (wings, fuselage and other parts) with correctly installed corner pieces are fixed at the pre-planned placement station through the transfer device, and the visual inspection device is towed to the pre-planned inspection station; Figure 1 A schematic diagram of detecting incorrect or missing installation of corner pieces of a wing box system provided in an embodiment of the present invention.

[0068] Step 3: Control the posture of each axis in the posture adjustment module of the visual inspection device through the master control system, and adjust the shooting angle according to the real-time image feedback from the visual module; after determining the shooting angle at the current inspection position, shoot the body parts and generate Figure 3 The body component image shown in the figure; the body component image is displayed on the display interface of the master control system, and a frame is selected in the body component image Figure 3 The position correction area block diagram shown is used to correct image movement, rotation and scaling interference caused by positioning deviation of the visual module in subsequent detection; Figure 3 A schematic diagram of a position correction area frame diagram and a corner patch area frame diagram selected for a captured body structure image in a calibration mode of a visual inspection system provided by an embodiment of the present invention.

[0069] Step 4: Select the part in the image of the machine body displayed on the main control system display interface. Figure 3 The corner piece area frame diagram shown in the figure is used, and the drawing number of the corner piece area frame diagram corresponds to the corner piece number, and the corner piece outline is automatically identified and recorded; the identification process is as follows Figure 4 As shown, Figure 4 A schematic diagram of a visual inspection system provided in an embodiment of the present invention identifying a corner patch outline and forming a corner patch outline template for an image within a corner patch area frame diagram in a calibration mode.

[0070] Step 5, recording the posture information of the posture adjustment module at the current detection station, the image of the body parts taken, the position and size information of the position correction area frame information, the structural contour information in the position correction area frame, the position and size information of the corner piece area frame, the structural contour information in the corner piece area frame, and the numbering information of the corner piece corresponding to the corner piece area frame, to obtain the detection template at the current detection station;

[0071] Step 6, moving the visual inspection device to the next pre-planned inspection station;

[0072] Step 7, repeating steps 3 to 6 until the detection template corresponding to each detection station is obtained at each detection station, forming a detection template database, and completing the calibration of the visual inspection device; the detection template database includes: the detection station layout of the body parts to be inspected, and the detection template under each detection station;

[0073] Step 8: For the machine body parts to be inspected, the visual inspection device is controlled by the master control system to enter the wrong or missing installation inspection mode;

[0074] Step nine, such as Figure 1 As shown, the body part to be inspected is fixed at a pre-planned placement station through a transfer device, and the visual inspection device is towed to the pre-planned inspection station;

[0075] Step ten, calling the inspection template of the current inspection station through the master control system, allowing the visual inspection device to automatically adjust the posture information recorded in the inspection template, automatically controlling the visual module to capture the image of the body part to be inspected, automatically correcting the position of the corner piece area frame diagram in the image of the body part to be inspected based on the position correction area frame diagram in the inspection template, automatically identifying the corner piece contour and obtaining the recognition result (OK / NG) of each corner piece area frame diagram by comparing it with the inspection template.

[0076] Figure 5 A schematic diagram of a process of determining whether a corner piece is correctly installed in a detection mode by a visual inspection system provided by an embodiment of the present invention, Figure 6 A schematic diagram of a process for determining whether a corner piece is incorrectly installed or missing in a detection mode by a visual inspection system provided in an embodiment of the present invention.

[0077] like Figure 5 As shown, when the corner piece is correctly installed, the corner piece outline automatically identified in the corner piece frame is matched with the template for correlation, and the correlation is higher than the set threshold. The system determines that the corner piece is correctly installed and the output result is OK.

[0078] like Figure 6As shown, when the installed corner piece model is wrong, the installed corner piece model is correct but the installation direction is wrong, the corner piece is missing, etc., the corner piece contour identified in the corner piece frame is not correlated with the corner piece contour in the corresponding template, and the correlation is lower than the set threshold, the system determines that the corner piece is incorrectly installed, and the output result is NG.

[0079] At the current detection station, after performing the error and missing installation detection on each corner piece area frame diagram in the body structure image, the error and missing installation detection results of each corner piece in the image are obtained, thereby realizing the error and missing installation detection at the current detection station.

[0080] Step 11, moving the visual inspection device to the next inspection station, and repeating the inspection process in step 10;

[0081] Step 12, repeating step 11 until the detection results of the corresponding detection stations are obtained at each detection station, so as to complete the corner piece mis-installation detection of the entire body component to be inspected and output the detection results.

[0082] At this point, the automatic detection of incorrect or missing installation of all corner pieces in the body parts to be inspected is completed.

[0083] In one implementation of an embodiment of the present invention, the relative position between the placement station pre-planned in step 2 and each detection station is fixed, and the planning of each detection station is obtained through manual planning. Whether to arrange the detection station is determined based on the imaging effect of the visual module under each detection station.

[0084] In one implementation of an embodiment of the present invention, the method of adjusting the shooting angle according to the real-time image feedback from the visual module in step three is: the master control system controls each motion axis in the posture adjustment module according to the real-time image of the body parts to achieve the adjustment of the shooting angle.

[0085] In one implementation of an embodiment of the present invention, in the above step three, after the position correction area frame diagram is selected in the body component image, the general control system automatically identifies the contour information of the body structure image in the position correction area frame diagram, and uses it for subsequent inspection of the body component to be inspected, and matches the position correction area frame diagram at the current inspection station with the image of the body component to be inspected.

[0086] It should be noted that the principle for selecting the position correction area is to select intersections and slide rails in the body parts that have distinct geometric features and are not prone to assembly errors.

[0087] In one implementation of an embodiment of the present invention, the method of selecting the corner piece area frame in the body part image in step 4 is: select the corner piece to be inspected according to the detection requirements, and the shape, size and position of the corner piece selection frame are adjustable.

[0088] In one implementation of an embodiment of the present invention, the method of moving the visual inspection device in step six is: using manual traction or automatic guidance of the mobile device to place the visual inspection device into the inspection positioning frame of the next inspection station, and its positioning accuracy is at the centimeter level.

[0089] Correspondingly, in step nine, the body parts to be inspected and the visual inspection device are placed in the following manner: the traction device is manually or automatically positioned in the corresponding positioning frame, and the positioning accuracy is in the centimeter level.

[0090] In one implementation of the embodiment of the present invention, the master control system has the functions of calling the detection template database, controlling the posture adjustment module to adjust the posture, controlling the visual module to shoot and complete the image-based wrong and missing assembly identification analysis, and storing the analysis results; the master control system performs the image-based wrong and missing assembly identification analysis, including:

[0091] S1, call the detection template recorded at the current detection station;

[0092] S2, performing preliminary contour extraction on the image of the body parts taken at the current detection station;

[0093] S3, combining the structural contour in the position correction area frame diagram in the detection template with the contour information of the image of the body component to be inspected, identifying the position correction area in the image of the body component to be inspected in the position correction area frame diagram, and calculating the displacement and rotation angle of the position correction area in the two images;

[0094] S4, correcting the position of the corner patch area frame diagram in the detection template in the newly captured image of the body part to be inspected according to the calculated displacement and rotation angle of the position correction area;

[0095] S5, identifying corner piece contour information in each corner piece region frame;

[0096] S6, using the identified corner piece contour information to match the detection template, if the matching similarity exceeds the set threshold, the corner piece is judged to be installed normally, and an OK is output; if the matching similarity is less than the set threshold due to missing installation, wrong corner piece model, or wrong installation direction of the corner piece, the corner piece is judged to be incorrectly installed, and an NG is output;

[0097] S7, outputting and displaying the analysis results of all corner pieces in the image of the body part to be inspected, and completing the corner piece detection at the current station.

[0098] In one implementation of the embodiment of the present invention, the detection result in step twelve includes the detection station information, the image of the body part to be inspected, the detection result of each corner piece in the entire body part to be inspected (correct OK or incorrect NG), and the number of the incorrectly installed corner piece.

[0099] Although the embodiments disclosed in the present invention are as above, the contents are only embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any technician in the field to which the present invention belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A visual inspection system for detecting missing or incorrect corner pieces during aircraft assembly, characterized in that: include: Visual inspection device and master control system; wherein the visual inspection device comprises: a mobile carrier, a posture adjustment module fixedly mounted on the mobile carrier, and a visual module mounted at the end of the posture adjustment module; The mobile carrier is used to carry the posture adjustment module and the visual module and move in each detection station; the posture adjustment module is used to adjust the shooting angle of the visual module by moving the vertical axis, the pitch axis and the rotation axis; the visual module is used to shoot the image of the body parts and has the functions of focusing and multi-angle lighting; The master control system is respectively connected to the posture adjustment module and the vision module in the visual inspection device, and is used to control the posture adjustment module and the vision module, and realizes manual frame selection, position correction, contour recognition, contour comparison and detection database recording functions through the display interface of the master control system for the captured body part image; The master control system has a calibration mode or a detection mode, which is used to cooperate with the visual inspection device in the calibration mode to obtain the detection template of the detection station at each detection station for the body parts with correctly installed corner pieces, and form a detection template database in combination with the layout of all detection stations; it is also used to cooperate with the visual inspection device in the detection mode to match the images of the body parts to be inspected taken at each detection station with the detection templates at the corresponding detection station to obtain the corner piece detection results at each detection station.

2. A visual inspection system for detecting missing or incorrect corner pieces during aircraft assembly according to claim 1, characterized in that: The master control system has the functions of calling the detection template database, controlling the posture adjustment module to adjust the posture, controlling the visual module to shoot and complete the image-based wrong and missed assembly recognition analysis, and storing and analyzing the detection results.

3. A visual inspection method for detecting missing or incorrect corner pieces during aircraft assembly, characterized in that: A visual inspection method is performed using a visual inspection system as claimed in any one of claims 1 to 2, the method comprising: Step 1: Start the visual inspection device and enter the calibration mode; Step 2: Fix the body parts with the corner pieces correctly installed at the pre-planned placement station through the transfer device, and pull the visual inspection device to the pre-planned inspection station; Step three, control the posture of each axis in the posture adjustment module in the visual inspection device through the master control system, and adjust the shooting angle according to the real-time image feedback from the visual module; after determining the shooting angle at the current inspection position, shoot the body parts and generate body part images; display the body part images through the display interface on the master control system, and select a position correction area frame diagram in the body part image to correct the image movement, rotation and scaling interference caused by the positioning deviation of the visual module in subsequent inspections; Step 4: select the corner piece area frame diagram in the body component image displayed on the display interface of the master control system, correspond the drawing number of the corner piece area frame diagram with the corner piece number, and automatically identify and record the corner piece outline; Step 5, recording the posture information of the posture adjustment module at the current detection station, the image of the body parts taken, the position and size information of the position correction area frame information, the structural contour information in the position correction area frame, the position and size information of the corner piece area frame, the structural contour information in the corner piece area frame, and the numbering information of the corner piece corresponding to the corner piece area frame, to obtain the detection template at the current detection station; Step 6, moving the visual inspection device to the next pre-planned inspection station; Step 7, repeating steps 3 to 6 until the detection template corresponding to each detection station is obtained at each detection station, forming a detection template database, and completing the calibration of the visual inspection device; the detection template database includes: the detection station layout of the body parts to be inspected, and the detection template under each detection station; Step 8: For the machine body parts to be inspected, the visual inspection device is controlled by the master control system to enter the wrong or missing installation inspection mode; Step nine, fix the body parts to be inspected at the pre-planned placement station through the transfer device, and pull the visual inspection device to the pre-planned inspection station; Step 10: The inspection template of the current inspection station is called by the master control system, so that the visual inspection device automatically adjusts the posture information recorded in the inspection template, automatically controls the visual module to capture the image of the body part to be inspected, automatically corrects the position of the corner piece area frame diagram in the image of the body part to be inspected based on the position correction area frame diagram in the inspection template, automatically identifies the corner piece contour and obtains the identification result (OK / NG) of each corner piece area frame diagram by comparing it with the inspection template, and then obtains the wrong or missed installation detection result of each corner piece in the image of the body part to be inspected, and completes the visual inspection of the current inspection station; Step 11, moving the visual inspection device to the next inspection station, and repeating the inspection process in step 10; Step 12, repeating step 11 until the detection results of the corresponding detection stations are obtained at each detection station, so as to complete the corner piece mis-installation detection of the entire body component to be inspected and output the detection results.

4. The method according to claim 3, characterized in that The relative position between the placement station pre-planned in step 2 and each detection station is fixed, and the planning of each detection station is obtained through manual planning. Whether to arrange the detection station is determined based on the imaging effect of the visual module under each detection station.

5. The method according to claim 3, characterized in that: The method of adjusting the shooting angle of view according to the real-time image fed back by the visual module in step three is: the master control system controls each motion axis in the posture adjustment module according to the real-time image of the body parts to achieve the adjustment of the shooting angle of view.

6. The method according to claim 3, characterized in that In the step three, After the position correction area frame diagram is selected in the body component image, the master control system automatically identifies the contour information of the body structure image in the position correction area frame diagram, and uses the position correction area frame diagram at the current detection station to match the body component image to be detected during subsequent detection of the body component to be detected; The principle for selecting the position correction area is: select intersections and slide rails in the body parts that have distinct geometric features and are not prone to assembly errors.

7. The method according to claim 3, characterized in that The method of selecting the corner piece area frame in the body part image in step 4 is: select the corner piece to be inspected according to the inspection requirements, and the shape, size and position of the corner piece selection frame are adjustable.

8. The method according to claim 1, characterized in that The method of moving the visual inspection device in step 6 is: placing the visual inspection device into the inspection positioning frame of the next inspection station by manual traction or automatic guidance of the mobile device, and the positioning accuracy is at the centimeter level; The placement of the body parts to be inspected and the visual inspection device in step nine is as follows: the traction device is manually or automatically positioned into the corresponding positioning frame, and the positioning accuracy is in the centimeter level.

9. The method according to claim 1, characterized in that: The master control system has the functions of calling the detection template database, controlling the posture adjustment module to adjust the posture, controlling the visual module to shoot and complete the image-based error and missing assembly identification analysis, and storing the analysis results; The master control system performs image-based error and missing assembly identification analysis, including: S1, call the detection template recorded at the current detection station; S2, performing preliminary contour extraction on the image of the body parts taken at the current detection station; S3, combining the structural contour in the position correction area frame diagram in the detection template with the contour information of the image of the body component to be inspected, identifying the position correction area in the image of the body component to be inspected in the position correction area frame diagram, and calculating the displacement and rotation angle of the position correction area in the two images; S4, correcting the position of the corner patch area frame diagram in the detection template in the newly captured image of the body part to be inspected according to the calculated displacement and rotation angle of the position correction area; S5, identifying corner piece contour information in each corner piece region frame; S6, using the identified corner piece contour information to match the detection template, if the matching similarity exceeds the set threshold, the corner piece is judged to be installed normally, and an OK is output; if the matching similarity is less than the set threshold due to missing installation, wrong corner piece model, or wrong installation direction of the corner piece, the corner piece is judged to be incorrectly installed, and an NG is output; S7, outputting and displaying the analysis results of all corner pieces in the image of the body part to be inspected, and completing the corner piece detection at the current station.

10. The method according to claim 3, characterized in that The detection result in step twelve includes detection station information, an image of the body part to be detected, the detection result of each corner piece in the entire body part to be detected, and the number of the incorrectly installed corner piece.

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