광 삼각법 측정 알고리즘을 이용한 자동차 도어 간격 측정 및 보정에 관한 연구

Abstract

In general, auto parts production assembly line is assembled and produced by automatic mounting by anautomated robot. In such a production site, quality problems such as misalignment of parts (doors, trunks, roofs, etc.) tobe assembled with the vehicle body or collision between assembly robots and components are often caused. In order tosolve such a problem, the quality of parts is manually inspected by using mechanical jig devices outside the automatedproduction line. Automotive inspection technology is the most commonly used field of vision, which includes surfaceinspection such as mounting hole spacing and defect detection, body panel dents and bends. It is used for guiding,providing location information to the robot controller to adjust the robot's path to improve process productivity andmanufacturing flexibility. The most difficult weighing and measuring technology is to calibrate the surface analysis andposition and characteristics between parts by storing images of the part to be measured that enters the camera's field ofview mounted on the side or top of the part. The problem of the machine vision device applied to the automobileproduction line is that the lighting conditions inside the factory are severely changed due to various weather changes suchas morning-evening, rainy days and sunny days through the exterior window of the assembly production plant. Inaddition, since the material of the vehicle body parts is a steel sheet, the reflection of light is very severe, which causesa problem in that the quality of the captured image is greatly changed even with a small light change. In this study, thedistance between the car body and the door part and the door are acquired by the measuring device combining the laserslit light source and the LED pattern light source. The result is transferred to the joint robot for assembling parts at theoptimum position between parts, and the assembly is done at the optimal position by changing the angle and step.