Glass assembly detection equipment and detection method

Abstract

The invention discloses glass assembly detection equipment and a detection method. The glass assembly detection equipment comprises an image recognition assembly and a reference device, the reference device comprises a reference surface; in the vertical direction, the image recognition assembly is arranged opposite to the reference surface, and the image recognition assembly obtains position information of the reference surface; a detection window is formed in the reference surface; in the vertical direction, the image recognition assembly is further arranged opposite to the detection window, so that the image recognition assembly obtains position information of a target glass assembly located in the detection window and establishes a virtual camera surface on the target glass assembly. According to the invention, batch calibration of the glass assembly can be realized, and the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of glass assembly, in particular to a glass assembly detection device and a detection method. BACKGROUND

[0002] In order to improve the safety of vehicle driving, the existing vehicles are generally equipped with sensors such as cameras and radars to perceive environmental changes and thus realize assisted driving. The position parameters of the sensors such as cameras and radars on the vehicle will directly affect the positioning accuracy of the assisted driving system, and thus affect the safety and reliability of the assisted driving of the vehicle.

[0003] In order to solve the above problems, the position of the sensor on the vehicle will be precisely positioned before the vehicle is shipped. However, it is inevitable that the structural member of the vehicle on which the sensor is installed needs to be replaced. In order to ensure the safety of assisted driving, the sensor needs to be calibrated again after the structural member is replaced.

[0004] In the field, for the ADAS (i.e. advanced driving assistance system) camera mounted on the vehicle glass, after the vehicle replaces the glass, professional technicians need to recalibrate the ADAS camera to ensure the position accuracy of the camera. The test method in the patent document with publication number CN116012466A discloses a space self-calibration method and system of an automobile ADAS calibration device. Although the test method in the patent document can ensure the calibration accuracy of the camera, the calibration process is time-consuming and inefficient, and the test scene is limited, which cannot be directly completed in the production workshop.

[0005] In summary, the existing ADAS test method cannot ensure the calibration accuracy of the camera while ensuring the calibration efficiency. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a glass assembly detection device and a detection method to ensure the calibration accuracy of the camera while improving the calibration efficiency.

[0007] In order to solve the above technical problems, in a first aspect, the present application provides a glass assembly detection device, comprising an image recognition component and a reference device. The reference device comprises a reference surface. In the vertical direction, the image recognition component is arranged opposite to the reference surface, and the image recognition component is used to acquire the position information of the reference surface. The reference surface is provided with a detection window. The image recognition assembly is arranged opposite to the detection window in the vertical direction, so that the image recognition assembly acquires position information of the target glass assembly located in the detection window and establishes a virtual camera plane on the target glass assembly.

[0008] In some embodiments, the reference device comprises a reference support, a detection platform and a positioning device; The reference support is arranged on the detection platform and cooperates with the top surface of the detection platform to form a positioning cavity; The positioning device is arranged in the positioning cavity; In the vertical direction, the reference surface is located on the side of the reference support away from the positioning device; The detection window is centrally arranged on the reference surface.

[0009] In some embodiments, the reference support comprises a reference plate and a reference block; The horizontal plane has a first direction and a second direction perpendicular to each other; In the first direction, the reference block is arranged on one side of the detection window; In the second direction, at least one reference plate is arranged on each side of the detection window.

[0010] In some embodiments, the positioning device comprises a support mechanism; The jacking surface of the support mechanism is provided with a pressure sensor.

[0011] In some embodiments, the positioning device further comprises a transmission mechanism and a positioning mechanism; The support mechanism, the transmission mechanism and the positioning mechanism are all arranged on the detection platform; The positioning mechanism can form a detection area matched with the target glass assembly; The support mechanism is arranged in the detection area, and the support mechanism is used to support the target glass assembly; The transmission mechanism passes through the detection area.

[0012] In some embodiments, the positioning mechanism comprises a front end blocking mechanism, a centering clamping mechanism and a rear end pushing mechanism; The transmission direction of the target glass assembly is the first direction, and the direction perpendicular to the transmission direction of the target glass assembly in the horizontal plane is the second direction; In the first direction, the rear end pushing mechanism, the centering clamping mechanism and the front end blocking mechanism are arranged in sequence, and the front end blocking mechanism can abut against the target glass assembly; In the second direction, the rear end pushing mechanism and the centering clamping mechanism are capable of pressing against the target glass assembly.

[0013] In some embodiments, the front end blocking mechanism comprises a front end lifting assembly and at least two blocking pieces arranged in sequence in the second direction. The blocking pieces are in sliding connection with the movable ends of the corresponding front end lifting assembly.

[0014] In some embodiments, the centering clamping mechanism comprises at least two clamping assemblies arranged oppositely in the second direction. The movable directions of the clamping assemblies are parallel to the second direction, and the two clamping assemblies are arranged on the same line to form a centering clamping space for clamping and positioning the target glass assembly.

[0015] In some embodiments, the rear end pushing mechanism comprises at least two rear end positioning assemblies arranged oppositely in the second direction. The rear end positioning assembly comprises a rear end lifting assembly, a rear end positioning piece and a rear end adjusting assembly. The rear end positioning piece is in transmission connection with the movable end of the rear end lifting assembly. The fixed end of the rear end lifting assembly is in transmission connection with the movable end of the rear end adjusting assembly. The movable direction of the rear end positioning assembly is parallel to the first direction.

[0016] In some embodiments, the image recognition assembly comprises a 3D camera, and the image recognition end of the 3D camera is arranged opposite to the reference surface.

[0017] In a second aspect, the embodiments of the present application provide a detection method applied to the glass assembly detection device, comprising the following steps: S1: positioning the target glass assembly; S2: collecting the position information of the reference surface, establishing a reference coordinate system based on the reference surface, and calculating the reference pitch angle, the reference yaw angle and the reference roll angle of the reference sample in the reference coordinate system; S3: obtaining the position data of the camera support in the target glass assembly, establishing a virtual camera surface on the camera support, and calculating the actual pitch angle, the actual yaw angle and the actual roll angle of the virtual camera surface in the reference coordinate system; S4: comparing the difference between the reference pitch angle and the actual pitch angle, the difference between the reference yaw angle and the actual yaw angle, and the difference between the reference roll angle and the actual roll angle.

[0018] The beneficial effect of the present application is that: through the technical scheme of the present application, the actual assembly position of the target glass assembly after loading can be fully simulated, and then the assembly position precision gap between the target glass assembly and the reference sample after loading is judged, which is beneficial to improve the calibration efficiency and can calibrate the glass assembly products in batches. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 Partial structure diagram of the glass assembly detection equipment in the present application Figure 1 ; Figure 2 Partial structure diagram of the glass assembly detection equipment in the present application Figure 1 ; Figure 3 Partial structure diagram of the glass assembly detection equipment in the present application Figure 2 ; Figure 4 Partial structure diagram of the glass assembly detection equipment in the present application Figure 3 ; Figure 5 Partial structure diagram of the glass assembly detection equipment in the present application Figure 3 ; Figure 6 Partial structure diagram of the glass assembly detection equipment in the present application Figure 3 ; Figure 7 Partial structure diagram of the glass assembly detection equipment in the present application Figure 6 ; Figure 8 Partial structure diagram of the glass assembly detection equipment in the present application Figure 6 ; Figure 9 Structure diagram of the glass assembly detection equipment in the present application Figure 10 Structure diagram of the target glass assembly in the present application.

[0020] Label explanation: 100, image recognition assembly; 110, mechanical hand; 120, 3D camera; 200, reference device; 210, detection window; 220, reference support; 221, frame body; 222, reference plate; 223, reference block; 230, detection platform; 240, positioning device; 241, supporting mechanism; 242, transmission mechanism; 2421, conveying belt; 244, positioning mechanism; 245, jacking assembly; 2451, jacking driving piece; 2452, elastic piece; 246, universal support assembly; 2461, lifting driving piece; 2462, universal assembly; 2463, fixed seat; 2464, universal rolling seat; 250, front end blocking mechanism; 251, front end translation driving member; 252, front end lifting assembly; 2521, translation base plate; 2522, fixing frame; 2523, lifting driving member; 253, blocking member; 260, centering clamping mechanism; 261, clamping assembly; 262, clamping driving member; 263, clamping roller; 270, rear end pushing mechanism; 271, rear end positioning assembly; 272, rear end lifting assembly; 273, rear end positioning member; 274, rear end adjusting assembly; 2741, rear end adjusting driving member; 2742, rear end sliding plate; 280, position adjusting assembly; 281, sliding plate; 282, position adjusting driving member; 300, target glass assembly; 310, glass; 320, camera support; DETAILED DESCRIPTION To make the technical contents of the present application, the purposes and effects achieved clear, the following will be described in detail in combination with the embodiments and the accompanying drawings.

[0021] In the field, for the ADAS (i.e. advanced driving assistance system) camera mounted on the vehicle glass, after the vehicle changes the glass, the ADAS camera needs to be recalibrated by professional technicians to ensure the position accuracy of the camera, and the position accuracy mainly obtains the pitch angle (Pitch), yaw angle (Yaw) and roll angle (Roll) of the camera. If the calibration of the camera fails, on the one hand, the glass equipped with the camera is likely to be directly scrapped, on the other hand, the installed front windshield needs to be removed, which consumes a lot of manpower and material resources. And the existing automobile ADAS camera calibration method has the problems of long calibration time, more than 20 minutes for each calibration, limited test scene, unable to complete directly in the production workshop, and unable to realize batch detection, etc.

[0022] Please refer to Figures 1-10In order to solve the above problems, the present application provides a glass assembly detection device, which comprises an image recognition assembly 100 and a reference device 200; the reference device 200 comprises a reference surface; in the vertical direction, the image recognition assembly 100 is arranged opposite to the reference surface, and the image recognition assembly 100 acquires the position information of the reference surface; a detection window 210 is arranged in the reference surface; in the vertical direction, the image recognition assembly 100 is also arranged opposite to the detection window 210, so that the image recognition assembly 100 acquires the position information of a target glass assembly 300 located in the detection window 210 and establishes a virtual camera surface on the target glass assembly 300. Specifically, the target glass assembly 300 comprises a glass 310 and a camera support 320, and the camera support 320 is arranged on the inner side of the glass 310. In the present application, the glass 310 can be a windshield, a sunroof glass or a side window glass. In particular, in the present application, the glass 310 is a front windshield.

[0023] In addition, the tolerances of the pitch angle, the yaw angle and the roll angle of the camera installed on the front windshield are generally required to be ±1.5°, ±1.5° and ±1° respectively, and if the deviation values of the above three angles cannot meet the requirements, it is determined that the calibration fails.

[0024] It can be understood that the technical scheme of the present application can fully simulate the actual assembly position of the target glass assembly 300 after being installed on the vehicle, and then judge the assembly position precision difference between the target glass assembly 300 and the reference sample after being installed on the vehicle, which is beneficial to improve the calibration efficiency and can calibrate the glass assembly products in batches.

[0025] In some embodiments, the reference device 200 comprises a reference support 220, a detection platform 230 and a positioning device 240; the reference support 220 is arranged on the detection platform 230 and cooperates with the top surface of the detection platform 230 to form a positioning cavity; the positioning device 240 is arranged in the positioning cavity; in the vertical direction, the reference surface is located on the side of the reference support 220 away from the positioning device 240; and the detection window 210 is centrally arranged on the reference surface. The reference support 220 is arranged to establish the reference surface, so that the image recognition assembly 100 establishes an accurate reference coordinate system through the reference support 220, and improves the reliability of the detection result.

[0026] In some embodiments, the reference support 220 comprises a support body 221, reference plates 222 and a reference block 223; the first direction and the second direction are perpendicular to each other in the horizontal plane; in the first direction, the reference block 223 is arranged on one side of the detection window 210; in the second direction, at least one reference plate 222 is arranged on each side of the detection window 210. Specifically, the reference block 223 is distributed along the second direction, two reference plates 222 are arranged on each side of the detection window 210 in the second direction, the top surface of the reference plate 222 is parallel to the top surface of the detection platform 230, the top surface of the reference block 223 is parallel to the top surface of the reference plate 222, and one side wall of the reference block 223 in the first direction is perpendicular to the top surface of the reference plate 222. Through the arrangement of the reference block 223 and the reference plate 222, the reference coordinate system established by the image recognition assembly 100 through the reference block 223 and the reference plate 222 is consistent with the actual coordinate system of the target vehicle.

[0027] In some embodiments, the positioning device 240 comprises a support mechanism 241, a transmission mechanism 242 and a positioning mechanism 244; the jacking surface of the support mechanism 241 is provided with a pressure sensor; the support mechanism 241, the transmission mechanism 242 and the positioning mechanism 244 are all arranged on the detection platform 230; a detection area matching the target glass assembly 300 can be formed in the positioning mechanism 244; the support mechanism 241 is arranged in the detection area and is used to support the target glass assembly 300; the transmission mechanism 242 is distributed along the first direction and is arranged through the detection area. Through the positioning mechanism 244, the target glass assembly 300 is positioned in the first direction and the second direction, so as to improve the positioning accuracy of the target glass assembly 300. Preferably, the transmission mechanism 242 comprises two parallel conveyors 2421.

[0028] In some embodiments, the supporting mechanism 241 comprises at least four lifting assemblies 245 and at least four universal supporting assemblies 246; the pressure sensor is arranged on the lifting surface of the lifting assembly 245, and the lifting surface of the supporting mechanism 241 is composed of the lifting surfaces of all the lifting assemblies 245. The universal supporting assembly 246 is used to lift the target glass assembly 300, and the lifting assembly 245 is used to lift the target glass assembly 300 and contact with the reference plate 222 to simulate the actual loading state of the target glass assembly 300. Specifically, the lifting assembly 245 is arranged outside the two conveying belts 2421, and the universal supporting assembly 246 is arranged between the two conveying belts 2421. Among them, the pressure sensor is arranged on the lifting surface of the lifting assembly 245 to sense the measured pressure value of the target glass assembly 300 at multiple points (the selected points should match the points where the target glass assembly 300 is connected with the vehicle when actually loaded), and the actual pressure value of the connection point of the target glass assembly 300 after loading is taken as the pressure threshold value. The measured pressure value of each point is compared with the corresponding pressure threshold value to control the corresponding lifting assembly 245, so that the measured pressure value of each point can reach the pressure threshold value of the corresponding point, thereby accurately simulating the stress state of the target glass assembly 300 after actually loading. Specifically, the lifting assembly 245 comprises a lifting driving part 2451 and an elastic part 2452, and the elastic part 2452 is connected with the movable end of the lifting driving part 2451; the pressure sensor is arranged in the elastic part 2452 and contacts with the glass surface of the target glass assembly 300 through the elastic part 2452 to avoid scratching the glass surface. Optionally, the material of the elastic part 2452 is silica gel, rubber, nylon, etc., and preferably, the elastic part 2452 is rubber, and the elastic part 2452 is wedge-shaped. The universal supporting assembly 246 comprises a lifting driving part 2461 and a universal assembly 2462; the universal assembly 2462 is connected with the movable end of the lifting driving part 2461; the universal assembly 2462 comprises a fixed seat 2463 and at least two universal rolling seats 2464; the top of the fixed seat 2463 is inclinedly arranged, and the universal rolling seat 2464 is arranged on the top of the fixed seat 2463 and is inclinedly arranged relative to the horizontal plane.

[0029] In some embodiments, the positioning mechanism 244 comprises a front-end blocking mechanism 250, a centering clamping mechanism 260 and a rear-end pushing mechanism 270; the transmission direction of the target glass assembly 300 is a first direction, and a direction perpendicular to the transmission direction of the target glass assembly 300 in a horizontal plane is a second direction; in the first direction, the rear-end pushing mechanism 270, the centering clamping mechanism 260 and the front-end blocking mechanism 250 are sequentially arranged, and the front-end blocking mechanism 250 is capable of abutting against the target glass assembly 300; in the second direction, the rear-end pushing mechanism 270 and the centering clamping mechanism 260 are capable of abutting against the target glass assembly 300. The front-end blocking mechanism 250 intercepts the target glass assembly 300 conveyed to a position, and preliminarily positions the target glass assembly 300 in the first direction. Correspondingly, the universal support mechanism 241 slightly lifts the target glass assembly 300 to separate the target glass assembly 300 from the conveying belt 2421, the centering clamping mechanism 260 is used for clamping and positioning the middle part of the target glass assembly 300, and the rear-end pushing mechanism 270 is used for clamping and positioning the rear end (i.e. the big end) of the target glass assembly 300. The cooperation of the rear-end pushing mechanism 270, the centering clamping mechanism 260 and the front-end blocking mechanism 250 can complete the centering positioning of the target glass assembly 300 in the first direction and the second direction, and improve the accuracy of the measurement result.

[0030] In some embodiments, the front-end blocking mechanism 250 comprises a front-end translation drive 251, a front-end lifting assembly 252, and at least two blocking members 253 arranged in sequence in the second direction; the fixed end of the front-end translation drive 251 is connected with the detection platform 230, the movable end of the front-end translation drive 251 is connected with the front-end lifting assembly 252, and the bottom of the front-end lifting assembly 252 is slidingly connected with the detection platform 230; the blocking member 253 is slidingly connected with the movable end of the corresponding front-end lifting assembly 252. The front-end translation drive 251 is used to adjust the position of the blocking member 253 in the first direction, while the front-end lifting assembly 252 is used to control the blocking member 253 to rise when the target glass assembly 300 is about to be conveyed into position, so as to intercept the target glass assembly 300, and after the detection of the target glass assembly 300 is completed, the front-end lifting assembly 252 is used to control the blocking member 253 to descend, so that the target glass assembly 300 can be conveyed to the next process. Specifically, the front-end lifting assembly 252 comprises a translation base plate 2521, a fixed frame 2522, and two lifting drives 2523; the translation base plate 2521 is slidingly connected with the detection platform 230, and the fixed frame 2522 is connected with the translation base plate 2521 perpendicularly; the fixed end of the lifting drive 2523 is connected with the side of the fixed frame 2522 away from the rear-end pushing mechanism 270, the lifting drive 2523 is connected with the top of the blocking member 253, and the blocking member 253 is slidingly connected with the side of the fixed frame 2522 facing the rear-end pushing mechanism 270. Preferably, the sliding connection between the above two adjacent structural members is achieved through a guide rail assembly; alternatively, the lifting drive 2523 and the front-end translation drive 251 are linear cylinders, linear push rods, or linear servo motors; as a preferred embodiment, the lifting drive 2523 is a linear cylinder, and the front-end translation drive 251 is a linear servo motor. In order to ensure that the front-end lifting assembly 252 can timely control the blocking member 253 to rise, a photoelectric sensor is arranged at the feeding end of the detection platform 230; when the photoelectric sensor senses the glass, the front-end lifting assembly 252 controls the blocking member 253 to rise. Similarly, in order to avoid the interference of the blocking member 253 with the conveying of the target glass assembly 300, the top of the blocking member 253 should be lower than the conveying surface of the conveying belt 2421 when the blocking member 253 is in the lowest position.

[0031] In some embodiments, the centering clamping mechanism 260 comprises at least two clamping assemblies 261 arranged oppositely in the second direction; the moving direction of the clamping assemblies 261 is parallel to the second direction, and the two clamping assemblies 261 are arranged on the same line to form a centering clamping space for clamping and positioning the target glass assembly 300. Through the cooperation of the clamping assemblies 261, the middle part of the target glass assembly 300 is clamped and positioned in the first direction, so that the target glass assembly 300 is arranged centrally in the detection area and the detection window 210. Preferably, two clamping assemblies 261 are arranged symmetrically. Specifically, the clamping assembly 261 comprises a clamping driving member 262 and a clamping roller 263, the clamping roller 263 is connected with the moving end of the clamping driving member 262, and the fixed end of the clamping driving member 262 is connected with the detection platform 230; as preferred, the clamping driving member 262 is a linear module, and in other equivalent embodiments, the clamping driving member 262 can also be a linear cylinder, a linear push rod or other mechanisms that can realize linear motion.

[0032] In some embodiments, the rear end pushing mechanism 270 comprises at least two rear end positioning assemblies 271 arranged oppositely in the second direction; the rear end positioning assembly 271 comprises a rear end lifting assembly 272, a rear end positioning member 273, and a rear end adjusting assembly 274; the rear end positioning member 273 is in transmission connection with the movable end of the rear end lifting assembly 272; the fixed end of the rear end lifting assembly 272 is in transmission connection with the movable end of the rear end adjusting assembly 274; the moving direction of the rear end positioning assembly 271 is parallel to the first direction. In the vertical direction, the top of the rear end positioning member 273 can be at a position higher or lower than the conveying surface of the conveying mechanism 242, depending on the control of the rear end lifting assembly 272 on the rear end positioning member 273. The rear end lifting assembly 272 is arranged between the two conveying belts 2421, for controlling the rear end positioning member 273 to rise after the target glass assembly 300 is intercepted by the front end blocking mechanism 250, so as to adjust the position of the target glass assembly 300 in the second direction, and improve the positioning accuracy. The rear end adjusting assembly 274 is used for adjusting the position of the rear end lifting assembly 272 and the rear end positioning member 273 in the first direction, which can cooperate with the front end blocking mechanism 250 to position the target glass assembly 300 in the first direction, and can also adapt to target glass assemblies 300 of different sizes, improving the versatility. Specifically, the rear end lifting assembly 272 of the rear end positioning assembly 271 and the two universal support assemblies 246 close to the rear end positioning assembly 271 are arranged on a position adjusting assembly 280, which comprises a sliding plate 281 and a position adjusting driving member 282; the sliding plate 281 is in sliding connection with the detection platform 230 through a guide rail assembly; the position adjusting driving member 282 is in transmission connection with the sliding plate 281, and the moving direction of the position adjusting driving member 282 is parallel to the first direction; the rear end adjusting assembly 274 comprises a rear end adjusting driving member 2741 and a rear end sliding plate 2742; the fixed end of the rear end adjusting driving member 2741 is connected with the sliding plate 281, and the movable end of the rear end adjusting driving member 2741 is in transmission connection with the rear end sliding plate 2742; the rear end positioning assembly 271 and the rear end positioning member 273 are arranged on the rear end sliding plate 2742. The position adjusting assembly 280 and the rear end adjusting assembly 274 are arranged for adjusting the position of the rear end positioning assembly 271 and the two universal support assemblies 246 in the first direction, so as to position the target glass assembly 300 in the first direction with the front end blocking mechanism 250. In some embodiments, the image recognition assembly 100 comprises a mechanical hand 110 and a 3D camera 120; the mechanical hand 110 is arranged on one side of the reference device 200, and the 3D camera 120 is drivingly connected with the movable end of the mechanical hand 110; the image recognition end of the 3D camera 120 is arranged opposite to the reference surface. By using the three-dimensional data acquisition function and the imaging function of the 3D camera 120, the position data of the camera holder 320 of the target glass assembly 300 can be acquired, and a virtual camera surface can be established on the camera holder 320 to simulate the actual assembly position of the camera, so that whether there is deviation in the actual loading position of the target glass assembly 300 can be accurately calculated, and the calibration efficiency of the target glass assembly 300 is greatly improved.

[0033] A detection method applied to the above glass assembly detection device, comprising the following steps: S1: positioning the target glass assembly 300; Specifically, the positioning mechanism 244 is used to finely position the target glass assembly 300 in the first direction and the second direction, so that the target glass assembly 300 is arranged in the center of the detection area and the projection area of the detection window 210; S2: acquiring the position information of the reference surface, establishing a reference coordinate system based on the reference surface, and calculating the reference pitch angle, the reference yaw angle and the reference roll angle of the reference sample in the reference coordinate system; Specifically, the reference surface is composed of a reference block 223 and a reference plate 222, and the position information of the reference block 223 and the reference plate 222 is acquired by the image recognition assembly 100 to establish the reference coordinate system; S3: acquiring the position data of the camera holder 320 in the target glass assembly 300, establishing a virtual camera surface on the camera holder 320, and calculating the actual pitch angle, the actual yaw angle and the actual roll angle of the virtual camera surface in the reference coordinate system; Specifically, before the image recognition assembly 100 acquires the position data of the camera holder 320, the image recognition assembly 100 selects a corresponding template and sets points in the template used by the image recognition assembly 100, the image recognition assembly 100 acquires the position data of at least three points of the camera holder 320 based on the points set in the template, and based on the position data of all the points, a virtual camera surface is established on the camera holder 320 to fit the plane of the camera after installation on the camera holder 320, so that the angle difference value of the virtual camera surface after detection is consistent with the angle difference value after installation of the camera; this data acquisition method uses the features of the camera holder 320 to identify data, so that the entire detection process is completely automated, and the detection efficiency is greatly improved.

[0034] S4: comparing the difference between the reference pitch angle and the actual pitch angle, the difference between the reference yaw angle and the actual yaw angle, and the difference between the reference roll angle and the actual roll angle.

[0035] It can be understood that the present application can determine the reference plane by the reference device 200, so that the image recognition assembly 100 obtains the position information of the reference plane, and then establishes the reference coordinate system, so that the image recognition assembly 100 can determine the reference pitch angle, the reference yaw angle and the reference roll angle in the reference coordinate system according to the position information of the reference sample; the reference device 200 is also used for positioning the target glass assembly 300, so that the image recognition assembly 100 obtains accurate position information of the target glass assembly 300, and establishes a virtual camera plane on the target glass assembly 300, simulates the assembly position of the camera on the target glass assembly 300 through the virtual camera plane, calculates the actual pitch angle, the actual yaw angle and the actual roll angle of the virtual camera plane in the reference coordinate system, and then judges the position difference between the target glass assembly 300 and the reference sample.

[0036] In some embodiments, step S1 further comprises calculating a pressure threshold of each assembly point of the target glass assembly 300 after loading according to the parameters of the target glass assembly 300, and adjusting the measured pressure value of each assembly point during the positioning of the target glass assembly 300 according to the pressure threshold, so that each measured pressure value is equal to the corresponding pressure threshold. Specifically, the parameters of the target glass assembly 300 refer to the shape of the glass, the actual loading angle of the glass and the thickness parameter of the glass, and the point pressure distribution of the four corners of the glass after actual loading is calculated according to the above parameters to obtain the pressure threshold. By this method, the stress state of the glass after actual loading of the target glass assembly 300 can be accurately simulated, and the accuracy of detection is ensured.

[0037] Referring to Figures 1-9 The embodiment one of the present application is: A glass assembly detection device, comprising an image recognition assembly 100 and a reference device 200; the reference device 200 comprises a reference plane; the reference device 200 comprises a reference plane; in the vertical direction, the image recognition assembly 100 is arranged opposite to the reference plane, and the image recognition assembly 100 obtains the position information of the reference plane; a detection window 210 is arranged in the reference plane; in the vertical direction, the image recognition assembly 100 is also arranged opposite to the detection window 210, so that the image recognition assembly 100 obtains the position information of the target glass assembly 300 located in the detection window 210 and establishes a virtual camera plane on the target glass assembly 300.

[0038] In the embodiment, the reference device 200 comprises a reference support 220, a detection platform 230 and a positioning device 240; the reference support 220 is arranged on the detection platform 230 and forms a positioning cavity with the top surface of the detection platform 230; the positioning device 240 is arranged in the positioning cavity; in the vertical direction, the reference surface is located on the side of the reference support 220 away from the positioning device 240; and the detection window 210 is centrally arranged on the reference surface.

[0039] In the embodiment, the reference support 220 comprises a support body 221, reference plates 222 and reference blocks 223; the horizontal plane has a first direction and a second direction perpendicular to each other; in the first direction, the reference blocks 223 are arranged on one side of the detection window 210; and in the second direction, at least one reference plate 222 is arranged on each side of the detection window 210. Specifically, the reference blocks 223 are distributed along the second direction, two reference plates 222 are arranged on each side of the detection window 210 in the second direction, the reference plates 222 are parallel to the top surface of the detection platform 230, the top surface of the reference blocks 223 is parallel to the top surface of the reference plates 222, and one side wall of the reference blocks 223 in the first direction is perpendicular to the top surface of the reference plates 222.

[0040] In the embodiment, the positioning device 240 comprises a support mechanism 241, a transmission mechanism 242, the detection platform 230 and a positioning mechanism 244; the jacking surface of the support mechanism 241 is provided with a pressure sensor; the support mechanism 241, the transmission mechanism 242 and the positioning mechanism 244 are arranged on the detection platform 230; the positioning mechanism 244 can form a detection area matching the target glass assembly 300; the support mechanism 241 is arranged in the detection area and is used to support the target glass assembly 300; and the transmission mechanism 242 is distributed along the first direction and passes through the detection area. Preferably, the transmission mechanism 242 comprises two parallel conveyor belts 2421; in the second direction, the width of the detection window 210 is greater than the width of the transmission mechanism 242.

[0041] In the embodiment, the supporting mechanism 241 comprises four lifting assemblies 245 and four universal supporting assemblies 246; the pressure sensor is arranged on the lifting surface of the lifting assembly 245, and the lifting surface of the supporting mechanism 241 is formed by the lifting surfaces of all the lifting assemblies 245. Specifically, the lifting assembly 245 is arranged outside the two conveying belts 2421, and the universal supporting assembly 246 is arranged between the two conveying belts 2421. The lifting assembly 245 comprises a lifting driving member 2451 and an elastic member 2452, the elastic member 2452 is connected with the movable end of the lifting driving member 2451; and the pressure sensor is arranged in the elastic member 2452. Preferably, the elastic member 2452 is a wedge-shaped rubber material. The universal supporting assembly 246 comprises a lifting driving member 2461 and a universal assembly 2462; the universal assembly 2462 is connected with the movable end of the lifting driving member 2461; the universal assembly 2462 comprises a fixed seat 2463 and at least two universal rolling seats 2464; the top of the fixed seat 2463 is arranged obliquely, and the universal rolling seat 2464 is arranged on the top of the fixed seat 2463 and is arranged obliquely relative to the horizontal plane.

[0042] In the embodiment, the positioning mechanism 244 comprises a front-end blocking mechanism 250, a centering clamping mechanism 260 and a rear-end pushing mechanism 270; the transmission direction of the target glass assembly 300 is the first direction, and the direction perpendicular to the transmission direction of the target glass assembly 300 on the horizontal plane is the second direction; in the first direction, the rear-end pushing mechanism 270, the centering clamping mechanism 260 and the front-end blocking mechanism 250 are arranged in sequence, and the front-end blocking mechanism 250 can abut against the target glass assembly 300; in the second direction, the rear-end pushing mechanism 270 and the centering clamping mechanism 260 can abut against the target glass assembly 300.

[0043] In the embodiment, the front end blocking mechanism 250 comprises a front end translation driving member 251, a front end lifting assembly 252 and at least two blocking members 253 arranged in sequence in the second direction; the fixed end of the front end translation driving member 251 is connected with the detection platform 230, the movable end of the front end translation driving member 251 is connected with the front end lifting assembly 252, and the bottom of the front end lifting assembly 252 is slidingly connected with the detection platform 230; the blocking member 253 is slidingly connected with the movable end of the corresponding front end lifting assembly 252. The front end lifting assembly 252 comprises a translation bottom plate 2521, a fixed frame 2522 and two lifting driving members 2523; the translation bottom plate 2521 is slidingly connected with the detection platform 230, and the fixed frame 2522 is connected with the translation bottom plate 2521 perpendicularly; the fixed end of the lifting driving member 2523 is connected with the side of the fixed frame 2522 away from the rear end pushing mechanism 270, the lifting driving member 2523 is connected with the top of the blocking member 253, and the blocking member 253 is slidingly connected with the side of the fixed frame 2522 facing the rear end pushing mechanism 270. Preferably, the sliding connection between the above two adjacent structural members is realized through a guide rail assembly; as a preferred, the lifting driving member 2523 and the front end translation driving member 251 are linear cylinders.

[0044] In the embodiment, the centering and clamping mechanism 260 comprises two clamping assemblies 261 arranged oppositely in the second direction; the active direction of the clamping assembly 261 is parallel to the second direction, and the two clamping assemblies 261 are arranged on the same line to form a centering and clamping space for clamping and positioning the target glass assembly 300. The clamping assembly 261 comprises a clamping driving member 262 and a clamping roller 263, the clamping roller 263 is connected with the movable end of the clamping driving member 262, and the fixed end of the clamping driving member 262 is connected with the detection platform 230; as a preferred, the clamping driving member 262 is a linear module.

[0045] In the embodiment, the rear end pushing mechanism 270 comprises two rear end positioning assemblies 271 arranged opposite to each other in the second direction; the rear end positioning assembly 271 comprises a rear end lifting assembly 272, a rear end positioning member 273 and a rear end adjusting assembly 274; the rear end positioning member 273 is in transmission connection with the movable end of the rear end lifting assembly 272; the fixed end of the rear end lifting assembly 272 is in transmission connection with the movable end of the rear end adjusting assembly 274; the movable direction of the rear end positioning assembly 271 is parallel to the first direction. In the vertical direction, the top of the rear end positioning member 273 can be positioned higher or lower than the conveying surface of the conveying mechanism 242. Specifically, the rear end lifting assembly 272 of the rear end positioning assembly 271 and the two universal support assemblies 246 close to the rear end positioning assembly 271 are simultaneously arranged on a position adjusting assembly 280, the position adjusting assembly 280 comprises a sliding plate 281 and a position adjusting driving member 282, the sliding plate 281 is in sliding connection with the detection platform 230 through a guide rail assembly, the position adjusting driving member 282 is in transmission connection with the sliding plate 281, and the movable direction of the position adjusting driving member 282 is parallel to the first direction; the rear end adjusting assembly 274 comprises a rear end adjusting driving member 2741 and a rear end sliding plate 2742, the fixed end of the rear end adjusting driving member 2741 is connected with the sliding plate 281, and the movable end of the rear end adjusting driving member 2741 is in transmission connection with the rear end sliding plate 2742; the rear end positioning assembly 271 and the rear end positioning member 273 are arranged on the rear end sliding plate 2742.

[0046] In the embodiment, the image recognition assembly 100 comprises a mechanical arm 110 and a 3D camera 120; the mechanical arm 110 is arranged on one side of the reference device 200, and the 3D camera 120 is in transmission connection with the movable end of the mechanical arm 110; the image recognition end of the 3D camera 120 is arranged opposite to the reference surface.

[0047] The working principle of the embodiment is as follows: The target glass assembly 300 is conveyed with the inner side of the glass 310 (i.e. the concave surface of the glass 310) upward; The target glass assembly 300 is conveyed along the first direction by the conveying mechanism 242, and when the photoelectric sensor on the positioning platform 243 senses that the target glass assembly 300 passes by, the front end blocking mechanism 250 is controlled to extend out; When the target glass assembly 300 is blocked by the front end blocking mechanism 250, the universal support assembly 246 lifts the target glass assembly 300 to a certain height, so that the target glass assembly 300 is separated from the conveying mechanism 242; wherein the trigger condition of the lifting of the universal support assembly 246 is that the glass flows into the detection platform 230 and triggers the photoelectric sensor, and when the time counted reaches a preset time (the preset time is set according to the actual conveying time of the glass to the position), the universal support assembly 246 is automatically lifted.

[0048] The rear end adjusting assembly 274 and the position adjusting assembly 280 are extended, the rear end lifting assembly 272 controls the rear end positioning piece 273 to rise, the rear end adjusting assembly 274, the position adjusting assembly 280 and the front end translation driving piece 251 are retracted, and the target glass assembly 300 is clamped in the first direction synchronously with the blocking piece 253; The centering clamping mechanism 260 clamps the target glass assembly 300 in the second direction, and positioning is completed; The jacking assembly 245 lifts the target glass assembly 300, makes the target glass assembly 300 contact with the reference plate 222, and independently adjusts the height of the four jacking assemblies 245, and stops the action after the pressure values of the four jacking assemblies 245 reach respective pressure thresholds; The image recognition assembly 100 acquires the data of the reference surface first, then acquires the data of the target glass assembly 300, and then performs data analysis.

[0049] Embodiment two of the present application is: A detection method applied to the above glass assembly detection device, comprising the following steps: S1: positioning the target glass assembly 300; Specifically, the positioning mechanism 244 is used to finely position the target glass assembly 300 in the first direction and the second direction, so that the target glass assembly 300 is centrally arranged in the detection area and the projection area of the detection window 210; S2: acquiring the position information of the reference surface, establishing a reference coordinate system based on the reference surface, and calculating the reference pitch angle, the reference yaw angle and the reference roll angle of the reference sample in the reference coordinate system; Specifically, the reference surface is composed of the reference block 223 and the reference plate 222, and the image recognition assembly 100 is used to acquire the position information of the reference block 223 and the reference plate 222 to establish the reference coordinate system; S3: acquiring the position data of the camera support 320 in the target glass assembly 300, establishing a virtual camera surface on the camera support 320, and calculating the actual pitch angle, the actual yaw angle and the actual roll angle of the virtual camera surface in the reference coordinate system; Specifically, before the image recognition component 100 acquires the position data of the camera holder 320, the image recognition component 100 selects a corresponding template and sets a point position in the template used by the image recognition component 100. The image recognition component 100 acquires position data of at least three point positions of the camera holder 320 based on the set point positions in the template. Based on the acquired position data of all point positions, a virtual camera plane is established on the camera holder 320 to fit the plane of the camera after installation on the camera holder 320, so that the angle difference value detected by the virtual camera plane is consistent with the angle difference value after installation of the camera. The data acquisition method uses the features of the camera holder 320 to identify data, making the entire detection process fully automated and greatly improving detection efficiency.

[0050] S4: Compare the difference between the reference pitch angle and the actual pitch angle, the difference between the reference yaw angle and the actual yaw angle, and the difference between the reference roll angle and the actual roll angle.

[0051] In some embodiments, step S1 further includes calculating a pressure threshold of each assembly point of the target glass assembly 300 after loading according to parameters of the target glass assembly 300, and adjusting the measured pressure value of each assembly point during positioning of the target glass assembly 300 according to the pressure threshold, so that each measured pressure value is equal to the corresponding pressure threshold. Specifically, the parameters of the target glass assembly 300 refer to the shape of the glass, the actual loading angle of the glass, and the thickness parameter of the glass. The point pressure distribution of the four corners of the glass after actual loading is calculated according to the above parameters to obtain the pressure threshold.

[0052] The above description is only an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent transformation or direct or indirect application in related technical fields based on the content of the specification and drawings is also included in the patent protection scope of the present application.

Claims

1. A glass assembly inspection apparatus, characterized by, The image recognition component and the reference device are included; The reference device includes a reference surface; In a vertical direction, the image recognition component is arranged opposite to the reference surface, and the image recognition component is used to acquire position information of the reference surface; A detection window is arranged in the reference surface; In the vertical direction, the image recognition component is also arranged opposite to the detection window, so that the image recognition component acquires position information of a target glass assembly located in the detection window and establishes a virtual camera surface on the target glass assembly.

2. The glass assembly inspection apparatus of claim 1, wherein The reference device includes a reference support, a detection platform and a positioning device; The reference support is arranged on the detection platform and cooperates with a top surface of the detection platform to form a positioning cavity; The positioning device is arranged in the positioning cavity; In a vertical direction, the reference surface is located on a side of the reference support away from the positioning device; The detection window is centrally arranged on the reference surface.

3. The glass assembly inspection apparatus of claim 2, wherein The reference support includes a reference plate and a reference block; In a horizontal plane, a first direction and a second direction are perpendicular to each other; In the first direction, the reference block is arranged on one side of the detection window; In the second direction, at least one reference plate is arranged on each side of the detection window.

4. The glass assembly inspection apparatus of claim 2, wherein The positioning device includes a support mechanism; A jacking surface of the support mechanism is provided with a pressure sensor.

5. The glass assembly inspection apparatus of claim 4, wherein, The positioning device further includes a transmission mechanism and a positioning mechanism; The support mechanism, the transmission mechanism and the positioning mechanism are all arranged on the detection platform; The positioning mechanism can form a detection area matched with the target glass assembly; The support mechanism is arranged in the detection area and is used to support the target glass assembly; The transmission mechanism passes through the detection area.

6. The glass assembly inspection apparatus of claim 4, wherein, The positioning mechanism includes a front-end blocking mechanism, a centering clamping mechanism and a rear-end pushing mechanism; The transmission direction of the target glass assembly is a first direction, and a direction perpendicular to the transmission direction of the target glass assembly in the horizontal plane is a second direction; In the first direction, the rear-end pushing mechanism, the centering clamping mechanism and the front-end blocking mechanism are sequentially arranged, and the front-end blocking mechanism can abut against the target glass assembly; In the second direction, the rear-end pushing mechanism and the centering clamping mechanism can abut against the target glass assembly.

7. The glass assembly inspection apparatus of claim 6, wherein, The front-end blocking mechanism includes a front-end lifting assembly and at least two blocking pieces sequentially arranged in the second direction; The blocking pieces are slidingly connected with the movable ends of the corresponding front-end lifting assemblies.

8. The glass assembly inspection apparatus of claim 6, wherein, The centering clamping mechanism includes at least two clamping assemblies arranged opposite in the second direction; The movable direction of the clamping assemblies is parallel to the second direction, and a centering clamping space for clamping and positioning the target glass assembly is formed between two clamping assemblies located on the same straight line.

9. The glass assembly inspection apparatus of claim 6, wherein, The rear-end pushing mechanism includes at least two rear-end positioning assemblies arranged opposite in the second direction; The rear-end positioning assembly includes a rear-end lifting assembly, a rear-end positioning piece and a rear-end adjusting assembly; The rear-end positioning piece is drivingly connected with the movable end of the rear-end lifting assembly; The fixed end of the rear end lifting assembly is in transmission connection with the movable end of the rear end adjusting assembly; The moving direction of the rear end positioning assembly is parallel to the first direction.

10. The glass assembly inspection apparatus of claim 1, wherein, The image recognition assembly comprises a 3D camera, and the image recognition end of the 3D camera is arranged opposite to the reference surface.

11. A method of inspection applied to the inspection apparatus for glass assemblies according to any one of claims 1 to 10, characterized in that, The method comprises the following steps: S1: positioning the target glass assembly; S2: collecting the position information of the reference surface, establishing a reference coordinate system based on the reference surface, and calculating the reference pitch angle, the reference yaw angle and the reference roll angle of the reference sample in the reference coordinate system; S3: obtaining the position data of the camera support in the target glass assembly, establishing a virtual camera surface on the camera support, and calculating the actual pitch angle, the actual yaw angle and the actual roll angle of the virtual camera surface in the reference coordinate system; S4: comparing the difference between the reference pitch angle and the actual pitch angle, the difference between the reference yaw angle and the actual yaw angle, and the difference between the reference roll angle and the actual roll angle.

12. The detection method of claim 11, wherein, In the step S1, the pressure threshold of each assembly point of the target glass assembly after loading is calculated according to the parameters of the target glass assembly, and the measured pressure value of each assembly point in the positioning process of the target glass assembly is adjusted according to the pressure threshold, so that the measured pressure value of each assembly point reaches the corresponding pressure threshold.

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