System for adjusting gap step and method of operating same
View Patent ↗An embodiment system for adjusting a gap step includes a process device configured to mount a first moving part and a second moving part, a first information obtaining device including a camera, and a control device configured to control the process device based on a first driving control value such that the first moving part and the second moving part are mounted on a first vehicle body, obtain a first image of the first vehicle body on which the first moving part and the second moving part are mounted, obtain the gap step for the first moving part, the second moving part, or both through the first image, and mount the first moving part and the second moving part on a second vehicle body by controlling the process device based on a second driving control value corresponding to the gap step.
1 . A system for adjusting a gap step, the system comprising:
a process device configured to mount a first moving part and a second moving part;
a first information obtaining device comprising a camera; and
a control device configured to:
control the process device based on a first driving control value such that the first moving part and the second moving part are mounted on a first vehicle body;
obtain a first image of the first vehicle body on which the first moving part and the second moving part are mounted;
obtain the gap step for the first moving part, the second moving part, or both, based on the first image;
mount the first moving part and the second moving part on a second vehicle body by controlling the process device based on a second driving control value corresponding to the gap step;
calculate a first measurement value for the first moving part and the second moving part through image analysis;
convert depth information about the first vehicle body into plane information, when calculating the first measurement value;
obtain the second driving control value for the process device based on the first measurement value; and
calculate a second measurement value for the first moving part and the second moving part through image analysis,
wherein:
the first measurement value corresponds to a gap step difference generated between the first moving part and the second moving part mounted on the first vehicle body,
the second measurement value corresponds to the gap step difference corrected by the second driving control value,
the first vehicle body is a vehicle body before being introduced into a painting process after the first moving part and the second moving part are mounted through a vehicle body assembly process, and
the second vehicle body is the vehicle body that is introduced into the process device controlled based on the second driving control value.
2 . The system of claim 1 , further comprising:
a second information obtaining device configured to obtain vehicle type information of the first vehicle body,
wherein:
the vehicle type information comprises model information, specification information, production date information, or production order information, and
the control device is further configured to control the process device with the first driving control value corresponding to vehicle type information obtained through the second information obtaining device.
3 . The system of claim 2 , wherein the control device is further configured to obtain the first image based on a measurement location corresponding to the vehicle type information.
4 . The system of claim 1 , wherein the process device comprises:
a first process device configured to mount the first moving part on the first vehicle body introduced thereto; and
a second process device configured to mount the second moving part on the first vehicle body discharged through the first process device,
wherein the control device is further configured to obtain the first image of the first vehicle body discharged through the second process device.
5 . The system of claim 1 , wherein the control device is further configured to:
estimate the gap step for the second vehicle body based on the second driving control value;
obtain the gap step for the first moving part, the second moving part, or both through a second image of the second vehicle body discharged from the process device; and
verify accuracy of the second driving control value based on the estimated gap step and the obtained gap step.
6 . The system of claim 5 , wherein the control device is further configured to control the process device based on a third driving control value corresponding to the gap step obtained through the second image in response to a difference between the estimated gap step and the obtained gap step exceeding a specified range.
7 . The system of claim 5 , wherein the control device is further configured to notify an external device of a result of comparing the estimated gap step and the obtained gap step in response to the difference between the estimated gap step and the obtained gap step exceeding a specified range.
8 . The system of claim 1 , wherein the first information obtaining device is configured to obtain an image and the depth information of a region of the first vehicle body.
9 . The system of claim 1 , wherein:
the first driving control value corresponds to a mounting state of the first moving part and the second moving part in which the gap step does not occur; and
the second driving control value corresponds to a state in which the first moving part and the second moving part are to be mounted in order to adjust the gap step generated while the first moving part and the second moving part are mounted.
10 . The system of claim 1 , wherein the control device is further configured to obtain the second driving control value based on an algorithm that repeats parallel and rotational movements of the first moving part or the second moving part identified through the first image.
11 . A method of operating a system for adjusting a gap step, the method comprising:
controlling a process device based on a first driving control value such that a first moving part and a second moving part are mounted on a first vehicle body;
obtaining a first image of the first vehicle body on which the first moving part and the second moving part are mounted;
obtaining the gap step for the first moving part, the second moving part, or both through the first image;
mounting the first moving part and the second moving part on a second vehicle body by controlling the process device based on a second driving control value corresponding to the gap step;
calculating a first measurement value for the first moving part and the second moving part through image analysis;
converting depth information about the first vehicle body into plane information, when calculating the first measurement value;
obtaining the second driving control value for the process device based on the first measurement value; and
calculating a second measurement value for the first moving part and the second moving part through image analysis,
wherein:
the first measurement value is a measurement value for a gap step difference generated between the first moving part and the second moving part mounted on the first vehicle body,
the second measurement value corresponds to the gap step difference corrected by the second driving control value,
the first vehicle body is a vehicle body before being introduced into a painting process after the first moving part and the second moving part are mounted through a vehicle body assembly process, and
the second vehicle body is the vehicle body that is introduced into the process device controlled based on the second driving control value.
12 . The method of claim 11 , wherein controlling the process device comprises:
obtaining vehicle type information of the first vehicle body, the vehicle type information comprising model information, specification information, production date information, or production order information; and
controlling the process device based on the first driving control value corresponding to the obtained vehicle type information.
13 . The method of claim 12 , wherein obtaining of the first image comprises obtaining the first image based on a measurement location corresponding to the vehicle type information.
14 . The method of claim 11 , further comprising:
mounting the first moving part on the first vehicle body introduced into a first process device;
mounting the second moving part on the first vehicle body discharged through the first process device and introduced into a second process device; and
obtaining the first image of the first vehicle body discharged through the second process device.
15 . The method of claim 11 , further comprising:
estimating the gap step for the second vehicle body based on the second driving control value;
obtaining the gap step for the first moving part, the second moving part, or both through a second image of the second vehicle body discharged from the process device; and
verifying accuracy of the second driving control value based on the estimated gap step and the obtained gap step.
16 . The method of claim 15 , further comprising controlling the process device based on a third driving control value corresponding to the gap step obtained through the second image in response to a difference between the estimated gap step and the obtained gap step exceeding a specified range.
17 . The method of claim 15 , further comprising notifying an external device of a result of comparing the estimated gap step and the obtained gap step in response to the difference between the estimated gap step and the obtained gap step exceeding a specified range.
18 . The method of claim 11 , wherein the first image comprises an image and the depth information of a region of the first vehicle body.
19 . The method of claim 11 , wherein:
the first driving control value corresponds to a mounting state of the first moving part and the second moving part in which the gap step does not occur; and
the second driving control value corresponds to a state in which the first moving part and the second moving part are to be mounted in order to adjust the gap step generated while the first moving part and the second moving part are mounted.
20 . The method of claim 11 , wherein the second driving control value is obtained based on an algorithm that repeats at least parallel and rotational movements of the first moving part or the second moving part identified through the first image.