JP3312468B2 - Body mounting posture measuring device and vehicle body gap step measuring device using the same - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection apparatus for inspecting a product on a production line which conveys a workpiece on a conveyor and assembles the product. The present invention relates to an apparatus for measuring assembly accuracy based on the above.

[0002]

2. Description of the Related Art In a production line for assembling products by a series of operations, automation of each process is being promoted, and this is also important in an inspection process. One of the inspection processes of a production line for assembling a vehicle such as an automobile includes a process of inspecting whether a gap or a step between outer plates of a vehicle body is created within a predetermined allowable range. A vehicle body is usually composed of a plurality of outer plates, but if the gaps or steps between these outer plates are large, the appearance quality is deteriorated. The gaps and steps between the outer panels such as the front fender and front door, and the hood and front fender are easily noticeable and require sufficient quality control. Further, the width of the gap must be set so that the opening / closing section such as a door does not interfere with other outer plates due to the opening / closing, and sufficient management is required from this aspect as well. Such an apparatus for measuring the gap or step between two members is described in Japanese Patent Application Laid-Open No. 4-84707. The device described in this publication is a stationary type device, but by arranging a slit light irradiating means and an imaging means at the tip of a robot hand provided on a side of a conveyor of a production line, a vehicle on the conveyor is controlled. It is possible to create a device for measuring the gap steps at various places.

[0003]

However, when the sensor of this device is attached to the tip of the robot hand,
Although it is necessary to operate the robot hand to move the sensor to the measurement site, there is a problem that the position of the measurement site changes depending on the mounting posture of the vehicle mounted on the conveyor, and accurate measurement cannot be performed. there were. In addition, when the measurement site is not accurately determined, the measurement time becomes longer and the time required for the inspection becomes longer. That is, in such a case, it is necessary to measure over a relatively wide range near the gap to be measured, and it takes more time. When one vehicle has a large number of measurement sites, there is a problem that the time required for the measurement is further increased.

In order to solve such a problem, the mounting posture of the vehicle body with respect to the conveyor is accurately measured, the position of the measurement site is calculated based on this posture, and the robot hand is operated here to position the sensor. It is possible. The mounting posture of the vehicle body can be detected by detecting a reference hole provided at a predetermined position of the vehicle body. But,
When this reference hole is located downstream of the production line, it may not be detected because of the shadow of other assembled parts, or it may have already passed through the process of closing the reference hole, and it cannot be detected reliably. There was a problem that sometimes.

Furthermore, in the conventional apparatus, no consideration is given to a gap or a step to be detected in the case of a vehicle body.
For example, there is a problem that a frame exists immediately behind a gap portion of a vehicle body outer plate, and this affects detection of a gap or a step.

Further, in the conventional apparatus, there is a problem that noise cannot be removed due to dust or the like adhering to the outer plate.

[0007]

In order to achieve the above-mentioned object, a vehicle body mounting posture measuring apparatus according to the present invention comprises a vehicle body mounting posture measuring device for measuring a mounting posture of a vehicle body mounted on a conveyor. A rocker unit axis detecting means for detecting a direction of an axis of a rocker unit at a bottom of the vehicle body, and the detected rocker with respect to at least one of a transport axis and a right-left axis and a vertical axis orthogonal thereto. Inclination calculating means for calculating the inclination of the part axis, gap detecting means for detecting the position of a predetermined gap of the vehicle body outer plate, and placing the vehicle body on a conveyor based on the detected position of the gap. Mounting position calculating means for calculating a position.

According to a further aspect of the present invention, the rocker section detecting means has a left head for detecting a left rocker section and a right head for detecting a right rocker section, and one of the left and right heads. Measures the positions of a plurality of locations of the rocker portion, and the other measures the locations of only one location.

According to a further aspect of the present invention, the gap is a gap between a front fender and a front door.

In addition, the vehicle body gap step measuring device according to the present invention measures the distance from the sensor to the vehicle body outer plate at a plurality of measurement points along a predetermined measurement line on the vehicle body outer plate by using a distance sensor. And a measurement device for measuring the level difference, a measurement line calculating means for calculating a measurement line for measuring the gap and the level difference based on the vehicle body mounting posture detected by any one of the vehicle body mounting posture measuring device described above, Sensor moving means for moving the distance sensor along the calculated measurement line.

[0011] Furthermore, the above-mentioned vehicle body gap level difference measuring device includes:
Preferably, the apparatus has a processing unit for processing the measurement data obtained by the distance sensor, and in the processing unit, extracts two measurement points in which the amount of change from the previous measurement point has changed by a predetermined value or more, and measures the first measurement point that has changed. The data processing is performed excluding the measured values up to the measurement point immediately before the second changed measurement point.

Further, the above-mentioned vehicle body gap level difference measuring device preferably has a processing unit for processing the measurement data obtained by the distance sensor. The change amount is accumulated from the point, and the data processing is performed excluding the measured value of each measurement point up to the measurement point at which the accumulation becomes zero.

[0013]

The present invention has the above-described configuration. By calculating the axis of the rocker portion, the vehicle body can be positioned with respect to the transport axis and at least one of the left-right axis and the vertical axis orthogonal to the transport axis. It is possible to calculate whether the sheet is placed with a slight inclination, and it is possible to calculate the position in the transport direction by detecting a gap in the vehicle body. Then, the mounting posture of the vehicle body with respect to the conveyor can be calculated based on the inclination of the vehicle with respect to the transport axis, the left-right axis, and the vertical axis, and the position in the transport direction.

Further, by calculating one axis of the left and right rocker portions and calculating only one point of the other, the inclination of the vehicle body with respect to each of the transport axis, the left / right axis, and the vertical axis can be calculated.

Further, by providing the above-mentioned gap as a gap between the front fender and the front door extending substantially in the vertical direction of the vehicle body, stable position detection can be performed.

With the above-described body mounting posture measuring device, the position of the measurement site of the gap and the step of the vehicle body can be accurately specified based on the measured mounting posture, and the distance sensor can be accurately positioned at this portion. .

Further, in the processing of the measurement result by the distance sensor, measurement data to be deleted can be extracted, and accurate measurement can be performed.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments according to the present invention will be described below with reference to the drawings.

FIG. 1 is an overall view showing a process of measuring a gap or a step of a vehicle assembly line, particularly of a vehicle body outer plate, and inspecting whether or not the measured value has a predetermined allowable accuracy. The vehicle body 1 is conveyed by a conveyor 2 in the direction of arrow Y in the figure. This inspection process is divided into two processes, an attitude measurement step 3 for measuring the attitude of the vehicle placed on the conveyor upstream, and a gap and a step at a predetermined portion of the vehicle outer plate actually measured downstream. Gap step measurement process 4
Is arranged.

When the vehicle body 1 is placed on a conveyor, rough positioning is performed, but positioning with the accuracy necessary for determining the mounting position when assembling parts with an industrial robot is performed. Absent. That is, in a coordinate system composed of an axis in the transport direction (transport axis) and three axes, that is, a right-left axis and a vertical axis, which are orthogonal to each other and orthogonal to each other, the position of the vehicle body with respect to the transport axis and the inclination of the vehicle body axis with respect to each axis. Is different for each vehicle body. Also in the inspection process, the position to be inspected differs depending on the vehicle body mounting position and the mounting inclination, that is, the mounting posture of the vehicle body, and it is necessary to accurately move the sensor to this measurement position for measurement. . For this purpose, in this embodiment, the mounting posture of the vehicle to be measured is measured before the measurement, and the gap and the step are measured based on the measured posture.

In the attitude measuring step 3, the rocker detecting heads 5a and 5b detect the convex-shaped rocker provided between the front and rear wheel houses on the bottom of the vehicle body, and detect the rocker in the direction of the axis of the rocker. The inclination of the mounting posture of the vehicle body with respect to each axis such as the transport axis is calculated based on the calculated values. In addition, a parting sensor 6 for detecting a predetermined step portion of the vehicle body is provided for positioning in the transport axis direction. The mounting posture of the vehicle body 1 is calculated by these sensors.

Once the loading position and posture of the vehicle body 1 are determined,
The position of the measurement part of the gap / step defined for each vehicle type / specification of the vehicle body 1 can be specified with high precision, and the robot hands 7a and 7b move the gap / step sensor heads 8a and 8b to the measurement position to perform measurement. . The vehicle body outer plate is usually composed of a plurality of press-formed metal plates,
If the gap between the metal plate and the metal plate is large or there is a step, the appearance quality of the product is significantly reduced. Therefore, it is important to inspect this part to confirm whether it is created within a predetermined accuracy. Such a gap step,
In the case of a vehicle outer panel, the target is the area between the front fender and the hood hood, the area between the front fender and the front door, and a plurality of locations where the target outer panels are abutted are measured. Therefore, there are a large number of measurement positions, and there is a demand to reduce the time required for measurement at one location. From this viewpoint, it is also required to accurately specify the measurement position and reduce the measurement time.

First, the posture measuring step 3 will be described with reference to FIGS. In the present embodiment, the rocker unit 10 (see FIG. 2) provided at the boundary between the outer plate on the bottom of the vehicle body and the outer plate on the side surface of the vehicle body is detected in order to measure the posture of the vehicle body. The rocker portion 10 is a ridge extending in a straight line between the front wheel house and the rear wheel house at the bottom of the vehicle. The axis of the rocker portion 10 is used as the axis of the vehicle body, and the vehicle is transported according to the direction of the axis of the rocker portion. An inclination with respect to an axis or the like can be calculated.

The rocker detecting heads 5a and 5b detect the axis 10a of the rocker 10. In this embodiment, the locker axis 10a is a straight line formed by the lower end of the rocker.

FIG. 2 shows only the locker detection head 5a disposed on the left side in the transport direction Y, but the locker detection head 5b on the right has the same configuration. The description is omitted. Further, the xyz coordinate system in the figure is fixed on the conveyor, and is the same coordinate system as the above-described coordinate system including the transport axis, the left-right axis, and the vertical axis. The transport axis is the y-axis, the left-right axis is the x-axis, The vertical axis corresponds to the z-axis. The following description is based on this coordinate system. Further, since the coordinate system is fixed on the conveyor, it moves with the movement of the conveyor.

As shown in the figure, the rocker detecting head 5a has a laser light source 14 for generating slit light 12;
A CCD (Charge Coupled Device) camera 16 for detecting an image 18 in which the slit light 12 is projected on the rocker unit is provided. The slit light 12 emitted by the laser light source 14
Is fixed in a predetermined direction, and particularly in the case of the present embodiment, is fixed in the x-axis direction. In addition, the arrangement of the laser light source 14 and the CCD camera 16 is also located parallel to the y-axis direction, and the interval is set to a predetermined value.

FIG. 3 shows an example of an image captured by the CCD camera 16. A projection image 18 of the locker section 10 of the slit light 12 is photographed, and this appears on the photographed image as shown in the figure. This image 18 is composed of the locker unit 10 and the laser light source 14.
Is larger (distance in the x-axis direction) on the screen as the distance (distance in the x-axis direction) is larger, for example, the image 18 shown by a dotted line
'. Conversely, if the distance between the rocker unit 10 and the laser light source 14 is short, the image 18 is shifted to the left. Also,
The position of the rocker unit 10 in the z-axis direction appears as a vertical movement on the image. If this is used, the distance between the rocker unit 10 irradiated with the slit light 12 and the laser light source 14 and the vertical position of the rocker unit 10 can be measured based on the position of the image 18 on the CCD image. The coordinates are stored in the storage unit 20 with the lower end point A ₁ of the image 18 as a point representing the position of the rocker unit 10. Furthermore, the conveyor 2 is similarly measured coordinate of the lower end point of the rocker portion 10 when moved by a predetermined distance in the storage unit 20 as the lower end point A _2. In this measurement, the y coordinate is also detected by detecting the amount of movement of the conveyor. The axis calculating unit 21 calculates and specifies the axis 10a of the rocker unit 10 on the xyz coordinates based on the coordinates of the lower end point of the rocker unit.

Therefore, the axis 10a of the rocker part is x,
It is possible to calculate the degree of inclination with respect to each of the y and z axes. Of course, if the two points are determined, the equation of the straight line in the three-dimensional space can be determined. Therefore, the minimum number of measurement of the lower end of the rocker part may be two, but in this embodiment,
Considering that the coordinates of each measurement point include a measurement error and a manufacturing error of the rocker unit 10, measurement is performed at three or more points, and a first-order approximation of these measurement point data is obtained. The part axis 10a is calculated.

In the right detection head, at least one lower end point B of the rocker portion is measured, and the measurement and the left rocker portion axis 10a are used to measure xy.
The plane of the vehicle bottom surface on the z coordinate is specified. By determining this plane, it is possible to calculate the degree of inclination of the vehicle with respect to the x, y, and z coordinate axes.

As described above, although the inclination of the vehicle body can be detected, the coordinates in the transport direction, that is, the y coordinates have not been specified yet. That is, the position irradiated by the laser light source 14 is any position of the rocker portion 10, the rocker subordinates measured endpoint _{A 1, A 2, ...,} A n is the axis 10
Although it is on “a”, the position of the vehicle body 1 is not specified, and therefore, it is not possible to specify the position of the mounting position of the vehicle body in the y-axis direction. In order to specify the coordinates of each point on the vehicle body, it is necessary to determine the coordinates of a specific point on the vehicle body.

A sensor for detecting the coordinates of a specific point on the vehicle body is a parting sensor 6. The parting sensor 6 has a laser light source for irradiating one point on the vehicle body outer plate and a light receiving unit for detecting the reflected wave. This configuration is the same as that of the rocker portion detection head 5, and can calculate the distance to the position where the laser light is irradiated. In the present embodiment, the laser beam is first irradiated to the front fender, and then to the gap between the front fender and the front door as the vehicle body 1 is transported. The distance measured when the space is irradiated is sharply increased, and the coordinates of this portion can be specified.

For example, when the distance is measured as shown in FIG. 5A, and when the measured distance reaches a predetermined threshold value s, the laser beam irradiation position reaches the end point of the front fender. Can be detected. As shown in FIG. 5B, the output signal of the sensor is a threshold s.
Is turned on / off at the time t ₀ when the time reaches the end point C, it is possible to detect this parting point C (end point of the front fender).

However, the detection of the parting point C as described above may include an error depending on the mounting position of the vehicle body 1 on the conveyor. That is, as shown in FIG. 6, when the position where the vehicle is mounted is far from the parting sensor 6, the parting point C is detected earlier by the time Δt than when the vehicle is mounted close. Problem. Further, as shown in FIG. 7, there is a case where the distance equal to or larger than the threshold value is measured from the beginning, and the breakout point C cannot be detected.

In the case of the parting sensor according to the present embodiment, all the distances initially detected are set to the initial value p to eliminate an error due to the vehicle mounting position. That is, when the vehicle mounting position is far as shown in FIG. 8, the measured distance is shifted to the initial value p, and the parting point C is detected. Also, when the placement position is close, as shown in FIG. 9, the position is shifted to the initial value p, and then the parting point C is detected.

If the parting point C is detected, the origin O of the vehicle body can be calculated. FIG. 10 is a diagram illustrating a method of calculating the vehicle body origin O. Although this drawing is shown only in the xy plane, the same calculation can be made in other planes.

The measured lower end points A ₁ , A of the left rocker portion
_2, ..., the A _n, the rocker portion axis 10a is calculated, since it has also been measured right rocker subordinates endpoint B, underbody 26 are identified by these. Then, the inclination θ of the rocker axis 10a in the y-axis direction in the xy plane can be calculated. As described above, the rocker portion detection head 5a by the point A ₁ coordinates and point C coordinates by parting sensor 6 is calculated. The relative position between the parting point C and the vehicle origin is determined by the type and specification of the vehicle. In the figure, the distance c in the axial direction of the vehicle body (coincident with the direction of the rocker part axis 10a) and the distance b in the direction perpendicular to the distance are shown. Is indicated by Distance e in the figure, the distance between the first detected rocker subordinate endpoint A ₁ and the vehicle origin O, can be calculated so the following equation.

[0037]

## EQU1 ## From the above, the origin of the vehicle body is calculated from the above, and the mounting posture of the vehicle body is calculated, so that each point on the vehicle body is fixed on the above-described conveyor. It can be calculated as a point on (xyz coordinates).

In the above description, the axial direction of the vehicle body has been described as a straight line formed by the lower end of the rocker portion. However, when the lower end of the rocker portion is not linear, the concave portion 10b of the rocker portion may be detected. It is also suitable.

In the next gap step measuring step 4, the xyz coordinates of the portion where the gap and the step are to be measured are specified based on the body posture calculated as described above, and the gap step sensor heads 8a and 8b are positioned there. .

The gap step measuring device uses the sensor head 8
Any type of sensor may be used as long as the sensor is configured to measure the distance from a, 8b to the object to be measured. In this embodiment, the distance is measured according to the same principle as the above-described rocker detection heads 5a, 5b. Using a sensor. In other words, a slit light is emitted from a laser light source to a measurement target portion, an image of the slit light reflected on the measurement target portion is captured by an imaging unit such as a CCD camera, and a distance is obtained from a position on the captured image of the slit light. .

FIG. 11 is a diagram showing the relationship between the measurement target site and the measurement data. As described above, there are gaps between the front fender and the front door and between the front fender and the hood of the hood, as described above. Here, measurement of the gap between the front fender and the front door will be described. In FIG. 11A, the front fender outer plate 3
0 and the front door outer plate 32 are assembled with a predetermined gap β. The gap is set so that the outer plates 30, 32 do not interfere with the opening and closing of the front door. The shift in the normal direction between the two outer plates 30 and 32 is the step α. Further, in the case of a vehicle body, there are often other members such as a frame behind the outer plate, and members or components such as a frame and a door hinge are arranged behind a gap between the front door and the front fender. FIG.
(A) shows a part 34 of the frame.

When the above portions are measured by the gap step sensor heads 5a and 5b, raw data x '(i) as shown in FIG. 11B is obtained. The data processing unit obtains smoothed shape data by taking a predetermined number of moving averages before and after the raw data. That is, the i-th data x (i) smoothed by the preceding and following k elementary data is obtained by the following equation.

[0043]

X (i) = ｛x ′ (ik) + x ′ (i−k + 1) +... + X
'(I + k)｝ / (2k + 1) By performing the smoothing as described above, the influence of a measurement error or the like can be reduced.

However, when such smoothing is performed, data at the end of the vehicle body outer panel 30 or 32 may greatly differ from the actual measurement result. 12, a measurement point near the end of the outer plate 30, for example, a point x (a-1)
Is obtained by the above equation as an arithmetic mean of a predetermined number of points before and after, but is not related to the outer plate (see FIG. 11).
) Is affected by the data x ′ (a), x ′ (a + 1), etc., and is calculated with a shift of δ. Therefore, the shape of the outer plate end may not be accurately calculated. Further, even when only one point is significantly different from surrounding points due to the occurrence of noise as in the data x '(c) shown in FIG. 13, it also affects the smoothing of surrounding points. In addition, as shown in FIG. 14, instead of noise at only one point, data x ′ (d)
Even if a plurality of data differs from the surrounding points by '(d + k), the smoothing is affected. When such noise occurs, it is conceivable that dust or the like is attached to the outer plate.

In order to exclude unnecessary data as described above and perform data processing, in this embodiment, the data processing section is provided with a noise processing section shown in FIG. The distance from the head measured by the sensor head 40 to the vehicle outer panel is sequentially stored in the shape data capturing unit 42. This data is further sent to an unnecessary data determination unit 46 in the data processing unit 44. In the unnecessary data determination unit 46, the rising / falling detection unit 48 first determines the change amount Δx ′ of the value x ′ (i) of certain measurement data with respect to the previous value x ′ (i−1).
The absolute value of (i) is constantly monitored to see if it exceeds a predetermined value. When the variation Δx ′ (i) exceeds a predetermined value, a rise or fall judgment is made.

As shown in FIG. 12, when the falling edge (data x '(a)) is detected first, the noise determination unit 50 determines that the falling data x' (a) is noise. Is suspended, and a rise is detected. If the rise x '(b) is detected, it is determined that the gap between the outer plates shown in FIG. 11 has been detected. Then, the data x '
From (a), data x ′ (b−) immediately before data x ′ (b)
Until 1), since the data is data of a frame or the like that is not related to the outer plate, the unnecessary data removing unit 52 removes the data in this portion as unnecessary data. If the rise is not detected after the fall is detected, the noise determination unit 50 determines that there is some mistake in the measurement, and notifies the operator of this.

As shown in FIGS. 13 and 14, when a rising edge is detected, the noise determination unit calculates the accumulation of the variation Δx ′ of each data after the rising edge is detected. Then, a point where the accumulated value becomes 0 is searched. Then, the data up to the immediately preceding data at which the accumulated value becomes 0 is determined by the noise determination unit 50.
Is determined as noise. For example, in FIG. 13, since the rising is detected in the data x '(c), the data x' (c + 1) immediately returns to the original value, so that the accumulated value of the change amount becomes zero. Therefore, in this case, the data x '
Only (c) is determined to be noise, and is removed by the unnecessary data removing unit 52. In the case shown in FIG. 14, the rising (x
'(D)) is detected, and thereafter, the accumulated value of the change amount becomes 0 in the data x' (d + k). Then, from the data x '(d), x
The k pieces of data up to '(d + k) are determined to be noise and are removed as unnecessary data.

As described above, after removing unnecessary data such as noise, the filter circuit 54 performs a smoothing process. Then, based on the smoothed data, the gap step calculator 56 calculates the outer plate shape and calculates the step α and the gap β.

As described above, according to the present embodiment, those which are clearly determined to be noise before the smoothing of the raw data and those which are clearly determined to be data of a portion other than the outer plate are removed. Data smoothing is performed using only the detection data of the outer plate portion. Therefore, it is possible to prevent the shape of the detected outer panel from being affected by noise or the like.

[0050]

As described above, according to the present invention, by detecting the direction of the axis of the rocker portion of the vehicle body and detecting a predetermined gap in the vehicle body outer plate, the mounting of the vehicle body mounted on the conveyor can be achieved. The placement posture can be calculated.

Further, the left and right rocker portions of the vehicle body are detected, and one rocker portion is detected at a plurality of points on the rocker portion to calculate a rocker portion axis, and only one point is provided for the other rocker portion. To detect. And
The bottom surface of the vehicle body is specified from the axis of one rocker portion and one point of the other rocker portion, and the mounting posture of the vehicle body can be calculated as the inclination with respect to each of the three-dimensional coordinates.

Further, the gap is formed as a gap between the front fender and the front door extending in a direction substantially perpendicular to the transport direction, so that the position in the transport direction can be detected without being affected by the mounting posture of the vehicle body. can do.

Based on the vehicle body mounting posture obtained by the above-described invention, the measurement position of the gap and step determined for each vehicle type and specification is calculated, and the distance sensor can be moved to this position. Thus, the sensor can be moved efficiently.

Further, among a plurality of measurement data at each measurement position, data irrelevant to the shape of the outer plate, for example, data affected by noise or dust, data detecting a frame other than the outer plate, and the like are determined. , And the subsequent data processing is performed. Thereby, the shape of the outer plate can be obtained with higher accuracy.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall view of an apparatus according to a preferred embodiment of the present invention.

FIG. 2 is a diagram illustrating an overview of a device that detects a rocker unit of the device according to the present embodiment.

FIG. 3 is a diagram illustrating an example of a captured image of a CCD camera of the rocker unit detection head according to the present embodiment.

FIG. 4 is a diagram showing an overview of a parting head for checking a step of the apparatus of the present embodiment.

FIG. 5 is a diagram for explaining parting-off determination in the apparatus of the present embodiment.

FIG. 6 is a diagram for explaining a close-out determination in the apparatus according to the present embodiment, and is a diagram showing a state in which a close-out detection position changes depending on a position of a vehicle body, in particular, from a distance sensor.

FIG. 7 is a diagram for explaining a close-out determination in the apparatus of the present embodiment, and is a diagram showing a case where a close-up cannot be detected, particularly when a mounting position of a vehicle body is far;

FIG. 8 is a diagram for explaining a parting decision in the apparatus of the present embodiment, and particularly illustrating a case where a parting decision is made by correcting a detected distance.

FIG. 9 is a diagram for explaining a parting-off determination in the apparatus of the present embodiment, particularly illustrating a case where the detected distance is corrected and the parting-off determination is performed.

FIG. 10 is a method for explaining a method of calculating a vehicle body origin in the apparatus according to the present embodiment.

FIG. 11 is a diagram showing a shape of an outer plate of a gap step measuring unit and elementary data of a detection result in the apparatus of the present embodiment.

FIG. 12 is a diagram for explaining an influence when a structure other than the outer plate is detected in the apparatus according to the present embodiment.

FIG. 13 is a diagram illustrating an example of elementary data when noise is detected in the apparatus according to the present embodiment.

FIG. 14 is a diagram illustrating an example of elementary data when noise is detected in the apparatus according to the present embodiment.

FIG. 15 is a block diagram illustrating a part of the configuration of the apparatus according to the present embodiment, particularly, the configuration of an unnecessary data determination unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body 2 Conveyor 3 Attitude measurement step 4 Clearance step measurement step 5a, 5b Locker part detection head 6 Parting off sensor 8a, 8b Clearance step sensor head 10 Rocker part 10a Rocker part axis 12 Slit light 14 Laser light source 16 CCD camera 18 Projection image

Continuation of front page (58) Fields investigated (Int. Cl. ⁷ , DB name) G01B 11/00-11/30 G01B 21/22 B23P 19/00-21/00 B62D 65/00-65/18

Claims (6)

(57) [Claims] 1. A vehicle body mounting posture measuring device for measuring a mounting posture of a vehicle body mounted on a transfer conveyor, wherein a rocker part axis detecting means for detecting a direction of an axis of a rocker part on a bottom of the vehicle body; A slope calculating means for calculating a slope for calculating a slope of the detected rocker portion axis with respect to at least one of the left-right axis and the vertical axis orthogonal to the axis, and a position of a predetermined gap portion of the vehicle body outer panel. Gap detecting means for detecting, and a mounting position calculating means for calculating a mounting position of the vehicle body on the conveyor based on the detected position of the gap, and detecting the position of the vehicle body from the calculated inclination and the mounting position. A vehicle body mounting posture measuring device for calculating a mounting posture. 2. The vehicle body mounting posture measuring device according to claim 1, wherein said rocker portion detecting means has a left head for detecting a left rocker portion and a right head for detecting a right rocker portion. One of the heads measures the position of a plurality of positions of the rocker portion, and the other measures the position of only one position of the rocker portion. 3. The body mounting posture measuring apparatus according to claim 1, wherein the gap is a gap between a front fender and a front door. 4. A vehicle body gap level difference measuring device for measuring a distance from a sensor to a vehicle body outer plate at a plurality of measurement points along a predetermined measurement line of a vehicle body outer plate to measure a gap and a step. A measurement line calculating means for calculating a measurement line for measuring a gap and a step based on the vehicle body mounting posture measured by the vehicle body mounting posture measuring device according to any one of claims 1 to 3, And a sensor moving means for moving the distance sensor along a measurement line. 5. The apparatus according to claim 4, further comprising a processing unit for processing data measured by the distance sensor, wherein the amount of change from a previous measurement point has changed by a predetermined value or more in the processing unit. A step of extracting two measurement points and performing data processing by excluding data from a measurement point from a first changed measurement point to a measurement point immediately before a second changed measurement point; apparatus. 6. The apparatus according to claim 4, further comprising a processing unit for processing data measured by the distance sensor, wherein the amount of change from a previous measurement point has changed by a predetermined value or more in the processing unit. An apparatus for measuring a gap in a vehicle body gap, characterized in that a change amount is accumulated from a point, and data processing is performed excluding measured values at each measurement point up to a measurement point at which the accumulation becomes zero.