KR102751931B1 - Connector inspection system - Google Patents

Abstract

The present invention proposes a connector inspection system capable of judging the presence or absence of an abnormality in a pin or hole included in a connector with high reliability using three-dimensional point cloud data. The system may include a conveyor that moves an inspection object including at least one connector equipped with at least one pin or hole for electrical connection, a sensing device that is arranged on a path of the inspection object moved by the conveyor and acquires three-dimensional point cloud data for the inspection object when the inspection object is positioned at a preset position by the conveyor, and a control device that inspects the presence or absence of an abnormality in the inspection object based on the three-dimensional point cloud data sensed by the sensing device.

Description

Connector inspection system

The present invention relates to a connector inspection system. More specifically, it relates to a connector inspection system that can determine whether a pin or hole included in a connector is abnormal using three-dimensional point cloud data.

Recently, for the purpose of preventing global warming and air pollution, various electric vehicles (EVs) such as battery electric vehicles (BEVs), hybrid electric vehicles (HEVs), and fuel cell vehicles (FCVs) have been commercialized and distributed, including technologies that can improve the thermal efficiency and reduce exhaust gases of internal combustion engine vehicles (ICEVs) equipped with gasoline and diesel engines. As such, with the development of electric vehicles (EVs), the importance of performance and safety of major components of electric vehicles, such as drive systems, power conversion systems, and battery systems, is increasing.

Meanwhile, products that use electricity, such as electric vehicles, air conditioners, refrigerators, washing machines, and battery packs, have a large number of parts installed, and complex wiring circuits are used to connect parts to other parts or supply power. These wiring circuits include connectors for connecting a large number of cables.

In general, a connector may be equipped with terminal pins or holes for electrical connection. At this time, during the manufacturing process of the connector, defects such as different pin lengths, bent pins, or blocked holes may occur due to various reasons. Such defects in the connector may affect signal transmission or power supply of the cable. Furthermore, as the issue of fire in electric vehicles has recently come to the fore, the importance of fire risk due to poor contact of the connector is increasing.

To solve these problems, methods of inspecting connectors for abnormalities using X-ray photography, digital microscope inspection, etc. have been recently used, but there was a problem with low reliability.

Korean Patent Publication No. 10-1311342, ‘Jig set for inspecting connectors of printed circuit boards’ (published on September 16, 2013)

One purpose of the present invention is to provide a connector inspection system capable of determining the presence or absence of an abnormality in a pin or hole included in a connector with high reliability using three-dimensional point cloud data.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to achieve the technical problem as described above, the present invention proposes a connector inspection system which can determine the presence or absence of an abnormality in a pin or hole included in a connector with high reliability using three-dimensional point cloud data. The system may include a conveyor which moves an inspection object including at least one connector having at least one pin or hole for electrical connection, a sensing device which is arranged on a path of the inspection object moved by the conveyor and obtains three-dimensional point cloud data for the inspection object when the inspection object is positioned at a preset position by the conveyor, and a control device which inspects the presence or absence of an abnormality in the inspection object based on the three-dimensional point cloud data sensed by the sensing device.

The conveyor is characterized by including a conveyor belt for moving the test subject, a stopper for blocking the path of the test subject moving from the conveyor belt to stop the test subject at a preset position and releasing the blocking when inspection is completed, and a position correction module for correcting the position of the test subject stopped by the stopper.

The control device is characterized in that it obtains at least one unit point cloud by grouping point clouds included in the three-dimensional point cloud data based on intensity values, estimates the material of the inspection object corresponding to each unit point cloud through an average value of the intensity values of the at least one unit point cloud obtained, and identifies the unit point cloud corresponding to the at least one pin through the estimated material.

The control device is characterized in that it calculates an average value for the depth values of each point included in the unit point group corresponding to at least one pin identified, estimates a length of the at least one pin based on the calculated average value, and inspects whether there is an abnormality in the length of the at least one pin by comparing the estimated length with a preset length of the pin.

The above control device is characterized in that it generates an edge connecting the boundaries of the identified unit point group corresponding to at least one pin, and inspects whether or not the pin is bent based on the shape of the generated edge.

The control device is characterized in that it obtains at least one unit point cloud by grouping point clouds whose depth values included in the three-dimensional point cloud data exceed a preset value, and identifies the obtained at least one unit point cloud as a unit point cloud corresponding to at least one hole included in the inspection object.

The control device is characterized in that it calculates an average value for the depth values of each point included in the unit point group corresponding to at least one identified hole, estimates the depth of the at least one hole based on the calculated average value, and inspects the presence or absence of an abnormality in the at least one hole by comparing the estimated depth with the depth of the preset hole.

The above sensing device is characterized in that, when the subject is positioned at a preset position by the conveyor, an image of the subject is acquired, and the control device identifies a bar code in the acquired image, estimates the type of the subject based on the identified bar code, and inspects the subject based on the estimated type.

The control device is characterized in that it extracts an edge based on RGB (Red, Green, Blue) values from the acquired image, identifies an object based on enclosures enclosed by the extracted edges, and identifies at least one connector included in the inspection object based on the shape of the identified object.

The above control device is characterized in that it inspects at least one of the number of connectors of the test object, the position of the connector, and the shape of the connector based on the estimated type.

Specific details of other embodiments are included in the detailed description and drawings.

According to embodiments of the present invention, using three-dimensional point cloud data, it is possible to determine with high reliability whether a pin or hole included in a connector is abnormal.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the description of the claims.

FIG. 1 is a configuration diagram of a connector inspection system according to one embodiment of the present invention.
FIGS. 2 and 3 are exemplary diagrams for explaining the operation of a conveyor according to one embodiment of the present invention.
FIG. 4 is a configuration diagram of a connector inspection system according to another embodiment of the present invention.
Figure 5 is a logical configuration diagram of a control device according to one embodiment of the present invention.
FIG. 6 is an exemplary diagram for explaining an image analysis unit according to one embodiment of the present invention.
Figures 7 and 8 are examples for explaining the defective state of a connector.
Figure 9 is a hardware configuration diagram of a control device according to one embodiment of the present invention.
Figure 10 is a flowchart for explaining a connector inspection method according to one embodiment of the present invention.

It should be noted that the technical terms used in this specification are only used to describe specific embodiments and are not intended to limit the present invention. In addition, the technical terms used in this specification should be interpreted as having a meaning generally understood by a person having ordinary skill in the art to which the present invention belongs, unless specifically defined otherwise in this specification, and should not be interpreted in an excessively comprehensive or excessively narrow sense. In addition, when the technical terms used in this specification are incorrect technical terms that do not accurately express the idea of the present invention, they should be replaced with technical terms that can be correctly understood by a person skilled in the art and understood. In addition, the general terms used in the present invention should be interpreted as defined in the dictionary or according to the context, and should not be interpreted in an excessively narrow sense.

In addition, the singular expressions used in this specification include the plural expressions unless the context clearly indicates otherwise. In this application, the terms "consisting of" or "having" should not be construed as necessarily including all of the various components or various steps described in the specification, and should be construed as not including some of the components or some of the steps, or may include additional components or steps.

In addition, terms including ordinal numbers such as first, second, etc. used in this specification may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

When it is said that a component is "connected" or "connected" to another component, it may be directly connected or connected to that other component, but there may be other components in between. On the other hand, when it is said that a component is "directly connected" or "connected" to another component, it should be understood that there are no other components in between.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Regardless of the reference numerals in the drawings, identical or similar components will be given the same reference numerals and redundant descriptions thereof will be omitted. In addition, when describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, it should be noted that the attached drawings are only intended to facilitate easy understanding of the spirit of the present invention, and should not be construed as limiting the spirit of the present invention by the attached drawings. The spirit of the present invention should be construed to extend to all modifications, equivalents, and substitutes in addition to the attached drawings.

Meanwhile, a connector may generally be equipped with terminal pins or holes for electrical connection. At this time, the connector may have defects such as different pin lengths, bent pins, or blocked holes due to various reasons during the manufacturing process. Such defects in the connector may affect signal transmission or power supply of the cable. Furthermore, as the issue of fire in electric vehicles has recently come to the fore, the importance of fire risk due to poor contact of the connector is increasing.

To solve these problems, methods of inspecting connectors for abnormalities using X-ray photography, digital microscope inspection, etc. have been recently used, but there was a problem with low reliability.

To overcome these limitations, the present invention proposes various means capable of determining the presence or absence of an abnormality in a pin or hole included in a connector with high reliability.

FIG. 1 is a configuration diagram of a connector inspection system according to one embodiment of the present invention, and FIGS. 2 and 3 are exemplary diagrams for explaining the operation of a conveyor according to one embodiment of the present invention.

Referring to FIGS. 1 to 3, a connector inspection system (400) according to one embodiment of the present invention may be configured to include a conveyor (100), a sensing device (200), and a control device (300).

As such, the components of the connector inspection system (400) according to one embodiment of the present invention merely represent functionally distinct elements, so two or more components may be implemented integrated with each other in an actual physical environment, or one component may be implemented separately from each other in an actual physical environment.

For each component, the conveyor (100) can move a test object (10) including at least one connector having at least one pin or hole for electrical connection.

Here, the test subject (10) may include at least one connector having at least one pin or hole for electrical connection. For example, the test subject (10) may be an electronic component including at least one connector used for signal transmission or power supply in a drive system, a power conversion system, a battery system, etc. of an electric vehicle. However, the present invention is not limited thereto, and the test subject (10) may include various electronic components including a connector having at least one pin or hole.

Specifically, the conveyor (100) may be configured to include a conveyor belt (110), a stopper (120), and a correction module (130).

First, the conveyor belt (110) can move the test subject (10). That is, when the test subject (10) is input, the conveyor belt (110) moves the input test subject (10) to the sensing position of the sensing device (200), and when the inspection is completed by the sensing device (200), the conveyor belt (110) can discharge the completed inspection test subject (10).

Here, the conveyor belt (110) is illustrated as a belt conveyor, but is not limited thereto, and various types of conveyors capable of moving the test object (10), such as a chain conveyor, a trolley conveyor, a screw conveyor, or a roller conveyor, may be used.

The stopper (120) blocks the path of the test subject (10) moving from the conveyor belt (110), stops the test subject (10) at a preset position, and when inspection is completed by the sensing device (200), the path blocking is released, allowing the test subject (10) to move again by the conveyor belt (110).

For example, as illustrated in FIG. 2, the stopper (120) may be positioned on the movement path of the subject (10) between a pair of belts provided on the conveyor belt (110). That is, when the subject (10) is detected at a preset position during the process of moving by the conveyor belt (110), the stopper (120) may protrude from the conveyor belt (110) to block the movement path of the subject (10). At this time, the position of the subject (10) may be detected by a separate sensor provided on the conveyor belt (110) or may be detected by a sensing device (200). Then, when the inspection is completed by the sensing device (200), the stopper (120) may be inserted into the lower part of the conveyor belt (110) to release the blocking of the movement path, thereby allowing the subject (10) to move again.

The position correction module (130) can correct the position of the test subject (10) stopped by the stopper (120). For example, the position correction module (130) can be located on the side of the conveyor belt (110) and move the test subject (10) toward the sensing device (200).

That is, as illustrated in FIG. 3, when the test subject (10) is stopped by the stopper (120) during the movement process by the conveyor belt (110), the position correction module (130) located on the side of the stopped test subject (10) can push the test subject (10) toward the sensing device (200) to move the test subject (10) to a preset position that can be sensed by the sensing device (200).

In the following configuration, the sensing device (200) is placed on the movement path of the subject (10) moving by the conveyor (100), and when the subject (10) is positioned at a preset position by the conveyor (100), three-dimensional point cloud data for the subject (10) can be obtained.

For example, the sensing device (200) may be configured to include at least one lidar. Here, the lidar may fire a laser pulse toward the subject (10) and detect light reflected by the subject (10) to generate three-dimensional point cloud data for the subject (10). Here, the three-dimensional point cloud data may include depth information for the subject (10) and intensity information indicating the degree of reflection.

The sensing device (200) is provided on the side of the conveyor (100) and can obtain three-dimensional point cloud data for at least one connector provided on the side of the subject (10). However, it is not limited thereto, and in the case of a subject (10) having a connector provided on the upper surface, the sensing device (200) can also be provided on the upper portion of the conveyor (100) and obtain three-dimensional point cloud data for at least one connector provided on the upper surface of the subject (10). In one embodiment, the sensing device (200) can be configured to vary its position with respect to the conveyor (100) depending on the shape of the subject (10).

With the following configuration, the control device (300) can inspect the presence or absence of an abnormality in the test object (10) based on the three-dimensional point cloud data sensed from the sensing device (200).

Specifically, the control device (300) can inspect for abnormalities in the length of the pin, the shape of the pin, the shape of the hole, the depth of the hole, etc. provided in the connector of the inspection object (10) based on the three-dimensional point cloud data sensed from the sensing device (200).

Meanwhile, specific details regarding the control device (300) will be described later with reference to the drawings.

The control device (300) having such features may be any device that can transmit and receive data with the conveyor (100) and the sensing device (200) and perform calculations based on the transmitted and received data. For example, the control device (300) may be any one of a fixed computing device such as a desktop, a workstation, or a server, but is not limited thereto.

In this way, the conveyor (100), the sensing device (200), and the control device (300) can transmit and receive data using a network that combines one or more of a secure line, a public wired communication network, or a mobile communication network that directly connects the devices.

For example, public wireline telecommunications networks may include, but are not limited to, Ethernet, Digital Subscriber Line (xDSL), Hybrid Fiber Coax (HFC), and Fiber To The Home (FTTH). Additionally, mobile telecommunications networks may include, but are not limited to, Code Division Multiple Access (CDMA), Wideband CDMA (WCDMA), High Speed Packet Access (HSPA), Long Term Evolution (LTE), and 5th generation mobile telecommunication.

Hereinafter, a connector inspection system (800) according to another embodiment of the present invention will be described in detail.

FIG. 4 is a configuration diagram of a connector inspection system according to another embodiment of the present invention.

Meanwhile, the connector inspection system (800) according to another embodiment of the present invention has substantially the same structure as the connector inspection system (400) according to one embodiment of the present invention, except for some components. Therefore, the same reference numerals are given to the same components, and redundant descriptions are omitted.

Referring to FIG. 4, a connector inspection system (800) according to one embodiment of the present invention may be configured to include a conveyor (500), a sensing device (600), and a control device (700).

For each configuration, the conveyor (500) can move a test object (10) including at least one connector having at least one pin or hole for electrical connection.

Here, the conveyor (500) may be configured to include a first conveyor (510) and a second conveyor (520). At this time, the first conveyor (510) and the second conveyor (520) may be formed with the same structure as the structure of the conveyor (100) according to one embodiment of the present invention described above.

The first conveyor (510) moves the incoming test subject (10) to a preset position that can be sensed by the first sensing device (610), and when sensing is completed by the first sensing device (610), the sensed test subject (10) can be transferred to the second conveyor (520).

The second conveyor (520) moves the test subject (10) introduced from the first conveyor (510) to a preset position that can be sensed by the second sensing device (620), and when sensing is completed by the second sensing device (620), the test subject (10) for which sensing has been completed can be discharged.

In addition, the conveyor (500) may be configured to further include a vibration generating module that generates preset vibrations in the first conveyor (510) and the second conveyor (520). Here, the vibration generating module may generate preset vibrations in the first conveyor (510) and the second conveyor (520) to implement an environment similar to an actual vehicle driving environment. At this time, the test subject (10) may be an electronic component mounted on a vehicle.

In the following configuration, the sensing device (600) is placed on the path of the subject (10) moving by the conveyor (600), and when the subject (10) is positioned at a preset position by the conveyor (600), information sensed from the subject (10) can be obtained.

The sensing device (600) may include a first sensing device (610) and a second sensing device (620).

First, the first sensing device (610) is positioned on the movement path of the subject (10) moving by the first conveyor (510), and when the subject (10) is positioned at a preset position by the first conveyor (510), an image of the subject (10) can be obtained. For example, the first sensing device (610) may include a camera that can capture the subject (10) and obtain an image. For example, the camera may include any one of a color camera, a near infrared (NIR) camera, a short infrared (SWIR) camera, and a long infrared (LWIR) camera.

The second sensing device (620) is positioned on the movement path of the subject (10) of the second conveyor (520), and when the subject (10) is positioned at a preset position by the second conveyor (520), three-dimensional point cloud data for the subject (10) can be obtained.

For example, the second sensing device (620) may be configured to include at least one lidar. Here, the lidar may fire a laser pulse toward the subject (10) and detect light reflected by the subject (10) and returned, thereby generating three-dimensional point cloud data for the subject (10). Here, the three-dimensional point cloud data may include depth information for the subject (10) and intensity information indicating the degree of reflection.

With the following configuration, the control device (700) can inspect the presence or absence of an abnormality in the subject of inspection (10) based on the image and three-dimensional point cloud data sensed from the sensing device (600).

Specifically, the control device (700) can determine whether the subject (10) is abnormal based on the image of the subject (10) obtained from the first sensing device (610). For example, the control device (700) can identify whether a connector is present in the subject (10), the location of the connector, the type of the connector, etc., and compare the identified information with preset information to determine whether the subject (10) is abnormal.

Additionally, the control device (700) can inspect for abnormalities in the test object (10) based on the three-dimensional point cloud data obtained from the second sensing device (620).

Specifically, the control device (700) can inspect for abnormalities in the length of the pin, the shape of the pin, the shape of the hole, the depth of the hole, etc. provided in the connector of the inspection object (10) based on the three-dimensional point cloud data sensed from the second sensing device (620).

Meanwhile, specific details regarding the control device (700) will be described later with reference to the drawings.

Hereinafter, a control device according to one embodiment of the present invention will be described in detail.

Figure 5 is a logical configuration diagram of a control device according to one embodiment of the present invention.

Referring to FIG. 5, a control device (300) according to one embodiment of the present invention may be configured to include a communication unit (305), an input/output unit (310), an image analysis unit (315), a point cloud data analysis unit (320), and a storage unit (325).

As such, the components of the control device (300) merely represent functionally distinct elements, so two or more components may be implemented integrated with each other in an actual physical environment, or one component may be implemented separately from each other in an actual physical environment.

For each configuration, the communication unit (305) can transmit and receive data with the conveyor (100) and the sensing device (200).

Specifically, the communication unit (305) can transmit a control signal for driving the conveyor (100) to the conveyor (100). The communication unit (305) can receive information about the control status from the conveyor (100).

In addition, the communication unit (305) can receive an image or three-dimensional point cloud data of the test object (10) sensed from the sensing device (200). The communication unit (305) can transmit a control signal for controlling the sensing device (200) to the sensing device (200).

With the following configuration, the input/output unit (310) can receive a signal from a user through a user interface (UI) or output an operation result to the outside.

Specifically, the input/output unit (310) can output an image or three-dimensional point cloud data sensed from the sensing device (200). In addition, the input/output unit (310) can output a result analyzed by the image analysis unit (315) and a result analyzed by the point cloud data analysis unit (320). That is, the input/output unit (310) can display whether there is an abnormality in a connector included in the subject of inspection (10).

For example, the input/output unit (310) can output an image or 3D point cloud data for a connector, and output the inspection result as “OK” or “NG” at each matching location on the output image or 3D point cloud data, thereby enabling the manager to check the inspection result in real time.

In the following configuration, the image analysis unit (315) can determine whether the subject (10) has an abnormality based on the image of the subject (10) obtained from the sensing device (200). For example, the image analysis unit (315) can identify whether a connector is present in the subject (10), the location of the connector, the type of the connector, etc., and compare the identified information with preset information to determine whether the subject (10) has an abnormality.

Specifically, the image analysis unit (315) can identify a barcode in the acquired image and estimate the type of the inspection object based on the identified barcode. That is, the image analysis unit (315) can identify the number of connectors, connector positions, connector shapes, etc. of the inspection object that serve as the inspection criteria through the estimated type of the inspection object.

Additionally, the image analysis unit (315) can identify a connector included in the test object (10) based on the RGB (Red, Green, Blue) values of the acquired image.

Specifically, the image analysis unit (315) can extract an edge based on RGB values from an image acquired from the sensing device (200).

For example, the image analysis unit (315) can segment an area based on an edge of an image. Specifically, the image analysis unit (315) can extract an edge for each image using either a LoG (Laplacian of Gaussian) algorithm or a DoG (Difference of Gaussian) algorithm.

When using the LoG algorithm, the image analysis unit (315) can remove noise existing in the image using a Gaussian filter. The image analysis unit (315) can apply a Laplacian filter to the image from which the noise has been removed. In addition, the image analysis unit (315) can detect zero crossing in the image to which the Laplacian filter has been applied and extract an edge.

When using the DoG algorithm, the image analysis unit (315) generates two Gaussian masks with different variances from the image. The image analysis unit (315) subtracts one mask from the other. Then, the image analysis unit (315) can apply the subtracted mask to the image to extract an edge.

Thereafter, the image analysis unit (315) can identify the object based on the enclosed areas by the extracted edges. Then, the image analysis unit (315) can identify at least one connector included in the test object (10) based on the shape of the identified object.

Briefly, with reference to Fig. 6, the function of the image analysis unit (315) will be described in more detail.

FIG. 6 is an exemplary diagram for explaining an image analysis unit according to one embodiment of the present invention.

Specifically, Figure 6 is an example image of an electronic control unit (ECU), which is one of the main components of an electric vehicle (EV).

Referring to FIG. 6, the image analysis unit (315) can identify a barcode (A) in the acquired image. Through this, the image analysis unit (315) can identify the type of product corresponding to the identified barcode (A). That is, the image analysis unit (315) can estimate that the test object is an electronic control unit (ECU) through the identified barcode, and further, can estimate the type of the electronic control unit.

Thereafter, the image analysis unit (315) can determine whether the inspection object is abnormal based on at least one of the number of pre-stored connectors, the location of the connector, and the shape of the connector depending on the type of the estimated product.

To this end, the image analysis unit (315) can identify the connectors (B, C) included in the test subject through the image analysis method described above. Then, the image analysis unit (315) can determine whether the test subject is abnormal based on the number, location, and shape of the identified connectors (B, C).

In the following configuration, the point cloud data analysis unit (320) can inspect the presence or absence of an abnormality in the subject of inspection based on the three-dimensional point cloud data sensed from the sensing device (200).

Let us briefly describe the defective condition of the connector with reference to FIGS. 7 and 8.

Figures 7 and 8 are examples for explaining the defective state of a connector.

As shown in Fig. 7, there may be various types of connector defects. For example, there may be a type in which the pins are bent (a), a type in which the pins have different lengths (b, c), etc. In addition, as shown in Fig. 8, there may be a type in which the holes are blocked (d), a type in which the hole depths are different (e), etc.

Accordingly, the point cloud data analysis unit (320) can detect various types of connector defects described above based on the three-dimensional point cloud data.

Specifically, the point cloud data analysis unit (320) can obtain at least one unit point cloud by grouping point clouds included in the 3D point cloud data based on intensity values.

As an example, the point cloud data analysis unit (320) can group the entire point cloud included in the 3D point cloud data scanned from the subject (10) based on the intensity value.

In another embodiment, the point cloud data analysis unit (320) can group point clouds corresponding to the area corresponding to the connector identified by the image analysis unit (315) based on the intensity value. Through this, the point cloud data analysis unit (320) can reduce the amount of computation required for point cloud analysis.

Thereafter, the point cloud data analysis unit (320) can estimate the material of the inspection object corresponding to each unit point cloud through the average value of the intensity values of at least one unit point cloud obtained.

That is, since the pins included in the connector are formed of a metal material with excellent electrical conductivity, the intensity value is measured to be high compared to other materials included in the test object or the connector. Accordingly, the point cloud data analysis unit (320) can estimate the material corresponding to the pin through the intensity value of the point cloud. In addition, the point cloud data analysis unit (320) can identify a unit point cloud corresponding to at least one pin through the estimated material.

In one embodiment, the point cloud data analysis unit (320) may calculate an average value for the depth values of each point included in the unit point cloud corresponding to at least one identified pin, estimate a length for at least one pin based on the calculated average value, and inspect for abnormalities in the length of at least one pin by comparing the estimated length with a preset length of the pin.

In another embodiment, the point cloud data analysis unit (320) can generate an edge connecting the boundaries of the identified unit point cloud corresponding to at least one pin, and check for abnormalities in terms of whether the pin is bent based on the shape of the generated edge.

In addition, the point cloud data analysis unit (320) can group point clouds whose depth values included in the 3D point cloud data exceed a preset value to obtain at least one unit point cloud, and identify the obtained at least one unit point cloud as a unit point cloud corresponding to at least one hole included in the subject of inspection. That is, the point cloud data analysis unit (320) can identify the hole of the connector by using the depth information included in the point cloud, by using a deep point in comparison with a configuration in which the depth of the hole in the connector is different.

In one embodiment, the point cloud data analysis unit (320) may calculate an average value for the depth values of each point included in the unit point cloud corresponding to at least one identified hole, estimate the depth of at least one hole based on the calculated average value, and inspect for abnormalities in at least one hole by comparing the estimated depth with the preset depth of the hole.

In another embodiment, the point cloud data analysis unit (320) can recognize a pattern of a unit point cloud corresponding to an identified hole and check whether the hole is blocked. That is, the point cloud data analysis unit (320) can recognize a pattern of a unit point cloud corresponding to an identified hole and compare the recognized pattern with a pre-stored pattern corresponding to the type of the corresponding connector to check whether the hole is blocked.

In another embodiment, the point cloud data analysis unit (320) can generate vibrations in the conveyor through the vibration generation module before acquiring 3D point cloud data through the sensing device (200) when the subject (10) is positioned at a preset position by the conveyor (100). Thereafter, the point cloud data analysis unit (320) can acquire 3D point cloud data from the subject (10) to which the vibrations have been applied. Then, according to the various embodiments described above, the point cloud data analysis unit (320) can inspect the subject (10) using the acquired 3D point cloud data.

That is, the point cloud data analysis unit (320) takes into account the fact that defects in pins or holes may occur due to vibrations, etc. after the inspection object (10) is installed on an actual vehicle, and thus, by generating vibrations of a preset intensity on the conveyor on which the inspection object is installed, inspection of the inspection object can be performed while taking into account the actual vehicle driving environment.

Below, the hardware for implementing the logical components of the control device (300) described above will be described in more detail.

Figure 9 is a hardware configuration diagram of a control device according to one embodiment of the present invention.

As illustrated in FIG. 9, the control device (300) may be configured to include a processor (processor, 350), memory (memory, 355), a transceiver (transceiver, 360), an input/output device (input/output device, 365), a data bus (bus, 370), and storage (storage, 375).

Specifically, the processor (350) can implement the operation and function of the control device (300) based on instructions according to software (380a) implementing a connector inspection method residing in the memory (355).

Software (380b) implementing a connector inspection method stored in storage (375) can be loaded into memory (355).

The input/output device (365) can receive signals necessary for the operation of the control device (300) or output operation results to the outside according to the command of the processor (350).

The data bus (370) is connected to the processor (350), memory (355), transceiver (360), input/output device (365), and storage (375), respectively, and can serve as a passage for transmitting signals between each component.

The storage (375) may store application programming interfaces (APIs), library files, resource files, etc. required for execution of software (380a) implementing a connector inspection method according to embodiments of the present invention. The storage (375) may store software (380b) implementing a connector inspection method according to embodiments of the present invention.

According to one embodiment of the present invention, software (380a, 380b) for implementing a connector inspection method using an image resident in a memory (355) or stored in a storage (375) may be a computer program recorded on a recording medium to cause a processor (350) to execute a step of moving at least one connector provided with at least one pin or hole for electrical connection through a conveyor, a step of obtaining three-dimensional point cloud data for the inspection object when the processor (350) is positioned on a path of the inspection object moved by the conveyor through a sensing device and the inspection object is positioned at a preset position by the conveyor, and a step of inspecting the inspection object for abnormality based on the three-dimensional point cloud data sensed by the processor (350).

In more detail, the processor (350) may be configured to include one or more of a central processing unit (CPU), an application-specific integrated circuit (ASIC), a chipset, and a logic circuit, but is not limited thereto.

The memory (355) may be configured to include one or more of a ROM (Read-Only Memory), a RAM (Random Access Memory), a flash memory, and a memory card, but is not limited thereto.

The input/output device (360) may be configured to include, but is not limited to, one or more of input devices such as buttons, switches, keyboards, mice, and joysticks, and output devices such as LCDs (Liquid Crystal Displays), LEDs (Light Emitting Diodes), Organic LEDs (OLEDs), Active Matrix OLEDs (AMOLEDs), printers, and plotters.

When the embodiments included in this specification are implemented in software, the above-described method may be implemented with modules (processes, functions, etc.) that each perform the above-described functions. Each module may reside in the memory (355) and be executed by the processor (350). The memory (355) may exist inside or outside the processor (350) and may be connected to the processor (350) by various well-known means.

Each component illustrated in FIG. 9 may be implemented by various means (e.g., hardware, firmware, software, or a combination thereof). When implemented by hardware, an embodiment of the present invention may be implemented by one or more ASICs (Application Specific Integrated Circuits), DSPs (Digital Signal Processors), DSPDs (Digital Signal Processing Devices), PLDs (Programmable Logic Devices), FPGAs (Field Programmable Gate Arrays), processors, controllers, microcontrollers, microprocessors, and the like.

In addition, when implemented by firmware or software, one embodiment of the present invention may be implemented in the form of a module, procedure, function, etc. that performs the functions or operations described above, and may be recorded on a recording medium that can be read by various computer means. Here, the recording medium may include program commands, data files, data structures, etc., singly or in combination.

The program commands recorded on the recording medium may be those specially designed and configured for the present invention, or may be those known to and available to those skilled in the computer software industry. For example, the recording medium includes magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs (Compact Disk Read Only Memory) and DVDs (Digital Video Disks), magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands such as ROMs, RAMs, and flash memories.

Examples of program instructions may include machine language codes, such as those produced by a compiler, as well as high-level language codes that can be executed by a computer using an interpreter, etc. Such hardware devices may be configured to operate as one or more software to perform the operations of the present invention, and vice versa.

Figure 10 is a flowchart for explaining a connector inspection method according to one embodiment of the present invention.

Referring to FIG. 10, at step S100, the control device can move a test object including at least one connector having at least one pin or hole for electrical connection through a conveyor.

Next, at step S200, the control device can obtain sensing data on the subject of inspection through a sensing device disposed on the path of the subject of inspection moving by the conveyor when the subject of inspection is positioned at a preset position by the conveyor.

Specifically, the control device can obtain an image of the subject being inspected from the sensing device. In addition, the control device can obtain three-dimensional point cloud data regarding the subject being inspected from the sensing device.

And, at step S300, the control device can inspect the test subject for abnormalities based on the sensed data.

In one embodiment, the control device can determine whether the subject is abnormal based on an image of the subject obtained from the sensing device. For example, the control device can identify whether a connector is present in the subject, the location of the connector, the type of the connector, etc., and compare the identified information with preset information to determine whether the subject is abnormal.

Specifically, the control device can identify a barcode in the acquired image and estimate the type of the inspection object based on the identified barcode. That is, the control device can identify the number of connectors, connector positions, connector shapes, etc. of the inspection object that serve as inspection criteria through the estimated type of the inspection object.

Additionally, the control device can identify a connector included in the test object based on the RGB (Red, Green, Blue) values of the acquired image.

Specifically, the control device can extract edges based on RGB (Red, Green, Blue) values from an image acquired from the sensing device. Thereafter, the control device can identify objects based on enclosures enclosed by the extracted edges.

And, the control device can identify at least one connector included in the inspection object (10) based on the shape of the identified object. Thereafter, the control device can inspect for an abnormality in at least one of the number of identified connectors, the connector position, and the connector shape.

Thereafter, the control device can inspect the inspection object for abnormalities based on the three-dimensional point cloud data sensed from the sensing device.

Specifically, the control device can obtain at least one unit point cloud by grouping point clouds included in the 3D point cloud data based on intensity values.

The control device can group the entire point cloud included in the 3D point cloud data scanned by the subject based on the intensity value. However, it is not limited thereto, and the control device can group the point cloud corresponding to the area corresponding to the identified connector based on the intensity value. Through this, the control device can reduce the amount of computation required for point cloud analysis.

Thereafter, the control device can estimate the material of the inspection object corresponding to each unit point group through the average value of the intensity values of at least one unit point group acquired.

That is, since the pins included in the connector are formed of a metal material with excellent electrical conductivity, the intensity value is measured higher than that of other materials included in the test object or the connector. Accordingly, the control device can estimate the material corresponding to the pin through the intensity value of the point group. And, the control device can identify the unit point group corresponding to at least one pin through the estimated material.

Thereafter, the control device can calculate an average value for the depth values of each point included in the unit point cloud corresponding to at least one identified pin, estimate a length of at least one pin based on the calculated average value, and inspect whether there is an abnormality in the length of at least one pin by comparing the estimated length with a preset length of the pin.

Additionally, the control device can generate an edge connecting the boundaries of the identified unit point group corresponding to at least one pin, and inspect for abnormality in terms of whether the pin is bent based on the shape of the generated edge.

In addition, the control device can group point clouds whose depth values in the point clouds included in the 3D point cloud data exceed a preset value to obtain at least one unit point cloud, and identify the obtained at least one unit point cloud as a unit point cloud corresponding to at least one hole included in the subject of inspection. That is, the point cloud data analysis unit (320) can identify the hole of the connector by using the depth information included in the point cloud, by using the deep point in comparison with other configurations of the depth of the hole in the connector.

Additionally, the control device can calculate an average value for depth values of each point included in the unit point cloud corresponding to at least one identified hole, estimate a depth for at least one hole based on the calculated average value, and inspect for an abnormality in at least one hole by comparing the estimated depth with a preset depth of the hole.

In addition, the control device can recognize a pattern of a unit point group corresponding to an identified hole and check whether the hole is blocked. That is, the control device can recognize a pattern of a unit point group corresponding to an identified hole and compare the recognized pattern with a pre-stored pattern corresponding to the type of the corresponding connector to check whether the hole is blocked.

Meanwhile, the control device can generate vibrations in the conveyor through the vibration generating module before acquiring 3D point cloud data through the sensing device when the subject is positioned at a preset position by the conveyor. Thereafter, the control device can acquire 3D point cloud data from the subject to which the vibrations have been applied. Then, according to the various embodiments described above, the control device can inspect the subject using the acquired 3D point cloud data.

That is, the control device can perform inspection of the test object by taking into account the actual vehicle driving environment by generating vibrations of a preset intensity on the conveyor on which the test object is installed, taking into account the possibility that defects in pins or holes may occur due to vibrations, etc. after the test object is installed on an actual vehicle.

As described above, although the preferred embodiments of the present invention have been disclosed in this specification and drawings, it will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention can be implemented in addition to the embodiments disclosed herein. In addition, although specific terms have been used in this specification and drawings, these have been used only in a general sense to easily explain the technical contents of the present invention and to help the understanding of the invention, and are not intended to limit the scope of the present invention. Therefore, the above detailed description should not be construed as restrictive in all aspects but should be considered as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

100, 500 : Conveyor 200, 600 : Sensing device
300, 700: Control unit 400, 800: Inspection system
305: Communication section 310: Input/output section
315: Image Analysis Department 320: Point Cloud Data Analysis Department
325 : Storage

Claims (10)

A conveyor for moving a test object including at least one connector having at least one pin or hole for electrical connection;
A sensing device positioned on the path of the subject moving by the conveyor, and obtaining three-dimensional point cloud data for the subject when the subject is positioned at a preset position by the conveyor; and
A control device that inspects whether there is an abnormality in the test object based on three-dimensional point cloud data sensed from the sensing device;
A connector inspection system characterized in that the point clouds included in the above 3D point cloud data are grouped based on intensity values to obtain at least one unit point cloud, the material of the inspection object corresponding to each unit point cloud is estimated through an average value of the intensity values of the at least one obtained unit point cloud, and the unit point cloud corresponding to the at least one pin formed of a metal material is identified through the estimated material. In the first paragraph, the conveyor
A conveyor belt for moving the above test subject;
A stopper that blocks the path of a test subject moving from the conveyor belt, stops the test subject at a preset position, and releases the block when inspection is completed; and
A connector inspection system, characterized by including a position correction module for correcting the position of a test object stopped by the stopper. delete In the first paragraph, the control device
A connector inspection system characterized by calculating an average value for the depth values of each point included in the unit point group corresponding to at least one pin identified above, estimating a length of the at least one pin based on the calculated average value, and inspecting whether there is an abnormality in the length of the at least one pin by comparing the estimated length with a preset length of the pin. In the first paragraph, the control device
A connector inspection system characterized by generating an edge connecting the boundaries of identified unit point groups corresponding to at least one pin, and inspecting whether or not the pin is bent based on the shape of the generated edge. In the first paragraph, the control device
A connector inspection system characterized in that the system obtains at least one unit point cloud by grouping point clouds whose depth values included in the three-dimensional point cloud data exceed a preset value, and identifies the obtained at least one unit point cloud as a unit point cloud corresponding to at least one hole included in the inspection object. In the sixth paragraph, the control device
A connector inspection system characterized in that it calculates an average value for the depth values of each point included in the unit point cloud corresponding to at least one identified hole, estimates the depth of the at least one hole based on the calculated average value, and inspects the presence or absence of an abnormality in the at least one hole by comparing the estimated depth with the depth of the preset hole. In the first paragraph, the sensing device
When the test subject is positioned at a preset position by the conveyor, an image of the test subject is acquired,
The above control device
A connector inspection system characterized by identifying a barcode in the acquired image, estimating the type of the inspection object based on the identified barcode, and inspecting the inspection object based on the estimated type. In the 8th paragraph, the control device
A connector inspection system characterized by extracting edges based on RGB (Red, Green, Blue) values from the acquired image, identifying objects based on enclosures enclosed by the extracted edges, and identifying at least one connector included in the inspection object based on the shape of the identified object. In the 9th paragraph, the control device
A connector inspection system characterized by inspecting at least one of the number of connectors of the test object, the position of the connector, and the shape of the connector based on the estimated type.

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